阅读说明：本技术 自动养蚕系统、自动养蚕方法、程序以及存储介质 (Automatic silkworm breeding system, automatic silkworm breeding method, program, and storage medium ) 是由 野中明 八木良树 梶浦善太 于 2020-03-18 设计创作，主要内容包括：本发明提供一种能够在无菌状态下饲养蚕且能够使养蚕的所有工序自动化地进行的自动养蚕系统。本发明的一个方式的自动养蚕系统的特征在于,具备：蚕卵供给机构,其向集中饲养容器自动地供给蚕卵；饲料供给机构,其向集中饲养容器自动地供给饲料；蚕移动机构,其使蚕自动地从集中饲养容器移动到单独饲养容器；蚕茧取出机构,其从单独饲养容器自动地取出蚕茧；饲养容器自动收纳机构,其将集中饲养容器和/或单独饲养容器自动地收纳于饲养搁架,并且自动地将其从饲养搁架取出；以及饲养容器移动机构,其使集中饲养容器和/或单独饲养容器自动地在上述各机构之间移动。(The invention provides an automatic silkworm breeding system which can breed silkworms in an aseptic state and can automatically carry out all the silkworm breeding processes. An automatic silkworm breeding system according to an aspect of the present invention includes: a silkworm egg supply mechanism for automatically supplying silkworm eggs to the centralized rearing container; a feed supply mechanism for automatically supplying feed to the centralized feeding container; a silkworm moving mechanism for automatically moving silkworms from the collective rearing container to the individual rearing container; a cocoon take-out mechanism that automatically takes out the cocoons from the individual rearing containers; an automatic feeding container storage mechanism which automatically stores the centralized feeding containers and/or the individual feeding containers in the feeding shelves and automatically takes out the centralized feeding containers and/or the individual feeding containers from the feeding shelves; and a feeding container moving mechanism for automatically moving the collective feeding container and/or the individual feeding container between the above mechanisms.)

1. An automatic silkworm breeding system is characterized by comprising:

a silkworm egg supply mechanism for automatically supplying silkworm eggs to the centralized rearing container;

a feed supply mechanism for automatically supplying feed to the centralized feeding container;

a silkworm moving mechanism for automatically moving silkworms from the collective rearing container to the individual rearing container;

a cocoon take-out mechanism that automatically takes out the cocoons from the individual rearing containers;

a raising container automatic storage mechanism that automatically stores the collective raising container and/or the individual raising container in the raising shelf and automatically takes out the collective raising container and/or the individual raising container from the raising shelf; and

and a feeding container moving mechanism for automatically moving the collective feeding container and/or the individual feeding container between the above mechanisms.

2. The automatic silkworm breeding system according to claim 1,

sterilizing the silkworm eggs, and then sterilizing the silkworm eggs,

the feed is sterilized and, in addition,

the above-described mechanisms are disposed in a sterile or aseptic environment.

3. The automatic silkworm breeding system according to claim 1 or 2,

the feed is prepared by mixing dried powder, subsidiary feed and water and molding the mixture into a desired shape or size according to the growth of silkworms.

4. The automatic silkworm breeding system according to any one of claims 1 to 3,

the silkworm moving mechanism comprises a robot arm and a camera,

then, the position of the silkworm is determined based on the image from the camera, and the silkworm is moved by a silkworm pickup mechanism provided in the robot arm.

5. The automatic silkworm breeding system according to any one of claims 1 to 4,

the cocoon taking-out mechanism comprises a robot arm and a camera,

then, the position of the cocoon is determined based on the image from the camera, and the cocoon is taken out by a cocoon pickup mechanism provided in the robot arm.

6. The automatic silkworm breeding system according to claim 5,

the robot arm of the cocoon take-out mechanism is shared with the robot arm of the silkworm moving mechanism.

7. The automatic silkworm breeding system according to any one of claims 1 to 3,

the cocoon taking-out mechanism comprises at least 1 of a funnel-shaped silkworm feeding device, an individual moving frame, a stacked moving frame, a net-shaped moving frame, a feed-induced silkworm diffusion mechanism, a residue removing mechanism or a frame-shaped or net-shaped cocooning device.

8. The automatic silkworm breeding system according to any one of claims 1 to 6,

the above-mentioned individual keeping container is provided with a plurality of keeping spaces,

a partition member for partitioning each of the feeding spaces into a plurality of partitions is inserted,

feeding silkworms or silkworm cocoons on the partition member,

can move with the partition member and expose the silkworm or silkworm cocoon from the rearing space.

9. The automatic silkworm breeding system according to claim 7,

the partition member has a flat surface portion spaced apart from the bottom surface of the housing,

and an elastic member corresponding to the shape or size of the inner wall of the feeding space,

the elastic member slides along the inner wall of the rearing space in response to the movement of the partition member, thereby separating and collecting the silkworm excrement and the residue other than the silkworm excrement in the rearing space.

10. The automatic silkworm breeding system according to any one of claims 1 to 9,

the silkworm egg supply mechanism comprises a disinfectant tank and a suction means,

the silkworm eggs are put into the disinfectant tank,

the silkworm eggs in the disinfectant tank are sucked by the suction means and placed on a predetermined place of the collective rearing container.

11. The automatic silkworm breeding system according to any one of claims 1 to 10,

the feed supply means supplies feed to different positions of the container for collective rearing according to the growth of silkworms.

12. The automatic silkworm breeding system according to any one of claims 1 to 11,

the feed supply mechanism supplies feed with different proportions according to the growth of silkworms.

13. An automatic silkworm breeding system is characterized by comprising:

a silkworm egg supply mechanism for automatically supplying silkworm eggs to the centralized rearing container;

a feed supply mechanism for automatically supplying feed to the centralized feeding container;

a rearing state determination means for automatically determining a rearing state of silkworms; and

a picking mechanism for automatically picking up silkworms in a predetermined rearing state determined by the rearing state determination mechanism from the collective rearing container.

14. A program, characterized in that,

for executing an operation for operating each mechanism of the automatic silkworm breeding system described in any one of claims 1 to 13.

15. A storage medium characterized in that,

a program as claimed in claim 14 is stored.

16. An automatic silkworm breeding method is characterized by comprising the following steps:

automatically supplying the silkworm eggs to the centralized rearing container;

automatically supplying a feed to the collective feeding container;

a step of automatically moving silkworms from the collective rearing container to the individual rearing container;

a step of automatically taking out the silkworm cocoons from the individual rearing containers;

a step of automatically storing the collective feeding containers and/or the individual feeding containers in the feeding shelves and automatically taking out the collective feeding containers and/or the individual feeding containers from the feeding shelves; and

and automatically moving the collective feeding container and/or the individual feeding container between the above-mentioned respective mechanisms.

17. An automatic silkworm breeding method is characterized by comprising the following steps:

automatically supplying the silkworm eggs to the centralized rearing container;

automatically supplying a feed to the collective feeding container;

automatically judging the rearing status of silkworms; and

a step of automatically picking up silkworms of a predetermined rearing state determined by the above-mentioned step of automatically determining the rearing state of silkworms from the collective rearing container.

Technical Field

The invention relates to an automatic silkworm breeding system, an automatic silkworm breeding method, a program, and a storage medium.

Background

A silkworm rearing container for rearing silkworms is known. Silkworm and feed are contained in the silkworm rearing container. The silkworms in the silkworm rearing container grow by eating the feed in the silkworm rearing container.

In the case of rearing silkworms, generally, it is necessary to feed mulberry leaves and the like to a silkworm rearing container every day (except for the sleep period of silkworms). The larval stage of silkworms is about 25 days, and the larval stage moults four times. Then, in the fifth instar, which is the final instar, silkworms synthesize fibroin in vivo, and silk of about 1200m is spun out and cocoons are formed using the silk.

As a related art, patent document 1 describes a silkworm breeding method. In the silkworm breeding method described in patent document 1, a sheet-like feed for breeding silkworms is laid on a flat plate-like tray, and a net is disposed thereon. The net is used for the silkworm to grab when the silkworm exuviates.

Conventionally, attempts to save labor in silkworm breeding have been introduced. Patent document 2 describes a silkworm rearing method using artificial feed, which simplifies work by transferring rearing trays stacked in multiple stages with arms and moving a rearing net for rearing silkworms. Further, patent document 1 describes that, when silkworms are raised in a sterile room, the work process is simplified, thereby reducing the influence of the invasion of undesired bacteria from the outside and floating bacteria in the room.

Patent document 3 describes a silkworm rearing apparatus in which a rearing cage 10 housed in a multi-stage rearing shelf is moved in a circulating manner by a drive device or the rearing cage 10 is automatically transported to a work port in order to save labor when rearing a large number of silkworms.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2004-129546

Patent document 2: japanese patent No. 3657326

Patent document 3: japanese patent No. 6134021

Disclosure of Invention

Problems to be solved by the invention

However, in patent document 1, rearing of silkworms is mostly performed by human hands. Therefore, the cost required for rearing silkworms is high. Further, since most of the rearing of silkworms is carried out by human hands, the risk of contaminating the rearing environment of silkworms with mixed bacteria is relatively high.

Further, in the method for rearing silkworms described in patent document 2, the arm can be used for transferring the rearing tray containing artificial fodder and moving the rearing net, but the supply of the fodder, the setting of the cocooning device, and the like cannot be automated, and not all the steps of rearing silkworms can be automated.

Further, in the silkworm rearing device described in patent document 3, the rearing cage 10 is moved cyclically by the driving device, or the rearing cage 10 is automatically conveyed to the working opening, but the loading and unloading of the plastic bag, the replacement of the rearing cage, and the like cannot be automated, and not all the steps of rearing silkworms are automated.

The present invention aims to provide an automatic silkworm breeding system which can breed silkworms in an aseptic state and can automate all the steps of silkworm breeding.

Means for solving the problems

The above object of the present invention is achieved by an automatic silkworm breeding system comprising:

a silkworm egg supply mechanism for automatically supplying silkworm eggs to the centralized rearing container;

a feed supply mechanism for automatically supplying feed to the centralized feeding container;

a silkworm moving mechanism for automatically moving silkworms from the collective rearing container to the individual rearing container;

a cocoon take-out mechanism that automatically takes out the cocoons from the individual rearing containers;

a raising container automatic storage mechanism that automatically stores the collective raising container and/or the individual raising container in the raising shelf and automatically takes out the collective raising container and/or the individual raising container from the raising shelf; and

and a feeding container moving mechanism for automatically moving the collective feeding container and/or the individual feeding container between the above mechanisms.

The effects of the invention are as follows.

According to the automatic silkworm breeding system of the present invention, it is possible to provide an automatic silkworm breeding system capable of breeding silkworms in an aseptic state and capable of automating all the steps of silkworm breeding.

Drawings

Fig. 1 is a diagram schematically showing a silkworm rearing system in a first embodiment.

Fig. 2 is a flowchart showing an example of the silkworm rearing method according to the first embodiment.

Fig. 3 is a diagram schematically showing a silkworm rearing system of a second embodiment.

Fig. 4 is a schematic perspective view schematically showing a silkworm rearing system of a second embodiment.

Fig. 5 is a diagram schematically showing an example of the feed supply device.

Fig. 6 is a schematic perspective view schematically showing an example of the first feeding container.

Fig. 7 is a diagram schematically showing an example of the partition member moving device.

Fig. 8 is a flowchart showing an example of the first feeding step.

Fig. 9 is a diagram schematically showing an example of the first feeding step.

Fig. 10 is a schematic perspective view schematically showing an example of the first feeding container.

Fig. 11 is a schematic cross-sectional view schematically showing an example of the egg transfer device.

Fig. 12 is a schematic front view schematically showing an example of the egg transfer device.

Fig. 13 is a diagram schematically showing a silkworm rearing system of the second embodiment.

Fig. 14 is a schematic perspective view schematically showing an example of the second feeding container.

Fig. 15 is a schematic perspective view schematically showing an example of the second feeding container.

Fig. 16 is a flowchart showing an example of the silkworm rearing method according to the second embodiment.

Fig. 17 is a diagram schematically showing an example of a silkworm transfer device which can be employed in the silkworm rearing system according to the embodiment.

Fig. 18 is a plan view of the entire system.

Fig. 19 is a plan view of the first turnaround box.

Fig. 20 is a plan view of the second transfer case.

Fig. 21 is a side view of fig. 20.

FIG. 22 is a photograph of a collective rearing container.

Fig. 23 is a photograph of the partition member.

Fig. 24 is a photograph in the case where the partition member protrudes from the individual keeping container.

FIG. 25 is a photograph when a silkworm cocoon is taken out from a separate rearing container.

Fig. 26 is a photograph of a robot arm. (the right arm is a silkworm excrement recovery container, and the front arm is a silkworm cocoon recovery container)

Fig. 27 is a photograph of a camera.

FIG. 28 is a photograph of a cocoon picking mechanism.

Fig. 29 is a photograph of a feeding rack.

FIG. 30 is a photograph of a track of the automatic storage mechanism for feeding containers.

FIG. 31 is a photograph of an automatic housing mechanism for feeding containers.

Fig. 32 is an explanatory view of a funnel moving manner.

Fig. 33 is an explanatory view of a hopper with a shutter.

Fig. 34 is an explanatory diagram of a sash (ascending order) moving method.

Fig. 35 is an explanatory diagram of the corrugated lattice.

Fig. 36 is an explanatory view of the mesh-type sash.

FIG. 37 is an explanatory view of a silkworm distribution pattern.

Detailed Description

Hereinafter, an automatic silkworm breeding system, an automatic silkworm breeding method, a program, and a storage medium according to embodiments of the present invention will be described with reference to the drawings. The embodiments described below are intended to exemplify an automatic silkworm breeding system, an automatic silkworm breeding method, a program, and a storage medium for embodying the technical idea of the present invention, and the present invention is not limited to these embodiments, and can be equally applied to other embodiments included in the claims. In the following description, members and portions having the same functions are denoted by the same reference numerals, and redundant descriptions of the members and portions denoted by the same reference numerals are omitted.

[ first embodiment ]

With reference to fig. 1 and 2, a silkworm rearing system 1A and a silkworm rearing method according to a first embodiment will be described. Fig. 1 is a diagram schematically showing a silkworm rearing system 1A of a first embodiment. Fig. 2 is a flowchart showing an example of the silkworm rearing method according to the first embodiment.

