JP7584779B2 - Automatic sericulture system, automatic sericulture method, program and storage medium - Google Patents

Description

Article 30, paragraph 2 of the Patent Act applies "KYOTO SMART CITY EXPO 2019" October 3rd and 4th, 2019 Venue: Keihanna Open Innovation Center (KICK) (7-5-1 Seikadai, Seika-cho, Soraku-gun, Kyoto Prefecture) Telecommunications line address https://www.facebook.com/ https://www.facebook.com/story.php?story_fbid=10215001641137740&id=1330853316 Date of website publication October 3rd, 2019

The present invention relates to an automatic sericulture system, an automatic sericulture method, a program, and a storage medium.

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

When raising silkworms, it is generally necessary to feed them with mulberry leaves and other foods every day (except during the sleeping period). The larval stage of silkworms lasts about 25 days, during which they molt four times. Then, in the fifth and final stage, silkworms synthesize silk proteins in their bodies and spin a thread of about 1,200 meters, which they then use to make cocoons.

As a related technique, Patent Document 1 describes a sericulture method. In the sericulture method described in Patent Document 1, a sheet of sericulture feed is laid on a flat pallet, and a net is placed on top of it. The net is used by the silkworms to hold on to when they molt.

Attempts to reduce the labor required for sericulture have been introduced in the past. Patent Document 2 describes a method for rearing silkworms using artificial feed, in which the work of transferring rearing trays stacked in multiple tiers and moving the rearing net in which the silkworms are reared is simplified by using an arm. Patent Document 1 also describes that when rearing silkworms in a sterile room, the work process is simplified to reduce the intrusion of germs from outside and the effects of bacteria falling inside the room.

Patent Document 3 describes a silkworm rearing device that uses a drive system to move rearing cages 10 housed in multiple rearing shelves in a circular motion or automatically transport them to a work opening in order to reduce labor when rearing large numbers of silkworms.

JP 2004-129546 A Patent No. 3657326 Patent No. 6134021

However, in Patent Document 1, most of the rearing of silkworms is done by hand. This makes the cost of rearing silkworms high. In addition, because most of the rearing of silkworms is done by hand, there is a relatively high risk of bacteria being introduced into the rearing environment of the silkworms.

In addition, in the silkworm rearing method described in Patent Document 2, an arm can be used to transfer rearing trays containing artificial feed and move rearing nets, but the supply of feed and the installation of equipment cannot be automated, and all steps of sericulture are not automated.

In the silkworm rearing device described in Patent Document 3, the rearing cages 10 are circulated by a drive device and automatically transported to the work opening, but the attachment and detachment of plastic bags and replacement of rearing cages cannot be automated, and all steps of sericulture are not automated.

The object of the present invention is to provide an automated sericulture system that can raise silkworms in a sterile environment and automate all sericulture processes.

The object of the present invention is to
an egg supplying means for automatically supplying eggs to the group rearing container;
a feed supplying means for automatically supplying feed to the group rearing container;
a silkworm moving means for automatically moving silkworms from a group rearing container to an individual rearing container;
a cocoon removal means for automatically removing cocoons from the individual rearing containers;
An automatic rearing container storage means for automatically storing the group rearing containers and/or the individual rearing containers on the rearing shelf and automatically removing them from the rearing shelf; and
A breeding container moving means for automatically moving the group breeding containers and/or the individual breeding containers between each of the above means;
This is achieved by an automatic silkworm rearing system comprising:

The automated sericulture system of the present invention can raise silkworms in a sterile environment and can automate all of the sericulture processes.