The silkworm rearing system 1A of the first embodiment includes a silkworm transfer device 10 for transferring silkworms from the first rearing container C1 to the second rearing container C2, and a second rearing container transfer device 20 for transferring the second rearing container C2.

Preferably, a plurality of silkworms A are collectively reared in the first rearing container C1. In other words, the first rearing container C1 is preferably a container for collective rearing for collectively rearing a plurality of silkworms in a rearing chamber. In the first rearing container C1, silkworms of, for example, 10 or more and 1000 or less, 30 or more and 500 or less, or 50 or more and 300 or less are reared collectively. The area (area in a plan view) of the feeding area in the 1 first feeding container C1 is, for example, 100cm²Above and 10000cm²Below, 400cm²Above and 4900cm²Below, 900cm²Above and 2500cm²The following. The first feeding container C1 is, for example, a container with an open top.

Preferably, a plurality of silkworms A are individually reared in the second rearing container C2. In other words, the second rearing container C2 is preferably a container for individual rearing to rearing 1 silkworm individually in each rearing room. In the example shown in fig. 1, the second feeding container C2 includes a plurality of feeding chambers SP isolated from each other. In the example shown in fig. 1, the second feeding container C2 includes a first feeding chamber SP1 and a second feeding chamber SP2, and the first feeding chamber SP1 and the second feeding chamber SP2 are isolated from each other. The number of the feeding chambers SP included in the second feeding container C2 is, for example, 10 or more, 30 or more, or 50 or more.

Each of the feeding chambers SP may be defined by an independent cylindrical container, or may be defined by a partition wall disposed in a case member (for example, in a container or a frame). In other words, the second feeding container C2 may be an assembly of a plurality of cylindrical containers, or a plurality of partition walls may be disposed inside a housing member defining an outer wall.

The silkworm transfer device 10 transfers silkworms a from the first rearing container C1 to the second rearing container C2.

In the example shown in fig. 1, the silkworm transfer apparatus 10 transfers silkworms a from the first rearing container C1 to the second rearing container C2 so as to store only 1 silkworm a in each rearing chamber SP (for example, so as to store only 1 silkworm in the first rearing chamber SP1 and only 1 silkworm in the second rearing chamber SP 2).

The silkworm transfer device 10 includes, for example, a silkworm holding member 11 and a holding member moving device 12, and the holding member moving device 12 moves the silkworm holding member 11 from the first rearing container C1 to the second rearing container C2. The silkworm transfer device 10 may include a camera 13 capable of capturing an image of silkworms.

The silkworm holding member 11 is a member capable of holding silkworms. The silkworm holding member 11 may include a first holding portion 11a and a second holding portion 11 b. In this case, the silkworm holding member 11 can hold 1 silkworm by reducing the interval between the first holding portion 11a and the second holding portion 11 b. Alternatively or additionally, the silkworm holding member 11 may be provided with a vacuum suction portion 11c capable of sucking the epidermis of a silkworm.

The holding member moving device 12 is a device capable of changing the position of the silkworm holding member 11 three-dimensionally, for example. The holding member moving device 12 is, for example, a robot arm.

The camera 13 photographs a plurality of silkworms a in the first rearing container C1 based on a control command from the control device 30. The image data acquired by the camera 13 is transmitted to the control device 30 by wire or wirelessly. The control device 30 determines the position and orientation of each of the plurality of silkworms based on the image data. The control device 30 controls the holding member moving device 12 and the silkworm holding member 11 based on the determination result. The silkworm holding member 11 controlled by the control device 30 holds one silkworm. Thereafter, the controller 30 controls the holding member moving device 12 to move the silkworm holding member 11 toward 1 rearing chamber SP (for example, the first rearing chamber SP1) in the second rearing container C2. The controller 30 controls the silkworm holding member 11 to release the holding of silkworms by the silkworm holding member 11. As a result, silkworms are housed in 1 rearing chamber SP (for example, the first rearing chamber SP1) in the second rearing container C2.

The operation of transferring silkworms in the first rearing container C1 to 1 rearing chamber SP in the second rearing container C2 is repeated. For example, when 1 silkworm is housed in the first rearing chamber SP1, the camera 13 photographs again a plurality of silkworms in the first rearing container C1 based on a control command from the control device 30. The image data acquired by the camera 13 is transmitted to the control device 30. The control device 30 determines the position and orientation of each of the plurality of silkworms based on the image data. The control device 30 controls the holding member moving device 12 and the silkworm holding member 11 based on the determination result. The silkworm holding member 11 controlled by the control device 30 holds one silkworm. Thereafter, the controller 30 controls the holding member moving device 12 to move the silkworm holding member 11 toward 1 rearing chamber SP (for example, the second rearing chamber SP2) in the second rearing container C2. The controller 30 controls the silkworm holding member 11 to release the holding of silkworms by the silkworm holding member 11. As a result, silkworms are housed in 1 rearing chamber SP (for example, the second rearing chamber SP2) in the second rearing container C2.

The second feeding container transfer apparatus 20 moves the second feeding container C2 from the silkworm transfer area AR to the second feeding container storage area AR 2. The silkworm transfer area AR is an area where silkworms a are transferred from the first rearing container C1 to the second rearing container C2. On the other hand, the second feeding container storage area AR2 is an area for storing the second feeding container C2. In the example shown in fig. 1, a rack T2 is disposed in the second feeding container storage area AR2, and a second feeding container C2 is stored in the rack T2.

In the example shown in fig. 1, the rack T2 is a fixed rack provided in the second feeding container storage area AR 2. The second feeding container transfer device 20 transfers the second feeding container C2 between the silkworm transfer area AR and the second feeding container storage area AR 2. Alternatively, the second feeding container transfer apparatus 20 may transfer the rack T2 on which the second feeding container C2 is placed between the silkworm transfer area AR and the second feeding container storage area AR 2. In other words, the shelf T2 may also be a mobile shelf.

When the second feeding container C2 is located in the second feeding container storage area AR2, the food for silkworms F in the second feeding container C2 grows.

The second feeding container transporting apparatus 20 may include a belt conveyor, a roller conveyor, or the like. Alternatively or additionally, the second feeding container transporting apparatus 20 may also include a transporting apparatus (e.g., a stacker crane) with a transfer apparatus that transfers the second feeding container C2 to the rack T2. The second feeding container transfer device 20 transfers the second feeding container C2 to a predetermined storage position (an empty storage position among the plurality of storage positions) in the second feeding container storage area AR2 based on a command from the control device 30. The second feeding container transfer device 20 is driven by a motor, for example.

The controller 30 controls the operation of the silkworm transfer device 10 and/or the second feeding container transporting device 20. The number of computers included in the control device 30 may be 1 or more. In other words, 1 computer may function as the control device 30, or a plurality of computers may cooperate to function as the control device 30.

The silkworm rearing system 1 of the first embodiment includes a silkworm transfer device 10 and a second rearing container transfer device 20. Therefore, the transfer of silkworms from the first rearing container C1 to the second rearing container C2 and the movement of the second rearing container C2 on which silkworms are transferred can be automated. As a result, the rearing efficiency of silkworms is improved. Further, since the transfer of silkworms and the movement of the second rearing container C2 are not performed by manual work, substantially no mixed bacteria are mixed in the rearing environment of silkworms.

In the first embodiment, the silkworm rearing system 1A may further include the first rearing container transfer device 40 for transferring the first rearing container C1 from the first rearing container storage area AR1 to the silkworm transfer area AR. The first feeding container transfer device 40 is preferably a transfer device different from the second feeding container transfer device 20. The first feeding container transfer device 40 includes a conveyor such as a belt conveyor or a roller conveyor. The first feeding container transporting apparatus 40 may include a transporting apparatus having a transfer device for transferring the first feeding container C1 to the rack T1. The first feeding container transfer device 40 is driven by a motor, for example.

When the silkworm rearing system 1A includes the first rearing container conveyance device 40, the first rearing container C1 can be automatically moved to the silkworm transfer area AR. As a result, the rearing efficiency of silkworms is further improved. Further, since the first rearing container C1 is not moved manually, the living contaminants are not substantially mixed in the rearing environment of silkworms.

In the example shown in fig. 1, a rack T1 is disposed in the first feeding container storage area AR1, and a first feeding container C1 is stored in the rack T1. When the first feeding container C1 is located in the first feeding container storage area AR1, the silkworm food in the first feeding container C1 grows.

In the first embodiment, the first feeding container storage area AR1 is preferably disposed in the sterile atmosphere AT. The second rearing container storage area AR2 is preferably disposed in the sterile atmosphere AT. Similarly, the silkworm transfer area AR is preferably disposed in a sterile atmosphere AT. In the present specification, the sterile atmosphere AT is an atmosphere in a space substantially isolated from the outside, and means an atmosphere in which the amount of microorganisms present is smaller than the outside. The cleanliness of sterile atmosphere AT on the ISO basis (ISO 14644-1: 2015) is, for example, a cleanliness of Class6 to Class8, more preferably a cleanliness of Class7 or less. Further, the cleanliness of Class6 is a cleanliness equivalent to the US Federal Standard FED-STD 209E rating of 1000, the cleanliness of Class7 is a cleanliness equivalent to the US Federal Standard FED-STD 209E rating of 10000, and the cleanliness of Class8 is a cleanliness equivalent to the US Federal Standard FED-STD 209E rating of 100000.

(silkworm rearing method)

Next, an example of the silkworm rearing method according to the first embodiment will be described.

In the first step ST1, a plurality of silkworms are reared in the first rearing container C1. The first step ST1 is a first silkworm rearing step. In the first silkworm rearing step, for example, a plurality of silkworms a are collectively reared in the first rearing container C1.

In the second step ST2, a plurality of silkworms in the first rearing container C1 are transferred to the second rearing container C2. This transfer is performed using the silkworm transfer device 10.

The second step ST2 may include: a first conveying step of conveying the first rearing container C1 to the silkworm transfer area AR; a second conveying step of conveying the second rearing container C2 to the silkworm transfer area AR; and a transfer step of transferring the plurality of silkworms a from the first rearing container C1 to the second rearing container C2 by using the silkworm transfer device 10.

The first conveying process is performed using, for example, the first feeding container conveying device 40. The second conveying process is performed using, for example, the second feeding container conveying device 20. The second conveying step may be performed before the first conveying step, may be performed after the first conveying step, or may be performed simultaneously with the first conveying step.

In the example shown in fig. 1, the second feeding container C2 includes a plurality of feeding rooms SP for individual feeding. In this case, the second step ST2 (silkworm transfer step) may include a step of transferring the silkworms a raised in the first raising container C1 to the plurality of raising rooms SP. In the example shown in fig. 1, the silkworm transfer apparatus 10 transfers a plurality of silkworms a collectively raised in the first raising container C1 to a plurality of raising rooms SP for individual raising. Therefore, the switching from the collective rearing to the individual rearing can be smoothly performed without causing contamination of the breeding environment of silkworms with undesired bacteria. The silkworm transfer step performed by the silkworm transfer device 10 (i.e., the silkworm transfer step of transferring silkworms a from the first rearing container C1 to the second rearing container C2) may include a step of transferring silkworms in the first rearing container C1 to the feed support portions PL (see fig. 14) in the second rearing container C2. Alternatively, the silkworm transfer step (i.e., the silkworm transfer step of transferring silkworms a from the first rearing container C1 to the second rearing container C2) performed by the silkworm transfer device 10 may include: a step of transferring silkworms in the first rearing container C1 to a feed support PL (see FIG. 5) outside the second rearing container C2; and a step of inserting the feed supporting part PL supporting the silkworms A into the second rearing container C2.

After the second step ST2 is executed, the second feeding container C2, on which a plurality of silkworms a are transferred, is transported from the silkworm transfer area AR to the second feeding container storage area AR 2. This conveyance is performed using, for example, the second feeding container conveyance device 20.

In the third step ST3, a plurality of silkworms A are reared in the second rearing container C2. The third step ST3 is a second silkworm raising step. In the second silkworm rearing step, for example, each of a plurality of silkworms a is reared individually in an independent rearing room SP.

In the silkworm rearing method according to the first embodiment, the silkworm transfer device 10 transfers silkworms from the first rearing container C1 to the second rearing container C2. Therefore, the silkworms can be automatically transferred from the first rearing container C1 to the second rearing container C2. As a result, the rearing efficiency of silkworms is improved. Further, since the silkworms are transferred by the silkworm transfer device 10, the breeding environment of the silkworms is substantially not contaminated with the mixed bacteria.

In the first embodiment, when a plurality of silkworms a are collectively raised in the first rearing container C1 and each of the plurality of silkworms a is individually raised in the second rearing container C2, silkworms with a small age of day can be efficiently collectively raised in a small space, and silkworms with a large age of day can be individually raised in a state in which stress is suppressed. Therefore, in the first embodiment, space saving for silkworm rearing, high efficiency of silkworm rearing, and stress suppression of silkworms can be achieved at the same time. Further, when forming the silkworm cocoons in the rearing room for rearing alone, the place where the silkworm cocoons are formed can be localized. In this case, the recovery of the silkworm cocoon (for example, the recovery of the silkworm cocoon by a robot) becomes easy.

[ second embodiment ]

With reference to fig. 3 to 16, a silkworm rearing system 1B and a silkworm rearing method according to a second embodiment will be described. Fig. 3 is a diagram schematically showing a silkworm rearing system 1B according to a second embodiment (a schematic plan view schematically showing the state of the inside of the turnover box 2). Fig. 4 is a schematic perspective view schematically showing a silkworm rearing system 1B of the second embodiment. Fig. 5 is a diagram schematically showing an example of the feed supply device 60. Fig. 6 is a schematic perspective view schematically showing an example of the first feeding container C1. Fig. 7 is a diagram schematically showing an example of the partition member moving device 70. Fig. 8 is a flowchart showing an example of the first feeding step. Fig. 9 is a diagram schematically showing an example of the first feeding step. Fig. 10 is a schematic perspective view schematically showing an example of the first feeding container C1. Fig. 11 is a schematic cross-sectional view schematically showing an example of the egg transfer device 80. Fig. 12 is a schematic front view schematically showing an example of the egg transfer device 80. Fig. 13 is a diagram schematically showing a silkworm rearing system 1B of the second embodiment. Fig. 14 is a schematic perspective view schematically showing an example of the second feeding container C2. Fig. 15 is a schematic perspective view schematically showing an example of the second feeding container C2. Fig. 16 is a flowchart showing an example of the silkworm rearing method according to the second embodiment.

The silkworm rearing system 1B of the second embodiment includes a turnover box 2 in which at least one of a plurality of devices constituting the silkworm rearing system 1B is arranged. In the second embodiment, differences from the first embodiment will be mainly described, and redundant description of the items described in the first embodiment will be omitted. Therefore, in the second embodiment, even if not explicitly described, it is needless to say that the matters described in the first embodiment can be applied to the second embodiment. This is also the same in other embodiments.

The silkworm rearing system 1B includes, for example, at least 1 of the silkworm transfer device 10, the first rearing container conveyance device 40, the second rearing container conveyance device 20, and the control device 30. The silkworm transfer device 10, the first feeding container transfer device 40, the second feeding container transfer device 20, and the control device 30 are explained in the first embodiment, and therefore, a repetitive explanation of these components will be omitted.

In the example shown in fig. 3, the silkworm rearing system 1B includes two transfer cases 2 (more specifically, a first transfer case 2A and a second transfer case 2B). However, the number of the turnover boxes 2 included in the silkworm rearing system 1B may be 1 or 3 or more.

In the example shown in fig. 3, the second feeding container conveying device 20 is disposed in the transfer box 2 (more specifically, the second transfer box 2B). The turnaround case 2 can define a substantially closed space (more specifically a sterile atmosphere AT). Therefore, when the second feeding container conveying apparatus 20 is disposed in the container 2, the mixed bacteria are less likely to be mixed into the conveying path of the second feeding container C2.

When the conveying device is installed in a closed space, the conveying device is generally installed in a building defining the closed space. In contrast, in the second embodiment, a conveying device such as the second feeding container conveying device 20 is disposed in the container 2. Even when the container 2 is disposed outdoors, a substantially closed space can be defined. Therefore, it is not necessary to newly construct a building for arranging the conveyance device. Even when the container 2 is disposed in an existing building, the container 2 defines a substantially closed space, and therefore a high degree of sealing is not required for the existing building. Further, since the container (container)2 can be carried by a vehicle, a ship, or the like, the container 2 has a high degree of freedom in arrangement. Further, it is also easy to move a container placed at a predetermined location to another location at a time.

The tote 2 is for example a mobile tote standardized according to ISO668 (for example ISO 668: 1995, ISO 668: 2005, ISO 668: 2013, etc.). The containers 2 are, for example, 45-foot containers (e.g., "1 EEE" container, "1 EE" container, etc. of ISO 668), 40-foot containers (e.g., "1 AAA" container, "1 AA" container, "1A" container, "1 AX" container, etc. of ISO 668), 30-foot containers (e.g., "1 BBB" container, "1 BB" container, "1B" container, "1 BX" container, etc. of ISO 668), 20-foot containers (e.g., "1 CC" container, "1C" container, "1 CX" container, etc. of ISO 668), 10-foot containers (e.g., "1D" container, "1 DX" container, etc. of ISO 668), 6.5-foot containers (e.g., "1E" container, etc. of ISO 668), and 5-foot containers (e.g., "1F" container, etc. of ISO 668). Hereinafter, in the present specification, a transportable tote standardized according to ISO668 is referred to as an "ISO tote".

(first turnaround box 2A)

In the example shown in FIG. 1, the silkworm rearing system 1B has a first turnaround box 2A. The first turnaround box 2A is, for example, an ISO turnaround box. The length of the first turnaround box 2A is, for example, 45 feet, 40 feet, 30 feet, 20 feet, 10 feet, 6.5 feet, or 5 feet.

In the example shown in fig. 1, the first turnaround box 2A has a first feeding container storage area AR 1. In the example shown in fig. 1, the heat insulating material 91 is disposed along the inner surface Ws of the outer wall Wa of the first turnaround case 2A. Further, an air conditioner 92 for adjusting the temperature in the first transfer case 2A is disposed in the first transfer case 2A.

In the case where the silkworm rearing system 1B includes the first turnaround box 2A having the first rearing container storage area AR1, the heat insulating material 91, and the air conditioner 92, the silkworm rearing environment in the first rearing container C1 can be set to an appropriate environment. The air conditioner 92 may be an air conditioner capable of adjusting temperature, or may be an air conditioner capable of adjusting temperature and humidity. The air conditioner 92 maintains the temperature of the first feeding container storage area AR1 at 20 degrees celsius to 35 degrees celsius, or at 25 degrees celsius to 30 degrees celsius, for example.

When the air conditioner 92 is operated, the pressure inside the first circulation box 2A is set to be higher than the pressure outside the first circulation box 2A. The pressure difference between the pressure inside the first transfer tank 2A and the pressure outside the first transfer tank 2A is, for example, 10Pa (pascal) or more, 100Pa or more, 1000Pa or more, 3000Pa or more, or 5000Pa or more. By setting the pressure inside the first transfer tank 2A to be higher than the pressure outside the first transfer tank 2A, the risk of contaminating bacteria inside the first transfer tank 2A can be reduced.

When the air conditioner 92 is operated, the pressure in the first feeding container storage area AR1 is preferably set to be higher than the pressure in the area outside the first feeding container storage area AR1 in the first turnaround box 2A. The pressure difference between the two regions is, for example, 10Pa (pascal) or more, 100Pa or more, or 1000Pa or more. The pressure in the first feeding container storage area AR1 is set to be higher than the pressure in the area outside the first feeding container storage area AR1, so that the risk of contamination of the first feeding container storage area AR1 with bacteria can be reduced. The air supply port 92a of the air conditioner 92 may be disposed in the first feeding container storage area AR1 so that the pressure in the first feeding container storage area AR1 is higher than the pressure in the area outside the first feeding container storage area AR 1.

The air conditioner 92 includes: a fan 921 for supplying air from the outside of the first circulation box 2A into the first circulation box 2A; a heat exchanger 922 for raising or lowering the temperature of the air; and a filter 923 (e.g., HEPA filter) for removing bacteria from the air.

The air conditioner 92 may include: a circulation flow path for circulating the air in the first circulation tank 2A through the first circulation tank 2A; and a filter 924 (e.g., a HEPA filter) disposed in the circulation flow path. When the air conditioner 92 includes the circulation flow path and the filter 924, the filter 924 removes the bacteria that have entered the first transfer case 2A.

(second transfer case 2B)

In the example shown in FIG. 3, the silkworm rearing system 1B has a second transfer case 2B. The second turnaround box 2B is, for example, an ISO turnaround box. The length of the second turnaround box 2B is, for example, 45 feet, 40 feet, 30 feet, 20 feet, 10 feet, 6.5 feet, or 5 feet.

In the example shown in fig. 3, the second transfer box 2B has a second feeding container storage area AR 2. In the example shown in fig. 3, the heat insulating material 91 is disposed along the inner surface Ws of the outer wall Wa of the second turnaround box 2B. An air conditioner 92 for adjusting the temperature in the second turnaround box 2B is disposed in the second turnaround box 2B. The air conditioner 92 disposed in the second turnaround box 2B is the same air conditioner as the air conditioner 92 disposed in the first turnaround box 2A. The air conditioner 92 disposed in the second turnaround box 2B includes a fan 921, a heat exchanger 922, filters (923, 924), and the like, as in the air conditioner 92 disposed in the first turnaround box 2A. The air conditioner 92 maintains the temperature of the second feeding container storage area AR2 at 20 degrees celsius to 35 degrees celsius, or at 25 degrees celsius to 30 degrees celsius, for example.

When the air conditioner 92 is operated, the pressure inside the second turnaround tank 2B is set to be higher than the pressure outside the second turnaround tank 2B. The pressure difference between the pressure inside the second transfer tank 2B and the pressure outside the second transfer tank 2B is, for example, 10Pa (pascal) or more, 100Pa or more, 1000Pa or more, 3000Pa or more, or 5000Pa or more.

When the air conditioner 92 is operated, the pressure in the second feeding container storage area AR2 is preferably set to be higher than the pressure in the area outside the second feeding container storage area AR2 in the second turnaround box 2B. The pressure difference between the two regions is, for example, 10Pa (pascal) or more, 100Pa or more, or 1000Pa or more. The air supply port 92a of the air conditioner 92 may be disposed in the second feeding container storage area AR2 so that the pressure in the second feeding container storage area AR2 is higher than the pressure in the area outside the second feeding container storage area AR 2.

In the example shown in fig. 3, the silkworm rearing system 1B includes: a first transfer box 2A having a first feeding container storage area AR 1; and a second transfer box 2B having a second feeding container storage area AR 2. The second transfer box 2B is a different transfer box from the first transfer box 2A. In this case, the silkworm rearing system 1B can independently set a rearing environment (the first turnaround box 2A) for rearing silkworms relatively small in age on day and a rearing environment (the second turnaround box 2B) for rearing silkworms relatively large in age on day. For example, with regard to silkworms of relatively small age in days, a large number of silkworms can be raised in a small space by collectively raising them. On the other hand, in the case of silkworms having a relatively large age in days, by individually raising them, it is possible to reduce the stress acting on the silkworms.

Further, with silkworms of relatively large age in days, a relatively large rearing space is required. Therefore, the size of the second turnaround box 2B having the second feeding container storage area AR2 may be larger than the size of the first turnaround box 2A having the first feeding container storage area AR 1. Alternatively or additionally, the plurality of turnover boxes 2 may be arranged so that the number of second turnover boxes 2B having the second feeding container storage area AR2 is larger than the number of first turnover boxes 2A having the first feeding container storage area AR 1. For example, 1 first turnaround case 2A and 2 or more second turnaround cases 2B may be connected. The number of the second turnaround boxes 2B connected to the first turnaround box 2A may be 3 or more, 5 or more, or 10 or more.

(transfer case connecting part 95)

In the example shown in fig. 3, the silkworm rearing system 1B includes a transfer box connecting portion 95 that connects the first transfer box 2A and the second transfer box 2B. The presence of the turnover box connecting portion 95 suppresses the entry of the undesired bacteria into the first turnover box 2A or the second turnover box 2B. More specifically, when the first feeding container C1, the second feeding container C2, and the like are conveyed between the first transfer case 2A and the second transfer case 2B, there is a possibility that the undesired bacteria may enter from the opening of the first transfer case 2A or the opening of the second transfer case 2B. In the example shown in fig. 3, the first turnaround case 2A and the second turnaround case 2B are connected by the turnaround case connecting portion 95 (more specifically, the opening of the first turnaround case 2A and the opening of the second turnaround case 2B are covered by the turnaround case connecting portion 95), and therefore the risk of entry of unwanted bacteria through the openings can be reduced. The turnover box connecting portion 95 may be formed of a flexible member made of synthetic resin such as ethylene, a rigid member such as a metal plate, or a combination of a flexible member and a rigid member.

In the example shown in fig. 3, a first door DR1 is disposed in an opening of the first transfer box 2A, and a second door DR2 is disposed in an opening of the second transfer box 2B. However, the first door DR1 and/or the second door DR2 may be omitted.

(feed supply device 60)

In the example shown in fig. 3, the silkworm rearing system 1B includes a feed supply device 60. The feed supply device 60 is a device for supplying feed (silkworm feed) to the first rearing container C1 or the second rearing container C2. When the silkworm rearing system 1B includes the feed supply device 60, the feed can be automatically supplied to the first rearing container C1 or the second rearing container C2. In this case, the contamination of the foreign bacteria into the environment for rearing of silkworms can be suppressed when the feed is supplied.

In the example shown in fig. 3, the feed supply device 60 is disposed in the first turnaround box 2A. Alternatively or additionally, the feed supply device 60 may also be arranged inside the second turnaround box 2B. When the feed supply device 60 is disposed in the container 2, it is possible to more effectively suppress the contamination of the breeding environment of silkworms with foreign bacteria when feeding the feed. However, in the case where the silkworm rearing system 1B does not have the turnover box 2, the feed supply device 60 may be disposed at an arbitrary place different from the turnover box 2.

An example of the feed supply device 60 will be described with reference to fig. 5. The feed supply device 60 includes, for example, a feed storage container 61, a nozzle member 62, a moving device 63, a feed supply pipe 64, and a feed supply pump 65.

The feed storage container 61 is a container for temporarily storing the feed of silkworms. For example, mulberry leaves F1 (more specifically, mulberry leaf powder), okara F2 and water are put into the feed storage container 61. In the example shown in fig. 5, mulberry leaves F1 are put into the feed container 61 from a mulberry leaf container, and okara F2 is put into the feed container 61 from an okara container. The feeding may be performed automatically by a mulberry leaf supply device and/or a bean dregs supply device, or may be performed manually.

In the example shown in fig. 5, a water supply pipe 67 is connected to the feed storage container 61. Also, the water supply to the feed storage container 61 is automatically performed using the water supply pipe 67. In the example shown in fig. 5, an opening/closing valve 671 and a filter 672 are disposed in the water supply pipe 67. Opening/closing valve 671 is connected to control device 30 by wire or wirelessly so as to be able to transmit a signal, and opening/closing valve 671 is opened/closed based on a command from control device 30. When the on-off valve 671 is in the open state, water is supplied to the feed storage container 61, and when the on-off valve is in the closed state, water is not supplied to the feed storage container 61. The filter 672 removes foreign substances or miscellaneous bacteria from the water.

In the example shown in fig. 5, the mulberry leaves, the bean dregs, and the water charged into the feed storage container 61 are stirred in the feed storage container 61. This stirring is performed by a stirring device 611 driven by a motor M1. The motor M1 is connected to the control device 30 by wire or wirelessly so as to be able to transmit a signal, and the motor M1 is driven based on a command from the control device 30. When the motor M1 is driven, the stirring device 611 stirs the mixed feed containing the mulberry leaves, the bean dregs and water.

Mixed feed (more specifically, kneaded feed) containing mulberry leaves, bean dregs and water is supplied from the feed storage container 61 toward the nozzle member 62 by the feed supply pump 65. In the example illustrated in fig. 5, the feed supply pump 65 may also comprise a screw conveyor or a serpentine pump. In the example shown in fig. 5, the feed pump 65 includes a motor M2 and a rotary shaft 651 driven by a motor M2. The feed pump 65 may also include a blade member 652 attached to the rotary shaft 651. Alternatively or additionally, the rotation shaft 651 may also be a non-linear rotation shaft (e.g., a spiral-shaped rotation shaft). In this case, the blade member 652 may be omitted.