FIG. 1 is a diagram illustrating a silkworm rearing system according to the first embodiment. FIG. 2 is a flowchart showing an example of a silkworm rearing method according to the first embodiment. FIG. 3 is a diagram showing a schematic diagram of a silkworm rearing system according to the second embodiment. FIG. 4 is a schematic perspective view showing a silkworm rearing system according to the second embodiment. FIG. 5 is a diagram illustrating an example of a food supplying device. FIG. 6 is a schematic perspective view illustrating an example of the first rearing container. FIG. 7 is a diagram illustrating an example of a partition member moving device. FIG. 8 is a flowchart showing an example of the first rearing step. FIG. 9 is a diagram illustrating an example of the first rearing step. FIG. 10 is a schematic perspective view illustrating an example of the first rearing container. FIG. 11 is a schematic cross-sectional view showing an example of an egg transfer device. FIG. 12 is a schematic front view showing an example of an egg transfer device. FIG. 13 is a diagram illustrating a silkworm rearing system according to the second embodiment. FIG. 14 is a schematic perspective view illustrating an example of the second rearing container. FIG. 15 is a schematic perspective view illustrating an example of the second rearing container. FIG. 16 is a flowchart showing an example of a silkworm rearing method in the second embodiment. FIG. 17 is a diagram showing a schematic diagram of an example of a silkworm transferring device that can be adopted in the silkworm rearing system in the embodiment. FIG. 2 is a plan view of the entire system. FIG. 4 is a plan view of the first container. FIG. 4 is a plan view of the second container. FIG. 21 is a side view of FIG. This is a photograph of a group breeding container. 1 is a photograph of a partition member. This is a photograph showing a case where a partition member protrudes from an individual rearing container. This is a photograph of removing cocoons from individual rearing containers. This is a photo of the robot arm. (The feces collection container is on the right side of the arm, and the cocoon collection container is in front of the arm.) This is a photo taken with a camera. 1 is a photograph of a cocoon pick-up means. This is a photo of the breeding shelf. This is a photograph of the rails of the automatic rearing container storage means. 13 is a photograph of the automatic rearing container storage means. FIG. 1 is an explanatory diagram of a funnel movement method. FIG. 1 is an illustration of a valved funnel. FIG. 13 is an explanatory diagram of a square moving method. FIG. 13 is an explanatory diagram of a wavy square. FIG. 13 is an explanatory diagram of a mesh-type grid. FIG. 1 is an explanatory diagram of the silkworm dispersion method.

The following describes an automatic sericulture system, an automatic sericulture method, a program, and a storage medium according to an embodiment of the present invention, with reference to the drawings. However, the embodiments described below are merely examples of an automatic sericulture system, an automatic sericulture method, a program, and a storage medium for embodying the technical ideas of the present invention, and do not limit the present invention to these, but may be equally applicable to other embodiments included in the scope of the claims. In the following description, components and parts having the same functions are given the same reference numerals, and repeated description of components and parts with the same reference numerals will be omitted.

[First embodiment]
A silkworm rearing system 1A and a silkworm rearing method according to a first embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a schematic diagram of a silkworm rearing system 1A according to the first embodiment. Fig. 2 is a flowchart showing an example of a silkworm rearing method according to the first embodiment.

The silkworm rearing system 1A in the first embodiment includes a silkworm transfer device 10 that transfers silkworms from a first rearing container C1 to a second rearing container C2, and a second rearing container transport device 20 that transports the second rearing container C2.

It is preferable that a plurality of silkworms A are collectively reared inside the first rearing container C1. In other words, it is preferable that the first rearing container C1 is a container for collectively rearing a plurality of silkworms in a rearing room. For example, 10 to 1000 silkworms, 30 to 500 silkworms, or 50 to 300 silkworms are collectively reared inside the first rearing container C1. The area of the rearing region in one first rearing container C1 (area in a plan view) is, for example, 100 cm ² to 10000 cm 2, 400 cm ² to 4900 ^{cm 2} , or 900 cm ² to 2500 cm ^2. The first rearing container C1 is, for example, a container with an open top.

It is preferable that multiple silkworms A are individually raised inside the second rearing container C2. In other words, it is preferable that the second rearing container C2 is an individual rearing container for individually rearing one silkworm in each rearing chamber. In the example shown in FIG. 1, the second rearing container C2 includes multiple rearing chambers SP that are isolated from each other. In the example shown in FIG. 1, the second rearing container C2 includes a first rearing chamber SP1 and a second rearing chamber SP2, and the first rearing chamber SP1 and the second rearing chamber SP2 are isolated from each other. The number of rearing chambers SP provided in the second rearing container C2 is, for example, 10 or more, 30 or more, or 50 or more.

Each breeding chamber SP may be defined by an independent cylindrical container, or may be defined by a partition wall disposed within a housing member (e.g., within a container or frame). In other words, the second breeding container C2 may be a collection of multiple cylindrical containers, or may have multiple partition walls disposed inside a housing member that defines the 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 device 10 transfers silkworm A from the first rearing container C1 to the second rearing container C2 so that only one silkworm A is housed in each rearing room SP (for example, only one silkworm is housed in the first rearing room SP1 and only one silkworm is housed in the second rearing room SP2).

The silkworm transfer device 10 includes, for example, a silkworm holding member 11 and a holding member moving device 12 that moves the silkworm holding member 11 from the first rearing container C1 to the second rearing container C2. The silkworm transfer device 10 may also include a camera 13 that can capture images of the silkworms.