The motor M2 is connected to the control device 30 by wire or wirelessly so as to be able to transmit a signal, and the motor M2 is driven based on a command from the control device 30. When the motor M2 is driven, the rotary shaft 651 rotates. As a result, the rotary shaft 651 or the blade member 652 attached to the rotary shaft 651 pushes the feed (kneaded feed) from the upstream side of the feed supply pump 65 toward the downstream side of the feed supply pump 65. In the example shown in fig. 5, the discharge port of the feed storage container 61 is connected to the upstream side of the feed supply pump 65. Then, the feed (kneaded feed) discharged from the discharge port of the feed storage container 61 is supplied to the upstream side of the feed supply pump 65. In the example shown in fig. 5, the feed discharged from the feed supply pump 65 is supplied to the nozzle member 62 via the feed supply pipe 64.

The feed supply pipe 64 may be a rigid pipe or a flexible pipe, and may have a portion of the rigid pipe and another portion of the flexible pipe.

In the example shown in fig. 5, the feed supply pipe 64 is a pipe connecting the feed storage container 61 and the nozzle member 62. The feed supply pump 65 is disposed in the middle of the feed supply pipe 64.

In the example shown in fig. 5, an opening/closing valve 641 is disposed in the feed supply pipe 64. The on-off valve 641 is connected to the control device 30 by a wire or wirelessly so as to be able to transmit a signal, and the on-off valve 641 is opened and closed based on a command from the control device 30. When the opening/closing valve 641 is in an open state, the feed is supplied to the nozzle member 62-1, and when the opening/closing valve 641 is in a closed state, the feed is not supplied to the nozzle member 62-1.

In the example shown in fig. 5, the feed supply pipe 64 includes a main pipe 64m and a first branch pipe 64 d. The on-off valve 641 is disposed in the first branch pipe 64d, and the first branch pipe 64d is connected to the nozzle member 62-1.

The feed supply conduit 64 may also include a second branch conduit 64 e. In the example shown in fig. 5, an on-off valve 643 is disposed in the second branch pipe 64e, and the second branch pipe 64e is connected to the second nozzle member 62-2. Opening/closing valve 643 is connected to control device 30 by a wire or wirelessly so as to be able to transmit a signal, and opening/closing valve 643 is opened/closed based on a command from control device 30.

In the example shown in fig. 5, the main pipe 64m and the first branch pipe 64D are connected via a branch portion D1. In the example shown in fig. 5, the main pipe 64m and the second branch pipe 64e are connected to each other via a branch portion D2.

In the example shown in fig. 5, the feed supply pipe 64 includes a return pipe 64 r. When the feed supply pipe 64 includes the return pipe 64r, the surplus feed that is not supplied to the nozzle member 62 among the feed flowing through the main pipe 64m is returned to the feed storage container 61 via the return pipe 64 r. In the example shown in fig. 5, the return pipe 64r is formed by a portion of the feed supply pipe 64 between the branch portion D1 and the feed reservoir 61. An on-off valve 645 may be disposed in the return pipe 64 r.

The nozzle member 62 (nozzle member 62-1 or second nozzle member 62-2) has an opening 62h for discharging the feed. In the example shown in fig. 5, the nozzle member 62-1 includes a plurality of nozzles including a first nozzle 621 and a second nozzle 622. The opening area (or diameter) of the discharge portion (first opening) of the first nozzle 621 is smaller than the opening area (or diameter) of the discharge portion (second opening) of the second nozzle 622. The opening area (or diameter) of the discharge portion (second opening) of the second nozzle 622 is smaller than the opening area (or diameter) of the discharge portion (third opening) of the third nozzle 623. The nozzle member 62-1 includes, for example, a switching valve 620 that operates in accordance with a command from the control device 30. The switching valve 620 selectively supplies the feed to one of the plurality of nozzles 621, 622, 623. More specifically, when the switching valve 620 is operated to communicate the feed supply pipe 64 with the first nozzle 621 based on a command from the control device 30, the feed is discharged from the opening of the first nozzle 621. Then, when the switching valve 620 is operated to communicate the feed supply pipe 64 with the second nozzle 622 based on a command from the control device 30, the feed is discharged from the opening of the second nozzle 622. The feed discharged from the second nozzle 622 is coarser than the feed discharged from the first nozzle 621. When the switching valve 620 is operated to communicate the feed supply pipe 64 with the third nozzle 623 based on a command from the control device 30, feed is discharged from the opening of the third nozzle 623. The feed discharged from the third nozzle 623 is coarser than the feed discharged from the second nozzle 622.

In the example illustrated in FIG. 5, the second nozzle component 62-2 includes one nozzle. The feed discharged from the nozzle of the second nozzle member 62-2 is coarser than the feed discharged from the nozzle of the nozzle member 62-1 (e.g., the first nozzle 621, the second nozzle 622, or the third nozzle 623). Alternatively, the thickness of the feed discharged from the nozzle of the second nozzle unit 62-2 may be approximately the same as the thickness of the feed discharged from the third nozzle 623.

The moving device 63 is a device that moves the nozzle member 62 relative to the feed support PL. In the example shown in fig. 5, the moving device 63 is a nozzle moving device that moves the nozzle member 62. Alternatively, the moving device 63 may be a device that moves the feed supporting part PL.

The mobile device 63 is connected to the control device 30 by wire or wireless so as to be able to transmit signals, and the mobile device 63 operates based on a command from the control device 30. The moving device 63 three-dimensionally changes the position of the nozzle member 62 based on a command from the control device 30. In the example illustrated in fig. 5, the moving device 63 includes a robot arm 630.

In the example shown in fig. 5, the moving means 63 (more specifically, the moving means 63-1) relatively moves the nozzle member 62-1 with respect to the feed support PL. The feed support portion PL is, for example, a feed support portion disposed in the first feeding container C1. The feed support portion PL is preferably formed of a mesh-like member (in other words, a net-like member). In this case, the silkworm excrement falls down below the feed support PL through the openings of the mesh-like member. Therefore, the environment for rearing silkworms is difficult to deteriorate in the region above the feed support portion PL.

In the example shown in fig. 5, the moving means 63 (more specifically, the second moving means 63-2) relatively moves the second nozzle member 62-2 with respect to the feed support PL. The feed support portion PL is, for example, a feed support portion disposed in the second feeding container C2. The feed support portion PL is preferably formed of a mesh-like member (in other words, a net-like member). In this case, the silkworm excrement falls down below the feed support PL through the openings of the mesh-like member. Therefore, the environment for rearing silkworms is difficult to deteriorate in the region above the feed support portion PL.

(partition member P)

In the example shown in fig. 5, the partition member P is disposed inside the first feeding container C1. As shown in fig. 6, the partition member P (more specifically, the first partition member P1) is a member that partitions the space inside the first rearing container C1 into a first region R1 in which silkworms are cultivated and a second region R2 in which the entry of silkworms is restricted (i.e., a region in which silkworms cannot enter). The position of the partition member P can be changed between a first position (see the upper side of fig. 6) for partitioning the first region R1 and the second region R2 and a second position (see the lower side of fig. 6) for releasing the partitioned state of the partition member. The first position (in other words, the partition position) is, for example, a position of the partition member P when the partition member P is disposed in the first feeding container C1. The second position (in other words, the non-partitioning position) is, for example, the position of the partition member P when the partition member P is detached from the first feeding container C1.

(partition member moving means 70)

In the example shown in fig. 7, the silkworm rearing system 1B includes a partition member moving device 70 for moving the partition member P disposed in the first rearing container C1. The partition member moving device 70 moves the partition member P from, for example, a first position inside the first feeding container C1 to a second position outside the first feeding container C1.

In the example shown in fig. 7, the partition member moving device 70 includes a partition member holding portion 71 and a holding portion moving device 72. The partition member holding portion 71 is a portion capable of holding the partition member P. The partition member holding portion 71 may include a first holding portion 71a and a second holding portion 71 b. In this case, the partition member holding portion 71 can hold the partition member P by reducing the interval between the first holding portion 71a and the second holding portion 71 b. Alternatively, the partition member holding portion 71 may include a hook portion 71c (see fig. 5 if necessary) from which the partition member P can be hung.

The holder moving device 72 includes, for example, a robot arm. The robot arm of the holding unit transfer device 72 may be the robot arm 630 of the transfer device 63-1 shown in fig. 5, or may be a robot arm different from the robot arm 630 of the transfer device 63-1. The shape and structure of the partition member moving device 70 are not particularly limited as long as the device can move the partition member P.

The partition member moving device 70 is connected to the control device 30 by wire or wirelessly so as to be able to transmit a signal, and the partition member moving device 70 operates based on a command from the control device 30. More specifically, the partition member holding portion 71 of the partition member moving device 70 holds the partition member P based on an instruction from the control device 30. Thereafter, the holding portion moving device 72 of the partition member moving device 70 moves the partition member holding portion 71 in the direction from the first position toward the second position based on the instruction from the control device 30. Thus, the partition member P is detached from the first feeding container C1.

(first silkworm rearing Process)

An example of the first rearing step (the first step ST1) of rearing a plurality of silkworms a in the first rearing container C1 will be described in more detail with reference to fig. 8 and 9.

In step ST201, a plurality of silkworms are reared in the first region R1 on one side of the first partition member P1 disposed in the first rearing container C1. The step ST201 is executed in the first feeding container C1 disposed in the first feeding container storage area AR1, for example. In the example shown in fig. 9 (b), a plurality of first feeding containers C1 are stored in the first feeding container storage area AR 1. The number of the first feeding containers C1 stored in the first feeding container storage area AR1 is, for example, 10 or more, 50 or more, or 100 or more.

In step ST201, the feed F and the silkworms a are arranged in the first region R1. In step ST201, the feed F and silkworm a are not disposed in the second region R2.

The silkworm feed F is previously supplied to the first region R1 of the first rearing container C1. The feed is supplied to the first region R1, for example, via the nozzle member 62-1 (more specifically, the first nozzle 621 described above) of the feed supply device 60 (see fig. 9 (a)). The thickness (in other words, the diameter) of the feed supplied to the first region R1 is, for example, 3mm or less or 2mm or less. The silkworms a in the first region R1 grow by eating the feed F in the first region R1. In addition, when the feed support portion PL is a mesh-like member (in other words, a net-like member), the silkworm excrement M falls downward from the feed support portion PL. Therefore, the environment for rearing silkworms on the feed support PL does not deteriorate.

In step ST202, the feed F is supplied to the second region R2 on the other side of the first divider P1. The step ST202 is performed after the first feeding container C1 is transported from the first feeding container storage area AR1 to the feed supply device 60, for example.

The feed F is supplied to the second region R2, for example, via the nozzle member 62-1 (more specifically, the second nozzle 622) of the feed supply device 60 (see fig. 9 (c)). In step ST202, since silkworms a are not present in the second region R2, silkworms a do not become obstacles when the feed F is supplied to the second region R2. The thickness of the feed F supplied from the second nozzle 622 is preferably larger than the thickness of the feed F supplied from the first nozzle 621. The thickness (in other words, the diameter) of the feed F supplied from the second nozzle 622 is, for example, 6mm or less or 5mm or less.

In step ST203, the state in which the first region R1 is separated from the second region R2 by the first separating member P1 (separated state) is released (refer to fig. 9 (d)). The release is performed by, for example, moving the first partition member P1 by the partition member moving device 70. In the example shown in fig. 9 (d), the release is performed by detaching the first partition member P1 from the first feeding container C1 by the partition member moving device 70. In the example shown in fig. 9 (d), the partition member moving device 70 includes a hook portion 71c that can engage with the engagement portion Pa of the partition member P. Alternatively, the partition member moving device 70 may include a gripping portion capable of gripping the partition member P.

When the first partition member P1 is released from the partitioned state, the first region R1 and the second region R2 are combined, and the region in which a plurality of silkworms A are reared becomes large. Therefore, a more appropriate rearing environment can be provided for a plurality of silkworms growing in the first region R1.

After step ST203, the first feeding container C1 is transported to the first feeding container storage area AR 1. In step ST202, the first feeding container C1 is supplied with fresh feed F. Therefore, a plurality of silkworms a eat fresh feed and grow further.

In the example shown in fig. 9, the first feeding container C1 is provided with a second partition member P2 in addition to the first partition member P1. The second partition member P2 is a member that separates the new first region Rn1 (the enlarged first region) from the new second region Rn2 after the first partition member P1 is detached from the first feeding container C1 (see fig. 9 (d)).

When the second partition member P2 is disposed in the first feeding container C1, the feed F is supplied to the new second region Rn2 in step ST 204. The step ST204 is performed after the first feeding container C1 is transported from the first feeding container storage area AR1 to the feed supply device 60, for example.

The feed is supplied to the new second region Rn2, for example, via the nozzle member 62-1 (more specifically, the third nozzle 623 described above) of the feed supply device 60 (see fig. 9 (e)). The thickness of the feed F supplied from the third nozzle 623 is preferably larger than the thickness of the feed F supplied from the second nozzle 622. The thickness (in other words, the diameter) of the feed F supplied from the third nozzle 623 is, for example, 7mm or less.

In step ST205, the state in which the new first region Rn1 is separated from the new second region Rn2 by the second separating member P2 (separated state) is released (see fig. 9 (f)). The release is performed by, for example, moving the second partition member P2 by the partition member moving device 70. In the example shown in fig. 9, the release is performed by detaching the second partition member P2 from the first feeding container C1 by the partition member moving device 70.

In the example shown in fig. 9, the first feeding container C1 is a tray (in other words, a relatively shallow container with an open top). By opening the upper side of the first feeding container C1, the partition member P can be easily detached from the first feeding container C1.

In the example shown in fig. 9, the number of the partition members P arranged in the first feeding container C1 is 2. Alternatively, the number of the partition members P arranged in the first feeding container C1 may be 1, 3 or more. In the example shown in fig. 6, the partition member P has an L-shape in a plan view. However, the shape of the partition member P is not limited to the example shown in fig. 6. For example, as shown in fig. 10, the partition member P may have a box shape in a plan view.

(silkworm egg transfer device 80)

An example of the egg transfer device 80 that transfers the eggs to the first feeding container C1 (for example, a tray) will be described with reference to fig. 11 and 12.

The egg transfer device 80 transfers the eggs E from the container C3 containing a plurality of eggs E to the first feeding container C1. When the silkworm rearing system 1 includes the silkworm egg transfer device 80, the operation of transferring the silkworm eggs E to the first rearing container C1 (for example, a tray) is automatically performed. As a result, the rearing efficiency of silkworms is improved. Further, by automatically transferring the eggs E by the egg transfer device 80, the breeding environment of silkworms is substantially prevented from being contaminated with foreign bacteria. The silkworm eggs transfer device 80 is disposed in, for example, the transfer container 2 (more specifically, in the first transfer container 2A). When the silkworm egg transfer device 80 is disposed in the turnover box 2, the contamination of the foreign bacteria into the silkworm rearing environment can be further effectively suppressed.

In the example shown in fig. 11, the egg transfer device 80 includes a suction pipe 81 for sucking the eggs E in the liquid, and a suction pipe moving device 86 for moving the suction pipe 81 relative to the first feeding container C1. In liquid, dead eggs E1 float more easily than live eggs E2. Thus, by sucking the eggs in the liquid (more specifically, the eggs submerged in the liquid), the live eggs E2 can be screened and picked up.

The liquid in container C3 is, for example, a disinfecting liquid. The eggs E were sterilized by immersing the eggs E in a disinfectant solution in a container C3. In this case, when the eggs E are transferred to the first feeding container C1, the risk of contamination of the first feeding container C1 with undesired bacteria is reduced.

In addition, from the viewpoint of easy picking up of the silkworm eggs E from the container C3, the distal end portion of the container C3 preferably has a tapered shape that tapers toward the distal end. The distal end of the container C3 is tapered, so that a large number of eggs E are likely to gather near the bottom of the container C3. Therefore, the tip of the suction tube 81 can be disposed in the vicinity of the silkworm egg E only by inserting the suction tube 81 in the vicinity of the bottom of the container C3 (in other words, the deepest part of the container C3).

In the example shown in fig. 11, the suction pipe 81 is connected to a vacuum pump 84 via a pipe 82. An on-off valve 83 is disposed in the pipe 82. When the opening/closing valve 83 is opened in a state where the tip of the suction tube 81 is positioned in the liquid in the container C3, 1 egg E is sucked by the suction tube 81. Alternatively, the suction force of the suction pipe 81 may be generated by relatively moving the piston with respect to the cylinder. In this case, the vacuum pump 84 may be omitted.

After the suction pipe 81 sucks the silkworm eggs E, the suction pipe moving device 86 moves the suction pipe 81 in a direction from the container C3 toward the first rearing container C1. When the front end of the suction pipe 81 comes above the first feeding container C1, the suction pipe 81 discharges the eggs E. This release may be performed by supplying air to the suction pipe 81, or by opening the suction pipe 81 to the atmosphere.

In the example shown in fig. 11, the partition member P is disposed in the first feeding container C1. In this case, the egg transfer device 80 preferably transfers the eggs E to only one side region (the first region R1) of the partition member P. In other words, the egg transfer device 80 preferably does not transfer the eggs E to the other side region (second region R2) of the partition member P. When the partition member P is not disposed in the first feeding container C1, the egg transfer device 80 may transfer the eggs E to an arbitrary position in the first feeding container C1.

The transfer of the eggs E by the egg transfer device 80 may be performed after the feed F is disposed in the first feeding container C1 (more specifically, the first region R1), or may be performed before the feed F is disposed in the first feeding container C1 (more specifically, the first region R1).

In the example shown in fig. 11, the suction pipe moving device 86 can move the suction pipe 81 in the vertical direction (in other words, the Z direction). In the example shown in fig. 11, the suction pipe moving device 86 can move the suction pipe 81 in the first horizontal direction (in other words, the X direction).

As shown in fig. 12, the silkworm egg transfer device 80 may include a plurality of suction pipes 81. When the egg transfer device 80 includes the plurality of suction pipes 81, the egg transfer device 80 can move the plurality of eggs to the first feeding container C1 at the same time. In the example shown in fig. 12, the silkworm egg transfer device 80 includes 6 suction pipes 81. Alternatively, the silkworm egg transfer device 80 may include 1, 2, 3, 4, 5, or 7 or more suction pipes 81.

In the example shown in fig. 12, the suction pipe moving device 86 can move the suction pipe 81 in the second horizontal direction (in other words, the Y direction perpendicular to the X direction and the Z direction). In the example shown in fig. 11 and 12, the suction pipe moving device 86 can move the suction pipe 81 three-dimensionally. Alternatively, the suction pipe moving device 86 may be capable of moving the suction pipe 81 two-dimensionally (for example, the suction pipe moving device 86 may be capable of moving the suction pipe 81 only in a direction along a plane parallel to the XZ plane).

As shown in fig. 13, the silkworm rearing system 1 may further include a conveying device 41 for conveying the first rearing container C1 between the silkworm egg transfer device 80 and the first rearing container storage area AR 1. In the example shown in fig. 13, the conveying device 41 is a conveying device different from the first feeding container conveying device 40. The conveying device 41 can convey the first feeding container C1 in, for example, the vertical direction (in other words, the Z direction) and the first horizontal direction (for example, the X direction). The conveying device 41 includes, for example, a conveyor or a conveying device with a transfer device for transferring the first feeding container C1 to the rack T1.

(other Components of the silkworm rearing system 1)

With reference to fig. 13, other components of the silkworm rearing system 1 will be explained.

The silkworm rearing system 1 may be provided with a monitoring computer 101. The monitoring computer 101 monitors the states of the devices (10, 20, 30, 40, 41, 60, 70, 80, 92). When there is an abnormality in each of the devices (10, 20, 30, 40, 41, 60, 70, 80, 92), the monitoring computer 101 notifies the operator of information identifying the device in which the abnormality exists and information identifying the type of the abnormality. In the above-described embodiment, an example in which the control device 30 controls the respective devices (10, 20, 30, 40, 41, 60, 70, 80, 92) is described. Alternatively, the monitoring computer 101 may control the respective devices (10, 20, 30, 40, 41, 60, 70, 80, 92) in cooperation with the control device 30.

The silkworm rearing system 1 may be provided with a cocoon collection device 103. The cocoon collection device 103 is a device that collects cocoons from the second rearing container C2 (for example, a robot that collects cocoons from the second rearing container C2).

The silkworm rearing system 1 may further include a cleaning device 105 for cleaning the first rearing container C1 and/or the second rearing container C2. The cleaning device 105 removes, for example, silkworm excrement or residual feed from the first feeding container C1 (or the second feeding container C2) by blowing air to the first feeding container C1 (or the second feeding container C2). The silkworm excrement taken out from the first rearing container C1 (or the second rearing container C2) can be collected for use as a feed or a component of a medicine for other livestock. When silkworms are raised in a sterile environment, the excrements also maintain a sterile state. Thus, the silkworm excrement is suitable as a feed or a component of a medicine for other livestock.

In the above example, the cleaning device 105 is an air cleaning device using air. Alternatively or additionally, the cleaning device 105 may also be a device that blows water or sterilizing liquid to the first feeding container C1 (or the second feeding container C2) to remove silkworm excrement or residual feed from the first feeding container C1 (or the second feeding container C2).

The first rearing container C1 cleaned by the cleaning device 105 is reused for rearing silkworms in the first rearing container storage area AR 1. The second rearing container C2 cleaned by the cleaning device 105 is reused for rearing silkworms in the second rearing container storage area AR 2.

In the example shown in fig. 13, the monitoring computer 101, the cocoon collection device 103, and the cleaning device 105 are disposed in the first turnaround box 2A. Alternatively, at least 1 of the monitoring computer 101, the cocoon collection device 103, and the cleaning device 105 may be disposed in the second turnaround box 2B. Alternatively, at least 1 of the monitoring computer 101, the cocoon collection device 103, and the cleaning device 105 may be disposed outside the container 2.

(silkworm rearing method)

Next, an example of a silkworm rearing method according to a second embodiment will be described with reference to fig. 13 to 16.

In the first step ST1, a plurality of silkworms are reared in the first rearing container C1. The first step ST1 is a first silkworm rearing step.

In the first step ST1, first, in step ST101, the fodder F for silkworms is supplied to the first rearing container C1 (more specifically, the first region R1). Step ST101 is executed using, for example, the feed supply device 60 described above. More specifically, the first nozzle 621 is moved relative to the first feeding container C1 (more specifically, the first region R1), and the first nozzle 621 discharges the feed F to the first feeding container C1 (more specifically, the first region R1).

In step ST102, a plurality of eggs E are transferred to the first feeding container C1. The step ST102 is executed by using the above-described silkworm egg transfer device 80, for example. More specifically, the conveyance device 41 conveys the first feeding container C1 toward the egg transfer device 80, and then the egg transfer device 80 transfers the plurality of eggs E from the container C3 to the first feeding container C1. The number of eggs E placed in the 1 first rearing container C1 is, for example, 10 or more and 1000 or less, 30 or more and 500 or less, or 50 or more and 300 or less. The first feeding container C1 is preferably sterilized with a disinfectant solution or the like before the transfer of the plurality of eggs E. The sterilized eggs E are transferred to the sterilized first feeding container C1, and the first feeding container C1 is disposed in the sterile atmosphere AT to maintain the sterile state of the eggs fed in the first feeding container C1.

Step ST102 may be executed before step ST101 or after step ST 101. After step ST101 and step ST102 are executed, the first feeding container C1 is conveyed to the first feeding container storage area AR1 by the conveying device 41.

Thereafter, the above-described steps ST201 to ST205 are executed.

In step ST201, a plurality of silkworms A are reared in the first rearing container C1 (more specifically, in the first region R1). In the case where the first partition member P1 is disposed in the first feeding container C1, the first feeding period for silkworms fed in the first region R1 defined by the first partition member P1 is several days (e.g., 5 days).

After the first feeding period has elapsed, the first feeding container C1 is transported from the first feeding container storage area AR1 to the feed supply device 60. This conveyance is performed using, for example, the conveyance device 41.

In step ST202, the fodder F of silkworms is supplied to the first rearing container C1 (more specifically, the second region R2). Step ST202 is executed using, for example, the feed supply device 60 described above. More specifically, the second nozzle 622 is moved relative to the first feeding container C1 (more specifically, the second region R2), and the second nozzle 622 discharges the feed F into the first feeding container C1 (more specifically, the second region R2).

In step ST203, the first separating member P1 is moved from the first position (separating position) to the second position (non-separating position). Step ST203 is executed using, for example, the above-described partition member moving device 70.

After step ST203 is executed, the first feeding container C1 is conveyed to the first feeding container storage area AR1 by the conveying device 41 or the like. After the execution of step ST202 (in other words, after the second feed supply), the second rearing period in which silkworms are reared in the new first region Rn1 defined by the second partition member P2 is several days (for example, 5 days).

After the second feeding period, the first feeding container C1 is transported from the first feeding container storage area AR1 to the feed supply device 60. This conveyance is performed using, for example, the conveyance device 41.

In step ST204, the silkworm feed F is supplied to the first rearing container C1 (more specifically, the new second region Rn 2). Step ST204 is executed using, for example, the feed supply device 60 described above. More specifically, the third nozzle 623 moves relative to the first feeding container C1 (more specifically, the second region Rn2), and the third nozzle 623 discharges the feed F into the first feeding container C1 (more specifically, the second region Rn 2).

In step ST205, the second partition member P2 is moved from the first position (partition position) to the second position (non-partition position). Step ST205 is executed using, for example, the above-described partition member moving device 70.

After step ST205 is executed, the first feeding container C1 is conveyed to the first feeding container storage area AR1 by the conveying device 41 or the like. The third rearing period during which silkworms are reared in the first rearing container C1 after the execution of step ST204 (in other words, after the third fodder feeding) is several days (e.g., 5 days).

In the above example, the feed F was supplied to 1 first feeding container C1 three times in total every few days. Alternatively, the number of times of feeding the feed to the 1 first feeding container C1 may be one, two, or four or more. Further, in the case where the feed F is supplied to the first rearing container C1 every several days, silkworms a can grow by eating fresh feed. In contrast, when the feed F is supplied to the first feeding container C1 only once, the feed F may be deteriorated due to drying or the like.

The total period during which silkworms were fed in the first feeding container C1 (for example, the total of the first feeding period, the second feeding period, and the third feeding period) was fifteen days (for example, 15 days). In this case, in the first rearing container C1, silkworms grow from the eggs to larvae of four instars.

After the first step ST1 (first rearing step) is performed, in the second step ST2, a plurality of silkworms (for example, a plurality of fourth instar larvae) in the first rearing container C1 are transferred to the second rearing container C2. This transfer is performed using the silkworm transfer device 10.

In the second step ST2, first, the first feeding container C1 and the second feeding container C2 are transported to the silkworm transfer area AR.

In the example shown in fig. 13, as indicated by a broken line B1, the first feeding container C1 is transported from the first feeding container storage area AR1 to the silkworm transfer area AR. The conveyance of the first rearing container C1 to the silkworm transfer area AR may be performed by using a plurality of conveyance devices including the first rearing container conveyance device 40. In the example shown in fig. 13, the first feeding container storage area AR1 is located in the first transfer box 2A, and the silkworm transfer area AR is located in the second transfer box 2B. Therefore, the first feeding container C1 is conveyed from the first transfer box 2A to the second transfer box 2B. The first feeding container C1 is conveyed from the first turnaround box 2A to the second turnaround box 2B through the turnaround connecting portion 95.

In the example shown in fig. 13, as indicated by a broken line B2, the second feeding container C2 is transported from the second feeding container storage area AR2 to the silkworm transfer area AR. The conveyance of the second feeding container C2 to the silkworm transfer area AR may be performed by using a plurality of conveying devices including the second feeding container conveying device 20. In the example shown in fig. 13, the second feeding container conveying apparatus 20 is disposed in the second feeding container storage area AR 2.

In the example shown in fig. 13, the second feeding container storage area AR2 is located in the second transfer box 2B, and the feed supply device 60 is located in the first transfer box 2A. In this case, in order to supply the second feeding container C2 with the feed F, the second feeding container C2 is conveyed from the second feeding container storage area AR2 in the second turnaround box 2B to the feed supply device 60 in the first turnaround box 2A. This conveyance is performed by using a plurality of conveyance devices including the second feeding container conveyance device 20 and the first feeding container conveyance device 40, for example.

In the example shown in fig. 13, the silkworm transfer area AR is located in the second transfer box 2B. Therefore, after the fodder F is supplied to the rearing room SP of the second rearing container C2, the second rearing container C2 is conveyed from the first transfer box 2A to the second transfer box 2B (more specifically, to the silkworm transfer area AR in the second transfer box 2B).