The silkworm holding member 11 is a member capable of holding a silkworm. The silkworm holding member 11 may have a first gripping portion 11a and a second gripping portion 11b. In this case, by reducing the distance between the first gripping portion 11a and the second gripping portion 11b, the silkworm holding member 11 can hold a single silkworm. Alternatively, or additionally, the silkworm holding member 11 may have a vacuum suction portion 11c capable of suctioning the epidermis of the silkworm.

The holding member moving device 12 is, for example, a device that can change the position of the silkworm holding member 11 in three dimensions. The holding member moving device 12 is, for example, a robot arm.

The camera 13 captures images of multiple 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 posture of each of the multiple 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. The control device 30 then controls the holding member moving device 12 to move the silkworm holding member 11 toward one rearing room SP (e.g., the first rearing room SP1) of the second rearing container C2. The control device 30 controls the silkworm holding member 11 to release the silkworm holding member 11 from its hold on the silkworm. As a result, the silkworms are housed in one of the rearing chambers SP (e.g., the first rearing chamber SP1) of the second rearing container C2.

The operation of transferring the silkworms in the first rearing container C1 to one of the rearing rooms SP of the second rearing container C2 is repeatedly executed. For example, after one silkworm is housed in the first rearing room SP1, the camera 13 again captures an image of the multiple 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 posture of each of the multiple 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 control device 30 controls the holding member moving device 12 to move the silkworm holding member 11 toward one of the rearing rooms SP (e.g., the second rearing room SP2) of the second rearing container C2. The control device 30 controls the silkworm holding member 11 to release the silkworms from their holding. As a result, the silkworms are housed in one of the rearing chambers SP (e.g., the second rearing chamber SP2) of the second rearing container C2.

The second rearing container transport device 20 moves the second rearing container C2 from the silkworm transfer area AR to the second rearing container storage area AR2. The silkworm transfer area AR is an area where the silkworms A are transferred from the first rearing container C1 to the second rearing container C2. On the other hand, the second rearing container storage area AR2 is an area where the second rearing container C2 is stored. In the example shown in FIG. 1, a shelf T2 is arranged in the second rearing container storage area AR2, and the second rearing container C2 is stored on the shelf T2.

In the example shown in FIG. 1, shelf T2 is a fixed shelf installed in the second rearing container storage area AR2. In addition, the second rearing container transport device 20 transports the second rearing container C2 between the silkworm transfer area AR and the second rearing container storage area AR2. Alternatively, the second rearing container transport device 20 may transport the shelf T2 on which the second rearing container C2 is placed between the silkworm transfer area AR and the second rearing container storage area AR2. In other words, shelf T2 may be a movable shelf.

When the second rearing container C2 is in the second rearing container storage area AR2, the silkworms in the second rearing container C2 eat the food F and grow.

The second breeding container transport device 20 may include a conveyor such as a belt conveyor or a roller conveyor. Alternatively, or additionally, the second breeding container transport device 20 may include a transport device (e.g., a stacker crane) with a transfer device that transfers the second breeding container C2 to the shelf T2. Based on a command from the control device 30, the second breeding container transport device 20 transports the second breeding container C2 to a predetermined storage position (an empty storage position among the multiple storage positions) in the second breeding container storage area AR2. The second breeding container transport device 20 is driven, for example, by a motor.

The control device 30 controls the operation of the silkworm transfer device 10 and/or the second rearing container transport device 20. The number of computers possessed by the control device 30 may be one or more. In other words, one computer may function as the control device 30, or multiple computers may function as the control device 30 by working together.

The silkworm rearing system 1 in the first embodiment includes a silkworm transfer device 10 and a second rearing container transport 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 to which the silkworms have been transferred can be automated. As a result, the rearing of silkworms is made more efficient. In addition, because the transfer of silkworms and the movement of the second rearing container C2 are not performed manually, there is virtually no contamination of the silkworm rearing environment with germs.

In the first embodiment, the silkworm rearing system 1A may include a first rearing container transport device 40 that transports the first rearing container C1 from the first rearing container storage area AR1 to the silkworm transfer area AR. The first rearing container transport device 40 is preferably a transport device separate from the second rearing container transport device 20. The first rearing container transport device 40 includes a conveyor such as a belt conveyor or a roller conveyor. The first rearing container transport device 40 may include a transport device with a transfer device that transfers the first rearing container C1 to the shelf T1. The first rearing container transport device 40 is driven, for example, by a motor.