After the first feeding container C1 and the second feeding container C2 are transported to the silkworm transfer area AR, the silkworm transfer apparatus 10 transfers silkworms a from the first feeding container C1 to the feeding chamber of the second feeding container C2. Further, the number of silkworms a transferred to each rearing room of the second rearing container C2 is preferably 1. By raising silkworm A alone, the stress of silkworm A can be reduced.

In the example shown in fig. 14, a plurality of openings OP are formed in the first end Ca of the second feeding container C2. The plurality of openings OP correspond to the inlets of the plurality of feeding chambers SP, respectively. The silkworm transfer device 10 transfers silkworms A to each rearing room SP through the opening OP. In the example shown in fig. 14, the opening OP is formed in the side of the second feeding container C2. When a plurality of silkworms are housed in the second rearing container C2, the plurality of openings OP are covered with a lid member CL (see fig. 1 if necessary). The lid member CL preferably has a vent hole formed therein. The lid member CL changes the state between a first state in which the plurality of openings OP are open and a second state in which the plurality of openings OP are closed by the lid member CL. The first state is a state in which silkworms can be inserted into the rearing chamber SP through the opening OP, and the second state is a state in which silkworms do not come out of the rearing chamber SP through the opening OP. Preferably, 1 cover member CL can simultaneously close the plurality of openings OP. In this case, the plurality of openings OP can be efficiently closed by the lid member CL.

The shape of each feeding chamber SP is, for example, an elongated shape. More specifically, the depth of the breeding chamber SP is 2 times or more the height of the breeding chamber SP, and the depth of the breeding chamber SP is 2 times or more the width of the breeding chamber SP. In the case where the shape of the rearing chamber SP is a long and narrow shape, the space for rearing a plurality of silkworms individually may be relatively small. In the example shown in fig. 14, the length of each feeding chamber SP in the depth direction (in other words, the length from the first end Ca toward the second end Cb of the second feeding container C2) is, for example, 20cm or more, 30cm or more, or 40cm or more. The longitudinal direction of the feeding chamber SP is preferably substantially parallel to the horizontal plane (in other words, the angle formed between the longitudinal direction of the feeding chamber SP and the horizontal plane is preferably 20 degrees or less). Further, the opening OP is preferably formed at the end in the longitudinal direction of the feeding chamber SP.

In the example shown in fig. 14, the second feeding container C2 includes a plurality of feeding chambers SP. The number of the feeding chambers SP included in the second feeding container C2 is, for example, 10 or more and 1000 or less, 30 or more and 500 or less, or 50 or more and 300 or less. Preferably, a feed support portion PL for supporting the feed F is disposed in each of the feeding rooms SP. The feed support portion PL is made of, for example, a mesh-like member (in other words, a net-like member). In this case, the silkworm excrement falls down below the feed support PL through the openings of the mesh-like member. Therefore, the environment for rearing silkworms is difficult to deteriorate in the region above the feed support portion PL.

Further, the feed support portion PL preferably extends in a direction from the first end Ca of the second feeding container C2 (in other words, the longitudinal first end of the second feeding container C2) toward the second end Cb (in other words, the longitudinal second end of the second feeding container C2). The feed F placed on the feed support portion PL preferably extends in a direction from the first end Ca toward the second end Cb of the second feeding container C2.

In the example shown in fig. 14, each of the feeding chambers SP is formed of an independent cylindrical container CY, and an aggregate of the cylindrical containers CY constitutes at least a part of the second feeding container C2. The second feeding container C2 may be formed by surrounding the plurality of cylindrical containers CY with the case member H. In this case, a first sterile atmosphere is provided by the cylindrical container CY, a second sterile atmosphere is provided by the case member H housing the plurality of cylindrical containers CY, and a third sterile atmosphere is provided by the second feeding container storage area AR2 (or the transfer case 2 such as the second transfer case 2B) housing the second feeding container C2. Therefore, the sterile state in the breeding chamber SP can be maintained more reliably. Furthermore, by setting the degree of sterility in stages, the sterile state in the breeding chamber SP can be achieved efficiently and at low cost.

Alternatively, as shown in fig. 15, each feeding chamber SP may be defined by a partition wall J disposed in the housing member H. In this case, a first sterile atmosphere is provided by the partition wall J, a second sterile atmosphere is provided by the case member H housing the partition wall J, and a third sterile atmosphere is provided by the second feeding container storage area AR2 (or the transfer box 2 such as the second transfer box 2B) housing the second feeding container C2. Therefore, the sterile state in the breeding chamber SP can be maintained more reliably. Moreover, the aseptic level is set in stages, and the aseptic state in the breeding room SP can be achieved efficiently and at low cost.

In the examples shown in fig. 14 and 15, the cross-sectional shape of the feeding chamber SP on the plane perpendicular to the longitudinal direction of the feeding chamber is a quadrangle. Alternatively, the cross-sectional shape of the feeding chamber SP in a plane perpendicular to the longitudinal direction of the feeding chamber may be hexagonal, octagonal, or other polygonal shape. Alternatively, the cross-sectional shape of the feeding chamber SP on a plane perpendicular to the longitudinal direction of the feeding chamber may be circular.

In the example shown in fig. 13, after a plurality of silkworms are transferred from the first rearing container C1 to the second rearing container C2, the second rearing container C2 is transported from the silkworm transfer area AR to the second rearing container storage area AR 2. This conveyance is performed using the second feeding container conveyance device 20 and the like. Then, after a plurality of silkworms are transferred from the first rearing container C1 to the second rearing container C2, the first rearing container C1 is transported to the washing apparatus 105. The first rearing container C1 is cleaned by the cleaning device 105 and reused for concentrated rearing of silkworms.

In the third step ST3 (second rearing step), a plurality of silkworms are reared in the second rearing container C2. In the second silkworm rearing step, for example, each of a plurality of silkworms a is reared individually in an independent rearing room SP. In the second silkworm rearing step, each silkworm grows from a fourth instar larva to a fifth instar larva, and then the fifth instar larva forms a cocoon.

Preferably, the air conditioner 92 supplies dry air to the first end Ca or the second end Cb of the second rearing container C2 before the fifth instar larvae are cocooned. Since the five-instar larvae like the dry air, the five-instar larvae are gathered at the first end Ca or the second end Cb by supplying the dry air to the first end Ca or the second end Cb of the second feeding container C2. In this case, the cocoons can be easily taken out from the first end Ca or the second end Cb (for example, the cocoon collection device 103, more specifically, the robot can easily take out the cocoons from the first end Ca or the second end Cb).

After the fifth instar larvae have cocooned, the second rearing container C2 is transported from the second rearing container storage area AR2 to the cocoon collection device 103. This conveyance is performed by using a conveyance device such as the second feeding container conveyance device 20.

In the example shown in fig. 13, the second feeding container storage area AR2 is located in the second transfer box 2B, and the cocoon collection device 103 is located in the first transfer box 2A. Therefore, the second feeding container C2 is conveyed from the second transfer box 2B to the first transfer box 2A. In the example shown in fig. 13, the second feeding container C2 in the first turnaround box 2A is conveyed by the first feeding container conveying apparatus 40. After the cocoons are taken out from the second rearing container C2, the second rearing container C2 is transported to the washing apparatus 105. The second rearing container C2 is cleaned by the cleaning device 105 and then reused for rearing silkworms individually.

In the silkworm rearing method of the second embodiment, rearing of silkworms relatively small in age per day and rearing of silkworms relatively large in age per day are performed separately, and silkworms can be reared efficiently in a relatively small space. At least 1 operation (preferably all operations) of transferring silkworms from the first rearing container C1 to the second rearing container C2, transporting the first rearing container C1 or the second rearing container C2, transferring eggs to the first rearing container C1, supplying fodder F to the first rearing container C1 or the second rearing container C2, washing the first rearing container C1 or the second rearing container C2, and collecting cocoons from the second rearing container C2 is automatically and mechanically executed. Therefore, the efficiency of rearing silkworms is improved, and the mixed bacteria are less likely to be mixed into the rearing environment of silkworms.

In addition, in the case where the first rearing container C1 and/or the second rearing container C2 are cleaned and reused, rearing of silkworms can be repeatedly performed without supplementing the first rearing container C1 and/or the second rearing container C2 from the outside of the sterile atmosphere to the inside of the sterile atmosphere (for example, the inside of the turnover box 2). Thus, the risk of entry of infectious microbes into the sterile atmosphere AT is reduced. Further, the cocoons collected by the cocoon collection device 103 may be taken out through a door DR (see fig. 4 as needed) of the turnover box 2 (more specifically, the first turnover box 2A). The feed F and/or the eggs E may be supplemented through the door DR of the transfer container 2 (more specifically, the first transfer container 2A). The door DR is preferably a double door from the viewpoint of preventing entry of undesired bacteria into the container 2.

(silkworm transfer device 10)

An example of the silkworm transfer device 10 that can be used in the silkworm rearing system 1 of the embodiment will be described with reference to fig. 17.

In the example shown in fig. 17, the silkworm transfer apparatus 10 includes a holding member transfer apparatus 12 (more specifically, an arm) and a grip 110. The holding member moving device 12 is, for example, a robot arm including 1 or more joint portions. The grip portion 110 includes, for example, a plurality of grip pieces 111 including a first grip piece 111a and a second grip piece 111 b. The number of the grip pieces 111 included in the grip portion 110 may be 2, or 3 or more.

The contact portion 112 of the holding piece 111 that contacts silkworms is preferably formed of an elastically deformable member (elastic member). The contact portion 112 is formed of, for example, silicone rubber. The contact portion 112 is formed of an elastic material (e.g., silicone rubber), and can appropriately hold silkworms which move while changing in shape.

The grip piece 111 may be, for example, a grip piece having an internal space IS surrounded by an elastic material. In this case, the gripping piece 111 can be driven by supplying a fluid such as air to the internal space IS. In the example shown in fig. 17, each grip piece 111 includes a fluid supply path PH for supplying a fluid to the internal space IS.

It is obvious that the present invention is not limited to the above embodiments, and the embodiments can be appropriately modified or changed within the scope of the technical idea of the present invention. The various techniques used in the embodiments and the modifications can be applied to other embodiments and modifications within a range where no technical contradiction occurs. Any additional structure in the embodiments and the modifications can be omitted as appropriate. For example, the respective components included in the second embodiment can be adopted in the first embodiment.

In the second embodiment, an example of rearing a plurality of silkworms using a plurality of turnover boxes (2A, 2B) is described. However, in the second embodiment, it is also possible to raise a plurality of silkworms using 1 turnover box 2. In the second embodiment, a plurality of silkworms may be raised in a sterile environment set independently of the turnover box.

In the second embodiment, an example in which the silkworm transfer device 10 and the second feeding container transfer device 20 are disposed in the second turnaround box 2B is explained. Alternatively, the silkworm transfer device 10 or the second feeding container transfer device 20 may be disposed in the first turnaround box 2A. Further alternatively, the silkworm transfer device 10 or the second feeding container transfer device 20 may be disposed in a sterile environment independent of the transfer container.

In the second embodiment, an example in which the first feeding container transporting apparatus 40, the feed supply apparatus 60, the partition member moving apparatus 70, and the egg transfer apparatus 80 are disposed in the first turnaround box 2A is described. Alternatively, the first feeding container transporting apparatus 40, the feed supplying apparatus 60, the partition member moving apparatus 70, or the silkworm egg transfer apparatus 80 may be disposed in the second turnaround box 2B. Alternatively, the first feeding container transfer device 40, the feed supply device 60, the partition member transfer device 70, or the silkworm egg transfer device 80 may be disposed in a sterile environment independent of the transfer container.

In the second embodiment, an example in which silkworms of the fourth instar are transferred from the first rearing container C1 to the second rearing container C2 has been described. Alternatively, the silkworms transferred from the first rearing container C1 to the second rearing container C2 may be, for example, silkworms of five instar larvae. When silkworms of five-instar larvae (more specifically, silkworms before cocooning) are transferred to the second rearing container C2, the feed placement in the second rearing container C2 may be omitted. In this case, there is no need to convey the second feeding container C2 toward the feed supplying device 60. In the above description of the embodiment, the "feed supporting portion PL" is replaced with the "supporting portion" when no feed is placed in the second feeding container C2. The "support portion" is a support portion capable of supporting silkworms.

In the example shown in fig. 14 and 15, an OP through which silkworms can pass is disposed at the first end Ca (first end surface) of the second rearing container C2. In addition, an opening through which silkworms can pass may also be provided at the second end Cb (second end face) of the second feeding container C2.

[ embodiment 3]

An automatic silkworm breeding system, an automatic silkworm breeding method, a program, and a storage medium according to embodiment 3 will be described with reference to fig. 18 to 31.

[ growth of silkworm ]

Since the silkworm eggs are incubated at 30 ℃ or more for about 3 days, the timing of incubation can be adjusted. Counting days from the beginning of incubation, and managing larvae, young silkworms (newly-hatched silkworms), moulting mature silkworms of one, two, three, four, five and five ages. Concentrated breeding about three to five years old. About 100 ten thousand silkworms can be raised in 1 transfer box.

For example, on day 15, when there is little activity in silkworms before moulting from the third to the fourth instar, silkworms are picked up from the collective rearing container by the pickup robot and transferred to the individual rearing container. Alternatively, the silkworm eggs can be raised in a separate raising container from the time of raising the silkworm eggs. The silkworms can be moved from the collective rearing container to the individual rearing container at any stage of the silkworm egg, the young silkworm, the first to fifth instar, and the mature silkworm.

Since the individual rearing containers are made of SUS and the production cost is high, it is desired to increase the frequency of use as much as possible. For this reason, it is advantageous to perform collective rearing until a mature silkworm and move the silkworm from the mature silkworm to a separate rearing container. For example, the silkworms may be raised in a collective rearing container until they become mature silkworms on day 25, and the mature silkworms which have completed the preparation for starting the silking may be transferred to a separate rearing container. In this case, whether or not preparation for starting spinning is completed can be automatically detected by visual inspection or image recognition of an image from a camera, based on characteristics such as a large amount of silkworm excrement and urine, a change in body color from white to yellowish transparent, and a head-up state.

The mature silkworm (mature silkworm) of five instars is characterized by continuous eating of feed for 10 days, then urination, a large amount of silkworm feces, and a change from white to yellow (transparent). Silking began on day 25 post hatch. Cocooning began on day 28, and cocoons were removed about 3 days. The timing can be roughly determined based on the number of days, but the timing for picking up the silkworm cocoons may be adjusted by sensing. The sensing may be performed at a frequency of about 1 time within 1 hour. Since the silkworm does not move in the cocoon when the cocoon is completed, the completion of the cocoon can be detected by irradiating the cocoon with light and observing the cocoon with a sensor. As the camera, an X-ray camera, an infrared camera, or the like can be used in addition to a color camera and a monochrome camera.

When the silkworm eggs are obtained from the adults, the adult silkworm moths are raised until the cocoons are broken. One female can lay 200 eggs.

[ feed ]

If the mulberry leaves are made into dry powder, the weight of the mulberry leaves is one third of that of raw leaves. The fineness of the powder is, for example, about 80 to 100. mu.m. The water content of mulberry leaves is 60% in winter and less than 70% in summer (lower). Drying is carried out in about 6 hours by a heat pump dryer until the moisture content becomes about 30% to 70% to 60%. Furthermore, it takes about 3 days to dry until the water content reaches 3%. Therefore, when the moisture content is dried from 30% to 3%, the drying can be performed in a short time of, for example, about 20 minutes by irradiating the microwave in a vacuum and stirring the microwave. Shaping the pudding-shaped fish cake block from the dried powder. The shape is not limited to the fish cake shape, and the size and shape are arbitrary. The blocks of feed of a predetermined size can be arranged in a predetermined arrangement and in a predetermined amount at a desired position of the feeding box. Depending on the ingredients or ratios, softness generally ranges from mayonnaise to udon.

Drying may also be performed from the beginning to the end with a heat pump dryer. When the blended feed is fed from the hopper, the feed is extruded by the pump, and the feed in a cake-shaped block of a desired thickness can be supplied to a predetermined place of the feeding container. The thickness and the composition can be changed according to the growth of silkworms. The feed blending, the size and thickness of the block, and the like are also automatically adjusted.

The dried powder of mulberry leaf is sterilized by the above-mentioned method. The feed obtained by drying bean dregs generated in the production of defatted soybean, soy sauce and bean curd is sterilized for eating as an auxiliary feed. The subsidiary feed contains amino acids and proteins. Further, water (sterilized water or sterile water was used as water) was added thereto, and the three were mixed to form a pudding-like soft block.

The feed is prepared from mulberry powder 10%, subsidiary feed 20%, and water 70%. When mulberry leaves are dried at high temperature, it is preferable to add auxiliary additives because the nutrients are lost. On the other hand, when mulberry leaves are dried at low temperature, it is difficult to lose nutrients, and therefore auxiliary additives may not be required.

The temperature for drying the mulberry leaves may be about 80 ℃ for drying in an oven (oven for treating silkworms in silkworm cocoons), about 50 to 60 ℃ for drying by a heat pump method, and about 40 ℃ for drying in a vacuum microwave, and in addition, drying and pulverization may be performed as in freeze drying.

The concentrated feeding container is automatically supplied with the feed by the feed supply mechanism. The thickness and the proportion of the feed can be adjusted according to the growth of silkworms. In the collective rearing container, the feed supply position is changed according to the growth of silkworms. For example, when the feed is supplemented on day 5, feed of a predetermined ratio and size (thickness) is supplied to a position adjacent to the position where the silkworm eggs and the first feed are supplied. When the feed was supplemented on day 10, feed of a predetermined ratio and size (thickness) was supplied to a position adjacent to the position of the feed on day 5. When the feed was supplemented on day 15, feed of a predetermined ratio and size (thickness) was supplied to a position adjacent to the position of the feed on day 10. In this way, by shifting the feed supply position and guiding the silkworm position to the feed-containing place, the silkworm feces can be prevented from accumulating only at a specific feed position.

Fig. 18 is a plan view of the entire system, and is composed of a first turnaround box 202 and a second turnaround box 203. Fig. 19 is a plan view of the first transfer case, fig. 20 is a plan view of the second transfer case, and fig. 21 is a side view of fig. 20. The first transfer box is a space for processing, and the second transfer box is a space for breeding silkworms. All the processes such as the introduction of the silkworm eggs into the collective rearing container, the introduction of the feed, and the transfer of silkworms are automatically performed in the first transfer tank. In the first transfer box, since the processing other than the maintenance such as the replenishment of the feed and the silkworm eggs is fully automated, it is possible to achieve unmanned and aseptic processing. In addition to maintenance, the worker does not enter the second transfer box, and the silkworm rearing environment can be unmanned and sterile all the time. The present embodiment is also characterized in that the automation makes it easy to perform the sterilization without the entry of an operator.

The first turnaround box 202 includes a robot arm 210, a silkworm egg or feed supply position 211, a silkworm pickup position (revolving table) 212, a position (capable of moving up and down) 213 where silkworms are moved to or from the individual rearing containers, and the like. The rearing container is supplied with the silkworm eggs or the feed at a silkworm egg or feed supply position 211. A rotary table for rotating the rearing container is provided at a silkworm picking position, and silkworms are picked from the collective rearing container. The picked silkworms move to the individual rearing containers carried to the position 213 where the silkworms move to the individual rearing containers. Then, at a position 213 where the cocoons are taken out from the individual rearing container, the cocoons spun by silkworms in the individual rearing container are taken out. Fig. 22 is a photograph when the robot arm 210 is located at a position different from the original position, the upper center is a silkworm egg or feed supply position 211, the container for collective rearing is conveyed to the front of the center, a silkworm picking position (rotating table) 212 is located at the upper left, and the robot arm 210 is originally located at the upper left. On the left side of fig. 22, a position (capable of moving up and down) 213 is provided at which silkworms are moved to or from the individual rearing containers.

The second transfer box 203 includes an automatic feeding container storage mechanism 215, a feeding rack 216, and the like. The automatic feeding container storage mechanism 215 automatically conveys the feeding containers, thereby realizing unmanned operation. The automatic holding mechanism 215 for the feeding container is movable in the longitudinal direction in the second transfer box, and can access all the feeding shelves 216 in the second transfer box to automatically surround the feeding shelves. The first transfer box and the second transfer box are connected by a connecting conveyor 214, and the feeding containers can be conveyed between the first transfer box and the second transfer box in an unmanned and sterile state.

[ silkworm moving mechanism ]

The robot arm 210 can be used as a picking robot for picking up silkworms. In the pick-up robot, silkworms can be picked up gently and gently by using a suction cup or a hand using soft robot technology. For example, silkworms of about 3cm in three years old are picked up by a vacuum chuck at the tip of a robot arm. Further, for example, silkworms can be held by soft air-driven hands. As the material of the hand, a soft material made of adhesive silicon is preferable. Further, for example, it is also effective to grip with a soft air-driven hand and suck with a vacuum chuck. When the robot arm 210 is used as a pick-up hand for cocoons, it is preferable to drive the pick-up hand with air, for example, to gently hold the cocoons. The hand for picking up silkworms and the hand for picking up cocoons can be automatically replaced.

Since the silkworm picking position 212 is a rotary table, silkworms can be picked up by the picking robot while rotating the collective rearing container. For example, the position of silkworms is determined by two-dimensional image recognition by a single lens reflex camera. Then, the position of the cocoon is determined by two-dimensional image recognition using a single lens reflex camera, and the cocoon is picked up by hand to be taken out. There are 1 camera at the silkworm picking position and 1 other camera at the silkworm cocoon picking position. However, it is also possible to perform three-dimensional image recognition using a two-axis camera (stereo camera). At a position 213 where silkworms are moved to or from the individual rearing containers, the individual rearing containers can be lifted and lowered by the elevator. The process of moving silkworms to the individual rearing containers and the process of taking out cocoons from the individual rearing containers are performed at the same position 213.

Fig. 27 is a photograph of a detection camera. The detection camera is provided above the picking robot, for example, 1 camera is provided at a silkworm picking position, and another 1 camera is provided at a silkworm cocoon picking position. An illumination mechanism for illuminating a shooting range is provided in the vicinity of the camera. The silkworm or cocoon to be picked up is detected by performing image recognition on the image obtained by the camera for detection.

[ silkworm egg supply mechanism ]

In the silkworm egg or feed supply position 211, silkworm eggs are thrown into the rearing container. As a characteristic feature of the silkworm eggs, healthy silkworm eggs sink down and dead silkworm eggs float up in water. Therefore, an example will be described in which healthy eggs are taken out by a robot using a pipette and the eggs are put into a rearing container. If silkworm eggs are put into the V-groove-shaped disinfection liquid groove, normal silkworm eggs sink to the bottom of the V-groove. The silkworm eggs sunk to the bottom are sucked by a suction mechanism (a plurality of suction mechanisms in a suction pipe shape are arranged in parallel), and the silkworm eggs are thrown into a predetermined place of the centralized rearing container. The eggs are arranged in a plurality of rows, for example, 6 rows. The feed is also supplied in a plurality of rows between the rows of the eggs in parallel with the rows of the eggs. As the disinfectant, for example, OSVAN liquid (registered trademark) can be used. The stock solution was diluted to about 1%. Or may be ozone water. Sterilizing the surface of the silkworm eggs. Thereby, the silkworm eggs can be also in a sterile state.

[ example of realizing silkworm rearing System in transfer case ]

Although not particularly limited, the automatic silkworm breeding system according to the present embodiment can be implemented by being housed in 2 turnover boxes. The first transfer box is a working space, and the second transfer box is a feeding chamber and is connected by a conveyor connecting the first and second transfer boxes. With the above described turnover box, about 2 ten thousand silkworms can be raised, and further enlargement of the scale can raise silkworms in units of 100 ten thousand.

The work in the first transfer box includes screening of the silkworm eggs, preparation of the collective rearing container, preparation of the individual rearing container, addition of feed, picking up of silkworms, movement from the collective rearing container to the individual rearing container, and the like. The robot arm can also use a plurality of pick-up robots. In this case, for example, a plurality of picking robots are arranged around a circumferential conveyor (inner circumferential side and outer circumferential side) and only the mature silkworms can be picked up by image recognition by a camera. By parallel processing, the time for the pickup job can be shortened.

The second transfer box is provided with a plurality of feeding shelves for accommodating the individual feeding containers and the centralized feeding containers. Fig. 29 to 31 show the automatic housing mechanism of the feeding shelf and the feeding container disposed in the second transfer box. Fig. 29 is a photograph of a feeding rack. FIG. 30 is a photograph of a track of the automatic storage mechanism for feeding containers. FIG. 31 is a photograph of an automatic housing mechanism for feeding containers. The automatic feeding container storage mechanism is provided with a lifting mechanism and a mechanism for storing or taking out the feeding containers relative to the feeding shelves.

[ aseptically feeding ]

The feed, the silkworm eggs, the feeding container, the first and second transfer cases, and the like are all in a sterile state, i.e., completely sterile. The humidity in the turnover box is 70 percent, and the feed is prevented from drying. The water content of the feed is 70%, and the humidity condition in the prior turnover box is consistent with that of the feed. The room temperature is preferably 20-25 ℃ preferred by silkworms. The feed is hardly rotten due to the aseptic state, so that the health of silkworms can be maintained. In order to achieve sterility, the outer side of the silkworm eggs is sterilized. As described above, the eggs are thrown into the V-groove-shaped disinfection solution tank, and only the eggs which have sunk to the bottom are taken out. The feed is supplied sterile and the feeding environment is rendered sterile or aseptic. For example, a clean room using an air cleaner that can remove 1 micron-sized dust using a high efficiency air filter (HEPA filter) is provided.

Since the silkworm eggs are incubated at 30 degrees or more within about 3 days, the incubation day can be managed by specifying the incubation day when the silkworm eggs are purchased. When the silkworm eggs are purchased, the variety, the number, the hatching day and the like are specified.

[ feeding method ]

Feeding is done periodically, e.g. every 5 days. Silkworm eggs and feed are thrown into a rearing container, and the silkworm eggs are fed on the 5 th day, fed after 5 days, and further fed after 5 days, and after 15 days in total, silkworms of about 3cm in size from the third year to the fourth year are moved to a tube for individual rearing by a pick-up robot (e.g., a vacuum chuck) while being immobile before molting, and the tube is filled with feed, e.g., about 20g in advance. In the individual rearing containers, silking was carried out on the 25 th day, cocoons were formed, and after 3 days, the cocoons were taken out by the pick-up hand on the total 28 th day.

[ cleaning Process ]

Silkworm excrement can be used as a traditional Chinese medicine, so the silkworm excrement is also recovered. The silkworm excrement falls down from the gap of the metal net of the individual rearing container and is accumulated at the bottom, so that only the silkworm excrement can be collected. The peeled shells and the residual feed remain on the metal net, and thus can be classified. The collective feeding container, the individual feeding containers, and the partition member are cleaned after use, for example, automatically cleaned. Although not particularly limited, for example, automatic cleaning using water flow in the cleaning tank may be employed.

Since the recovery of the collected cocoons, the recovery of the collected excrements, the recovery of the collected residues (food residues and ecdyses), the feed supplement, the silkworm eggs supplement, and the like can all be automatically performed, the unmanned silkworm breeding can be realized, and a fully automatic silkworm breeding system can be realized. However, either of them may be performed by a human hand.

The silkworm egg supply mechanism, the feed supply mechanism, the silkworm movement mechanism, the silkworm cocoon take-out mechanism, the automatic feeding container storage mechanism, and the feeding container movement mechanism are all automated without the help of human hands, so that sterility is easily achieved, and the stress of silkworms can be reduced. In the traditional silkworm breeding, it is very difficult to make the cocooning periods consistent at the time of entering the cocooning frames. In the present embodiment, the timing of the mounting is analyzed by sensing, and a variable operation according to the analysis result can be performed. Monitoring (sensors), data analysis, decision making (utilization of AI), and variable work (automation by robot) according to the analysis result can be performed. When the livestock were transferred to a separate rearing container from the third to fifth instars, management of the stage of cocooning was not required. The timing of cocoon removal may be determined by the number of days or by sensing. In the case where only mature silkworms are selected for picking, since even in the same mass rearing container, there are silkworms which have a relatively slow growth, a mass rearing container storage section capable of temporarily storing the mass rearing containers may be provided in the vicinity of the picking position in order to adjust the picking operation timing. By using the IoT technology, the breeding status of silkworms can be monitored, and the working time can be optimized according to the growth. For example, the condition of silkworms or silkworm cocoons is monitored by a camera. For example, every 1 hour.