When the silkworm rearing system 1A is equipped with the first rearing container transport device 40, the movement of the first rearing container C1 to the silkworm transfer area AR can be automated. As a result, the rearing of silkworms becomes even more efficient. In addition, because the movement of the first rearing container C1 is not performed manually, there is virtually no risk of bacteria being introduced into the silkworm rearing environment.

In the example shown in FIG. 1, a shelf T1 is placed in the first rearing container storage area AR1, and the first rearing container C1 is stored on the shelf T1. When the first rearing container C1 is in the first rearing container storage area AR1, the silkworms in the first rearing container C1 eat food and grow.

In the first embodiment, the first rearing container storage area AR1 is preferably arranged in a sterile atmosphere AT. The second rearing container storage area AR2 is preferably arranged in a sterile atmosphere AT. Similarly, the silkworm transfer area AR is preferably arranged in a sterile atmosphere AT. In this specification, the sterile atmosphere AT means an atmosphere in a space substantially isolated from the outside, and set so that the amount of microorganisms present is less than that of the outside. The cleanliness in the sterile atmosphere AT is, for example, a cleanliness of Class 6 to Class 8, more preferably a cleanliness of Class 7 or less, according to the ISO standard (ISO14644-1:2015). The cleanliness level of Class 6 is equivalent to Class 1000 of the US Federal Standard FED-STD 209E, the cleanliness level of Class 7 is equivalent to Class 10,000 of the US Federal Standard FED-STD 209E, and the cleanliness level of Class 8 is equivalent to Class 100,000 of the US Federal Standard FED-STD 209E.

(Silkworm rearing method)
Next, an example of a silkworm rearing method in the first embodiment will be described.

In the first step ST1, multiple silkworms are reared in the first rearing container C1. The first step ST1 is the first silkworm rearing process. In the first silkworm rearing process, for example, multiple silkworms A are reared collectively in the first rearing container C1.

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

The second step ST2 may include a first transport step of transporting the first rearing container C1 to the silkworm transfer area AR, a second transport step of transporting the second rearing container C2 to the silkworm transfer area AR, and a transfer step of transferring multiple silkworms A from the first rearing container C1 to the second rearing container C2 using the silkworm transfer device 10.

The first transport step is performed, for example, using a first breeding container transport device 40. The second transport step is performed, for example, using a second breeding container transport device 20. The second transport step may be performed before the first transport step, after the first transport step, or simultaneously with the first transport step.

In the example shown in FIG. 1, the second rearing container C2 includes a plurality of rearing rooms SP for individual rearing. In this case, the second step ST2 (silkworm transfer process) may include transferring a plurality of silkworms A reared in the first rearing container C1 to a plurality of rearing rooms SP, respectively. In the example shown in FIG. 1, the silkworm transfer device 10 transfers a plurality of silkworms A reared collectively in the first rearing container C1 to a plurality of rearing rooms SP for individual rearing, respectively. For this reason, it is possible to smoothly switch from collective rearing to individual rearing without introducing germs into the rearing environment of the silkworms. In addition, the silkworm transfer process (i.e., the silkworm transfer process 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 transferring the silkworms in the first rearing container C1 to the food support part PL (see FIG. 14) in the second rearing container C2. Alternatively, the silkworm transfer process (i.e., the silkworm transfer process 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 transferring the silkworms in the first rearing container C1 to a food support part PL (see FIG. 5) outside the second rearing container C2, and inserting the food support part PL on which the silkworms A are supported into the second rearing container C2.

After the second step ST2 is performed, the second rearing container C2 to which the multiple silkworms A have been transferred is transported from the silkworm transfer area AR to the second rearing container storage area AR2. This transport is performed, for example, using the second rearing container transport device 20.

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

In the silkworm rearing method in the first embodiment, the silkworms are transferred from the first rearing container C1 to the second rearing container C2 by the silkworm transfer device 10. Therefore, the transfer of the silkworms from the first rearing container C1 to the second rearing container C2 can be automated. As a result, the rearing of the silkworms is made more efficient. In addition, because the transfer of the silkworms is performed by the silkworm transfer device 10, there is substantially no contamination of the silkworm rearing environment with germs.

In the first embodiment, when multiple silkworms A are collectively reared in the first rearing container C1 and multiple silkworms A are individually reared in the second rearing container C2, young silkworms can be collectively reared efficiently in a small space, and older silkworms can be individually reared with reduced stress. Thus, in the first embodiment, it is possible to achieve both space saving for rearing silkworms, efficient rearing of silkworms, and reduction of stress on silkworms. Furthermore, when silkworms are made to form cocoons in a rearing room for individual rearing, the location where the cocoon is formed can be localized. In this case, it becomes easier to collect the cocoons (for example, by a robot).

Second Embodiment
A silkworm rearing system 1B and a silkworm rearing method according to the second embodiment will be described with reference to Figs. 3 to 16. Fig. 3 is a schematic plan view of the silkworm rearing system 1B according to the second embodiment. Fig. 4 is a schematic perspective view of the silkworm rearing system 1B according to the second embodiment. Fig. 5 is a schematic view of an example of a feed supplying device 60. Fig. 6 is a schematic perspective view of an example of a first rearing container C1. Fig. 7 is a schematic view of an example of a partition member moving device 70. Fig. 8 is a flow chart showing an example of a first rearing process. Fig. 9 is a schematic view of an example of a first rearing process. Fig. 10 is a schematic perspective view of an example of a first rearing container C1. Fig. 11 is a schematic cross-sectional view of an example of an egg transfer device 80. Fig. 12 is a schematic front view of an example of an egg transfer device 80. Fig. 13 is a diagram showing a silkworm rearing system 1B in the second embodiment. Fig. 14 is a schematic perspective view showing an example of the second rearing container C2. Fig. 15 is a schematic perspective view showing an example of the second rearing container C2. Fig. 16 is a flowchart showing an example of a silkworm rearing method in the second embodiment.

The silkworm rearing system 1B in the second embodiment includes a container 2 in which at least one of the multiple devices constituting the silkworm rearing system 1B is placed. In the second embodiment, differences from the first embodiment will be mainly described, and repetitive descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment, even if they are not explicitly described in the second embodiment. This also applies to the other embodiments.

The silkworm rearing system 1B includes, for example, at least one of a silkworm transfer device 10, a first rearing container transport device 40, a second rearing container transport device 20, and a control device 30. The silkworm transfer device 10, the first rearing container transport device 40, the second rearing container transport device 20, and the control device 30 have already been described in the first embodiment, so repeated descriptions of these components will be omitted.

In the example shown in FIG. 3, the silkworm rearing system 1B includes two containers 2 (more specifically, a first container 2A and a second container 2B). However, the number of containers 2 included in the silkworm rearing system 1B may be one, or three or more.

In the example shown in FIG. 3, the second breeding container transport device 20 is disposed within the container 2 (more specifically, the second container 2B). The container 2 is capable of defining a substantially closed space (more specifically, a sterile atmosphere AT). Therefore, when the second breeding container transport device 20 is disposed within the container 2, it is difficult for germs to get into the transport path of the second breeding container C2.

When the transport device is installed in a closed space, it is generally installed in a building that defines the closed space. In contrast, in the second embodiment, the transport device, such as the second breeding container transport device 20, is placed in the container 2. Even when the container 2 is placed outdoors, it is possible to define a substantially closed space. Therefore, it is not necessary to construct a new building to place the transport device. Furthermore, even when the container 2 is placed in an existing building, the container 2 defines a substantially closed space, so the existing building is not required to be highly airtight. Furthermore, since the container 2 can be transported by vehicle, ship, etc., there is a high degree of freedom in the placement of the container 2. Furthermore, it is also easy to move a container that has been placed in a specified location to another location.

Container 2 is, for example, a portable container standardized by ISO 668 (e.g., ISO 668:1995, ISO 668:2005, ISO 668:2013, etc.). The container 2 is, for example, a 45-foot container (ISO 668 "1EEE" container, "1EE" container, etc.), a 40-foot container (ISO 668 "1AAA" container, "1AA" container, "1A" container, "1AX" container, etc.), a 30-foot container (ISO 668 "1BBB" container, "1BB" container, "1B" container, "1BX" container, etc.), a 20-foot container (ISO 668 "1CC" container, "1C" container, "1CX" container, etc.), a 10-foot container (ISO 668 "1D" container, "1DX" container, etc.), a 6.5-foot container (ISO 668 "1E" container, etc.), or a 5-foot container (ISO 668 "1F" container, etc.). Hereinafter, in this specification, a portable container standardized by ISO 668 is referred to as an "ISO container".

(First container 2A)
In the example shown in Fig. 1, the silkworm rearing system 1B has a first container 2A. The first container 2A is, for example, an ISO container. The length of the first container 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 container 2A has a first breeding container storage area AR1. In the example shown in FIG. 1, a heat insulating material 91 is arranged along the inner surface Ws of the outer wall Wa of the first container 2A. In addition, an air conditioning device 92 that adjusts the temperature inside the first container 2A is arranged in the first container 2A.