[ Individual rearing vessel ]

The individual rearing containers are provided with rearing spaces in a matrix form, for example, in 5 layers × 10 rows. The 1 feeding space is divided into 2 chambers by a partition member. In the cocoon taking-out process, the partition members are pushed out one by one to a half of the length direction on the working table. For example, 5 layers in the longitudinal direction and 10 rows in the transverse direction are separated in the center of the tube, the bottom is lifted by the net, and silkworm excrement is accumulated below the net. An elastic member such as a sponge is provided around the center spacer, and the faeces Bombycis therein is scraped off by moving the spacer by half. And finishing one-time cleaning while taking out the silkworm cocoons. A detachable cover (translucent) is provided on both surfaces.

[ Container for concentrated rearing ]

The container for intensive rearing is a container having a substantially square bottom, and a moisture supply mechanism for preventing drying is provided at the center. See figure 22 for a generally square container below the center. The moisture supply mechanism may be a sponge or the like impregnated with moisture. Alternatively, the water may be directly put into a container as the moisture supply means in advance. A detachable cover (light-transmitting) is provided on the upper surface of the container for collective rearing.

[ partition Member ]

Fig. 23 is a photograph of the partition member. The partition member 240 is inserted into the feeding space of the individual feeding containers. The partition member 240 has a partition portion 241 and a planar portion 243. The partition 41 partitions the feeding space into 2 spaces. The plane 243 is a floor for raising silkworms or cocoons. The plane portion 243 is provided with a plurality of holes, and silkworm excrement falls from the holes and is accumulated between the bottom of the rearing space and the lower portion of the plane portion 243. An elastic member 242 made of, for example, sponge is provided around the partition 241. The elastic member 242 corresponds to the shape and size of the inner wall of the feeding space. Convex portions 246 protruding toward the upper surface side are provided at both end portions of the planar portion 243.

Fig. 24 is a diagram showing a case where the partition member 240 is pushed out from the feeding space by a distance of half the length of the partition member 240 by the partition member moving mechanism 220. When the partition member 240 is pushed out half way from the rearing space in this manner, the elastic member 242 comes into sliding contact with the inner wall of the rearing space, and therefore the silkworm excrement and the residue other than the silkworm excrement in the housing space can be taken out separately. FIG. 25 is a photograph when a silkworm cocoon is taken out from a separate rearing container. Fig. 25 is a reference photograph that is different from the actual setting position, and therefore is different from the actual arrangement relationship. The position for taking out the cocoons is a position where the partition member 240 is pushed out by half from the rearing space, and the partition member 240 on the side protruding is fitted into the partition member housing section in a state where the partition member housing section is in contact with the individual rearing container. In this state, the silkworm excrement is scraped off by the elastic member 242 and then collected by the silkworm excrement collection container. On the other hand, since the feed remaining as the residue other than the excrements for eating, the peeled skin, and the like remain on the plane portion 243, the excrements and the residue other than the excrements can be taken out separately. The cocoon pickup arm shown in fig. 26 can be used to pick up a cocoon.

In order to return the partition member 240 from the position of fig. 24 into the feeding space, a claw portion provided in the partition member moving mechanism 220 is engaged with the convex portion 246. Since the individual feeding containers are placed above the elevator, the height thereof can be adjusted. The individual rearing containers have, for example, a total of 50 rearing spaces in 5 stages and 10 rows. Each of the floors has 10 feeding spaces, and the partition members 240 inserted into the 10 storage spaces of each floor can be moved simultaneously by the 10 arms of the partition member moving mechanism 220. The engagement and disengagement between the claw portion provided in the partition member moving mechanism 220 and the convex portion 246 are performed by height adjustment of the lifter. When the individual rearing containers are rotated by 180 degrees, the partition member 240 can be pushed out from the rearing space from the opposite side even when the partition member 240 is pushed out from the rearing space from both sides of the picking position 212 of silkworms by half from the opposite side.

[ embodiment 4]

In the present embodiment, a method of not using a pickup robot when transferring from the collective feeding container to the individual feeding container, which is different from embodiment 3, will be described with reference to fig. 31 to 37.

From the second instar (about 20 mm) to a cocooning frame (a plurality of frames (liters) of about 50mm × 50mm separated by partitions). Namely, the breeding was changed from the collective breeding to the individual breeding.

(example 1)

In fig. 32, silkworms are placed 1 head by 1 head in the cocooning chamber container 300 by using a conical instrument (funnel 310) such as a funnel (hopper). When 1 silkworm is not put into each cell 301, for example, when 2 silkworms are put into 1 cell, or when an empty cell is generated, the silkworms are moved so that 1 silkworm is put into each cell by using a pickup robot.

Since silkworm cocoons can be obtained in about 3 days, 120-time production of silkworm cocoons per year can be performed. The feeder has less days for application.

Fig. 33 shows a funnel 310A of a modification. A first gate 311 is provided above the extraction port of the hopper 310A, a second gate 312 is provided below the extraction port, and a gate chamber 313 is provided between the first gate and the second gate. When the first shutter 311 is opened, for example, 1 silkworm moves to the shutter chamber 313 by closing the first shutter 311 immediately after the first silkworm moves to the first shutter chamber. Subsequently, when the second shutter 312 is opened, 1 silkworm from the shutter chamber is extracted from the hopper 310 into 1 cell 301. This enables 1 silkworm to be housed in each of the frames 301. When the sensor is provided to the shutter 313, the first shutter 311 and the second shutter 312 can be controlled in accordance with the detection of silkworms by the sensor. Thus, silkworms can be moved 1 head by 1 head toward the gate, and can be reliably extracted 1 head by 1 head from the hopper.

(example 2)

In fig. 34, the individual moving frame 330 partitioned into a plurality of frames 331 is covered from above the collective feeding container 320. The inside dimension of the collective feeding container 320 substantially coincides with the outside dimension of the individual moving sash 330. Because of the habit of the silkworms climbing upward and the habit of being spaced apart from other silkworms, 1 silkworm enters each cell of the cell members autonomously.

(modification 2-1 of example 2)

Instead of the lattice-shaped frame member, for example, a member in which a plurality of corrugated partition members are laminated, that is, a corrugated individual moving frame 333 provided with a plurality of corrugated frames 333 is used. The corrugated individual moving sash 333 of fig. 35 is simpler to manufacture by stacking partition members than the rectangular sash member such as the individual moving sash 330 of fig. 34, and therefore the device becomes inexpensive. The partition member is not limited to a wave shape, and may be, for example, a continuous rectangle.

(modification 2-2 of example 2)

For example, as shown in fig. 36B, silkworms can be clustered by using a wire-mesh-type individual moving frame 336 (fig. 36B) in which a wire mesh 335 (fig. 36 a) is bent into a continuous wave-like shape instead of the lattice-shaped individual moving frame 330. Mature silkworms have the habit of forming cocoons in three-dimensional shaped places. If the habit of the silkworms is utilized, the silkworms recognize a three-dimensional space formed between the metal nets of the metal net type individual moving sash 336 as a three-dimensional shape, and the silkworms cocoon in the space.

(modifications 2 to 3 of example 2)

As shown in fig. 37, the silkworms can be guided to move 1 head each to the frame 331 by arranging the pasty feed in a dispersed manner in the collective rearing container 320 by utilizing the habit of gathering the silkworms in a place where the feed is present, and further, when the frame 330 is moved individually from above, by arranging the silkworms in a dispersed manner as a whole in a dispersed manner.

Fig. 37 (a) is a view showing a case where a relatively small silkworm which has just hatched from a silkworm egg is bred in the first separator 321. The feed 325 is dispersed and disposed in the first partition 321. Silkworms gather at the dispersed feed, and as a result, can be fed dispersedly.

Fig. 37 (B) is an explanatory view of a case where the first separator 321 is removed and silkworms are raised in the second separator 322 when they become large. By uniformly dispersing the feed in the second separator, silkworms are gathered in the feed, and as a result, silkworms can be dispersedly fed in the second separator 322.

In fig. 37 (C), when silkworms grow further, the second separator 322 is removed, and silkworms are fed to the collective feeding container 320 as a whole. The pasty feed is uniformly dispersed and disposed in the collective feeding container 320. Since silkworms gather in the feed, the silkworms are approximately equally dispersed in the collective rearing container 320. When silkworms mature in this state, the single movable frame 330 is covered from above the collective rearing container 320, and the mature silkworms distributed substantially uniformly can be guided to the frame 331 for 1 head each.

(example 3)

When the silkworms are reared in the collective rearing container 320, silkworm feces, feed residues, and the like are accumulated in the collective rearing container 320 in addition to the silkworms. It is desired to take out only the boiled silkworms for mounting, but if the boiled silkworms are taken out directly from the container in advance, the residues come out together anyway. Therefore, by using a vacuum suction nozzle which delivers silkworms in such a degree that the silkworms stay in the collective rearing container 320 by their own power, only the residue in the collective rearing container 320 can be sucked, and only the matured silkworms can be collectively taken out. When only the mature silkworms are removed, the silkworms can be collectively put into the funnel 310 of the embodiment of fig. 32. Furthermore, even if the hopper 310 is not used, since silkworms have a property of being spaced apart from other silkworms, the silkworms can enter the respective frames 301 by 1 head by themselves and can be cocooned there only by spreading the mature silkworms on the cocooning chamber container 300. Here, an example of scattering silkworms in the cocooning chamber container 300 has been described, but the present embodiment is not limited to this, and for example, silkworms may be made to enter each frame or individual space independently at 1 head by scattering silkworms in a metal mesh type individual moving frame of fig. 36 (B), a mesh-like frame member woven with bamboo, or the like, and cocooning may be performed here.

In the above embodiments and modifications, the description has been given of the apparatus in which silkworms autonomously enter the respective frames 1 by one using the habit of silkworms:

the habit of silkworms to be spaced apart from each other;

the habit of wanting to climb up; and

the habit of a mature silkworm cocooning in a three-dimensional space and spinning on a plane in a two-dimensional space,

but not limited to all silkworms capable of being tufted by their own actions. Since there are several silkworms which cannot be clustered by their own actions, such silkworms can be forcibly clustered by a robot arm shown in fig. 28, for example. Further, by using a plurality of robot arms, the processing time for mounting silkworms can be further shortened.

The automatic silkworm breeding system, the automatic silkworm breeding method, the program, and the storage medium according to the embodiments of the present invention have been described above, but these embodiments are exemplified to describe the automatic silkworm breeding system, the automatic silkworm breeding method, the program, and the storage medium for embodying the technical idea of the present invention, and the present invention is not intended to be limited to the embodiments. The present invention can be equally applied to an embodiment in which each embodiment, each example, or each modified example is combined, and an embodiment in which various modifications are made.

Description of the symbols

1. 1A, 1B-silkworm rearing system, 2-turnover box, 2A-first turnover box, 2B-second turnover box, 10-silkworm transfer device, 11-silkworm holding member, 11A-first holding portion, 11B-second holding portion, 11 c-vacuum adsorption portion, 12-holding member moving device, 13-camera, 20-second rearing container carrying device, 30-control device, 40-first rearing container carrying device, 41-carrying device, 60-fodder supplying device, 61-fodder storage container, 62-1-nozzle member, 62-2-second nozzle member, 62 h-opening, 63-1-moving device, 63-2-second moving device, 64-fodder supplying pipe, 64 d-first branch pipe, 64 e-second branch pipe, 64 m-main pipe, 64 r-return pipe, 65-fodder supplying pump, 67-a water supply pipe, 70-a partition member moving device, 71-a partition member holding portion, 71 a-a first holding portion, 71 b-a second holding portion, 71 c-a hook portion, 72-a holding portion moving device, 80-a silkworm egg transfer device, 81-a suction pipe, 82-a pipe, 83-an opening/closing valve, 84-a vacuum pump, 86-a suction pipe moving device, 91-a heat insulating material, 92-an air conditioning device, 92 a-an air supply port, 95-a turnover box connecting portion, 101-a monitoring computer, 103-a silkworm cocoon collecting device, 105-a cleaning device, 110-a holding portion, 111-a holding piece, 111 a-a first holding piece, 111 b-a second holding piece, 112-a contact portion, 201-an automatic silkworm raising system, 202-a first turnover box, 203-a second turnover box, 210-a robot arm, 211-a silkworm egg or feed supply position, a silkworm pickup position (rotation table), 213-a position (a position where silkworms can be lifted and removed from an individual rearing container (a position where silkworms can be lifted and lowered ) 214-link conveyor, 215-automatic housing mechanism for feeding container, 216-feeding shelf, 220-moving mechanism for partition member (push, pull (pull with claw on the convex portion of partition member)), 230-rail of automatic housing mechanism for feeding container, 240-partition member, 241-partition portion, 242-elastic member, 243-plane portion, 244-hole, 245-flange portion, 246-convex portion, 300-upper cluster chamber container, 301-sash, 310-funnel, 311-first gate, 312-second gate, 320-concentrated feeding container, 321-first partition member, 322-second partition member, 325-feed, 330-single moving sash, 331-sash, 332-wave-type single moving sash, 333-wave-type sash, 335-metal mesh, 336-metal mesh single moving sash, 611-stirring device, 620-switching valve, 621-first nozzle, 622-second nozzle, 623-third nozzle, 630-robot arm, 641, 643, 645-opening and closing valve, 651-rotation shaft, 652-blade member, 671-opening and closing valve, 672-filter, 921-fan, 922-heat exchanger, 923-filter, 924-filter, a-silkworm, AR-silkworm transfer area, AR 1-first rearing container storage area, AR 2-second rearing container storage area, AT-sterile atmosphere, C1-first rearing container, C2-second rearing container, C3-container, CL-cover member, CY-cylindrical container, Ca-first end portion, Cb-second end portion, D1-branch portion, D2-branch portion, DR-door, DR 1-first door, DR 2-second door, E, E1, E2-silkworm egg, F-fodder, F1-mulberry leaf, F-bean dregs, H-casing member, IS-internal space, J-partition wall, M-OP-manure, M1, M-OP 2 opening, p-partition member, P1-first partition member, P2-second partition member, PH-fluid supply path, PL-feed support portion, Pa-engagement portion, R1-first region, R2-second region, Rn 1-first region, Rn 2-second region, SP-rearing chamber, SP 1-first rearing chamber, SP 2-second rearing chamber, T1-shelf, T2-shelf, Wa-outer wall, Ws-inner surface.