When the silkworm rearing system 1B includes a first container 2A having a first rearing container storage area AR1, a heat insulating material 91, and an air conditioning device 92, it is possible to set the silkworm rearing environment in the first rearing container C1 to a suitable environment. The air conditioning device 92 may be an air conditioning device capable of adjusting the temperature, or may be an air conditioning device capable of adjusting the temperature and humidity. The air conditioning device 92 maintains the temperature of the first rearing container storage area AR1 at, for example, 20 degrees Celsius or higher and 35 degrees Celsius or lower, or 25 degrees Celsius or higher and 30 degrees Celsius or lower.

When the air conditioning device 92 is activated, the pressure inside the first container 2A is set to be higher than the pressure outside the first container 2A. The pressure difference between the pressure inside the first container 2A and the pressure outside the first container 2A is, for example, 10 Pa (Pascal) or more, 100 Pa or more, 1000 Pa or more, 3000 Pa or more, or 5000 Pa or more. By setting the pressure inside the first container 2A to be higher than the pressure outside the first container 2A, the risk of bacteria being mixed into the first container 2A is reduced.

When the air conditioning device 92 is operated, it is preferable that the pressure in the first rearing container storage area AR1 is set to be higher than the pressure in the area outside the first rearing container storage area AR1 in the first container 2A. The pressure difference between the two areas is, for example, 10 Pa (Pascal) or more, 100 Pa or more, or 1000 Pa or more. By setting the pressure in the first rearing container storage area AR1 to be higher than the pressure in the area outside the first rearing container storage area AR1, the risk of bacteria being mixed into the first rearing container storage area AR1 is reduced. In order to make the pressure in the first rearing container storage area AR1 higher than the pressure in the area outside the first rearing container storage area AR1, the air supply port 92a of the air conditioning device 92 may be arranged in the first rearing container storage area AR1.

The air conditioner 92 includes a fan 921 that supplies air from outside the first container 2A to inside the first container 2A, a heat exchanger 922 that raises or lowers the temperature of the air, and a filter 923 (e.g., a HEPA filter) that removes germs from the air.

The air conditioner 92 may include a circulation flow path that circulates the air in the first container 2A within the first container 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, germs that have entered the first container 2A are removed by the filter 924.

(Second container 2B)
In the example shown in Fig. 3, the silkworm rearing system 1B has a second container 2B. The second container 2B is, for example, an ISO container. The length of the second container 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 container 2B has a second breeding container storage area AR2. In the example shown in FIG. 3, a heat insulating material 91 is arranged along the inner surface Ws of the outer wall Wa of the second container 2B. In addition, an air conditioner 92 that adjusts the temperature inside the second container 2B is arranged in the second container 2B. The air conditioner 92 arranged in the second container 2B is an air conditioner similar to the air conditioner 92 arranged in the first container 2A. The air conditioner 92 arranged in the second container 2B includes a fan 921, a heat exchanger 922, filters (923, 924), etc., similar to the air conditioner 92 arranged in the first container 2A. The air conditioner 92 arranged in the second container 2B maintains the temperature of the second breeding container storage area AR2 at, for example, 20 degrees Celsius or higher and 35 degrees Celsius or lower, or 25 degrees Celsius or higher and 30 degrees Celsius or lower by the air conditioner 92.

When the air conditioning device 92 is activated, the pressure inside the second container 2B is set to be higher than the pressure outside the second container 2B. The pressure difference between the pressure inside the second container 2B and the pressure outside the second container 2B is, for example, 10 Pa (Pascal) or more, 100 Pa or more, 1000 Pa or more, 3000 Pa or more, or 5000 Pa or more.

When the air conditioning device 92 is operated, the pressure in the second rearing container storage area AR2 is preferably set to be higher than the pressure in the area outside the second rearing container storage area AR2 in the second container 2B. The pressure difference between the two areas is, for example, 10 Pa (pascals) or more, 100 Pa or more, or 1000 Pa or more. In order to make the pressure in the second rearing container storage area AR2 higher than the pressure in the area outside the second rearing container storage area AR2, the air supply port 92a of the air conditioning device 92 may be disposed in the second rearing container storage area AR2.

In the example shown in FIG. 3, the silkworm rearing system 1B has a first container 2A having a first rearing container storage area AR1 and a second container 2B having a second rearing container storage area AR2. The second container 2B is a separate container from the first container 2A. In this case, the silkworm rearing system 1B can independently set a rearing environment (first container 2A) for rearing relatively young silkworms and a rearing environment (second container 2B) for rearing relatively old silkworms. For example, by rearing relatively young silkworms in groups, it is possible to rear a large number of silkworms in a relatively small space. On the other hand, by rearing relatively old silkworms individually, it is possible to reduce the stress acting on the silkworms.

For silkworms that are relatively old, a relatively large rearing space is required. Therefore, the size of the second container 2B having the second rearing container storage area AR2 may be larger than the size of the first container 2A having the first rearing container storage area AR1. Alternatively, or additionally, multiple containers 2 may be arranged so that the number of second containers 2B having the second rearing container storage area AR2 is greater than the number of first containers 2A having the first rearing container storage area AR1. For example, one first container 2A may be connected to two or more second containers 2B. The number of second containers 2B connected to the first container 2A may be three or more, five or more, or ten or more.

(Container connection section 95)
In the example shown in FIG. 3, the silkworm rearing system 1B includes a container connector 95 that connects the first container 2A and the second container 2B. The presence of the container connector 95 suppresses the intrusion of germs into the first container 2A or the second container 2B. More specifically, when the first rearing container C1, the second rearing container C2, etc. are transported between the first container 2A and the second container 2B, germs may intrude from the opening of the first container 2A or the opening of the second container 2B. In the example shown in FIG. 3, since the first container 2A and the second container 2B are connected by the container connector 95 (more specifically, since the opening of the first container 2A and the opening of the second container 2B are covered by the container connector 95), the risk of germs intruding from these openings is reduced. The container connector 95 may be made of a flexible member made of a synthetic resin such as vinyl, may be made of a rigid member such as a metal plate, or may be made of a combination of a flexible member and a rigid member.

In the example shown in FIG. 3, a first door DR1 is arranged at the opening of the first container 2A, and a second door DR2 is arranged at the opening of the second container 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 supplying device 60. The feed supplying device 60 is a device that supplies feed (silkworm feed) to the first rearing container C1 or the second rearing container C2. When the silkworm rearing system 1B includes the feed supplying device 60, the supply of feed to the first rearing container C1 or the second rearing container C2 can be automated. In this case, the introduction of germs into the silkworm rearing environment is suppressed when the feed is supplied.

In the example shown in FIG. 3, the feed supplying device 60 is disposed in the first container 2A. Alternatively, or additionally, the feed supplying device 60 may be disposed in the second container 2B. When the feed supplying device 60 is disposed in the container 2, the introduction of germs into the silkworm rearing environment during the supply of feed is more effectively prevented. However, when the silkworm rearing system 1B does not have the above-mentioned container 2, the feed supplying device 60 may be disposed in any location other than the container 2.

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

The feed storage container 61 is a container for temporarily storing food for silkworms. For example, mulberry F1 (more specifically, powdered mulberry leaves), soybean pulp F2, and water are poured into the feed storage container 61. In the example shown in FIG. 5, mulberry F1 is poured into the feed storage container 61 from the mulberry container, and soybean pulp F2 is poured into the feed storage container 61 from the soybean pulp container. The pouring may be performed automatically by a mulberry supplying device and/or a soybean pulp supplying device, or may be performed manually.

In the example shown in FIG. 5, a water supply pipe 67 is connected to the food storage container 61. The water supply pipe 67 is used to automatically supply water to the food storage container 61. In the example shown in FIG. 5, an on-off valve 671 and a filter 672 are disposed in the water supply pipe 67. The on-off valve 671 and the control device 30 are connected by wire or wirelessly so as to be capable of transmitting signals, and the on-off valve 671 is opened and closed based on a command from the control device 30. When the on-off valve 671 is open, water is supplied to the food storage container 61, and when the on-off valve is closed, water is not supplied to the food storage container 61. The filter 672 removes foreign matter or germs from the water.

In the example shown in FIG. 5, mulberry, soybean pulp, and water placed in the feed storage container 61 are stirred within the feed storage container 61. The stirring is performed by a stirrer 611 driven by a motor M1. The motor M1 and the control device 30 are connected by wire or wirelessly so that signals can be transmitted, and the motor M1 is driven based on commands from the control device 30. When the motor M1 is driven, the stirrer 611 stirs the mixed feed containing mulberry, soybean pulp, and water.

Mixed feed (more specifically, dough) containing mulberry, soybean pulp, and water is supplied from the feed storage container 61 to the nozzle member 62 by the feed supply pump 65. In the example shown in FIG. 5, the feed supply pump 65 may include a screw conveyor or a snake pump. In the example shown in FIG. 5, the feed supply pump 65 includes a motor M2 and a rotating shaft 651 driven by the motor M2. The feed supply pump 65 may include a blade member 652 attached to the rotating shaft 651. Alternatively, or additionally, the rotating shaft 651 may be a non-linear rotating shaft (e.g., a spiral-shaped rotating shaft). In this case, the blade member 652 may be omitted.

The motor M2 and the control device 30 are connected by wire or wirelessly so that signals can be transmitted, and the motor M2 is driven based on a command from the control device 30. When the motor M2 is driven, the rotating shaft 651 rotates. As a result, the rotating shaft 651 or the blade member 652 attached to the rotating shaft 651 pushes the bait (kneaded bait) from the upstream side of the bait supply pump 65 toward the downstream side of the bait supply pump 65. In the example shown in FIG. 5, the outlet of the bait storage container 61 and the upstream side of the bait supply pump 65 are connected. Then, the bait (kneaded bait) discharged from the outlet of the bait storage container 61 is supplied to the upstream side of the bait supply pump 65. In the example shown in FIG. 5, the bait discharged from the bait supply pump 65 is supplied to the nozzle member 62 via the bait supply pipe 64.

The food supply pipe 64 may be a rigid pipe, a flexible pipe, or a part of the pipe may be a rigid pipe and another part may be a flexible pipe.

In the example shown in FIG. 5, the food supply pipe 64 is a pipe that connects the food storage container 61 and the nozzle member 62. The above-mentioned food supply pump 65 is disposed midway along the food supply pipe 64.

In the example shown in FIG. 5, an on-off valve 641 is disposed in the food supply pipe 64. The on-off valve 641 and the control device 30 are connected by wire or wirelessly so as to be capable of transmitting signals, and the on-off valve 641 is opened and closed based on commands from the control device 30. When the on-off valve 641 is open, food is supplied to the nozzle member 62-1, and when the on-off valve 641 is closed, food is not supplied to the nozzle member 62-1.

In the example shown in FIG. 5, the food supply pipe 64 includes a main pipe 64m and a first branch pipe 64d. The first branch pipe 64d is provided with the on-off valve 641 described above, and the first branch pipe 64d is connected to the nozzle member 62-1 described above.

The food supply pipe 64 may include a second branch pipe 64e. 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. The on-off valve 643 and the control device 30 are connected by wire or wirelessly so as to be capable of transmitting signals, and the on-off valve 643 is opened and closed based on commands from the control device 30.

In the example shown in FIG. 5, the main pipe 64m and the first branch pipe 64d are connected via branch D1. Also, in the example shown in FIG. 5, the main pipe 64m and the second branch pipe 64e are connected via branch D2.

In the example shown in FIG. 5, the bait supply pipe 64 includes a return pipe 64r. When the bait supply pipe 64 includes a return pipe 64r, surplus bait that flows through the main pipe 64m and is not supplied to the nozzle member 62 is returned to the bait storage container 61 via the return pipe 64r. In the example shown in FIG. 5, the portion of the bait supply pipe 64 between the branch D1 and the bait storage container 61 constitutes the return pipe 64r. An opening/closing valve 645 may be provided in the return pipe 64r.

The nozzle member 62 (nozzle member 62-1 or second nozzle member 62-2) has an opening 62h that ejects bait. In the example shown in FIG. 5, the nozzle member 62-1 has a plurality of nozzles including a first nozzle 621 and a second nozzle 622. The opening area (or diameter) of the ejection portion (first opening) of the first nozzle 621 is smaller than the opening area (or diameter) of the ejection portion (second opening) of the second nozzle 622. The opening area (or diameter) of the ejection portion (second opening) of the second nozzle 622 is smaller than the opening area (or diameter) of the ejection portion (third opening) of the third nozzle 623. The nozzle member 62-1 has a switching valve 620 that operates, for example, by a command from the control device 30. The switching valve 620 selectively supplies bait to one of the plurality of nozzles (621, 622, 623). More specifically, when the switching valve 620 is operated so that the bait supply pipe 64 and the first nozzle 621 communicate with each other based on a command from the control device 30, bait is discharged from the opening of the first nozzle 621. Also, when the switching valve 620 is operated so that the bait supply pipe 64 and the second nozzle 622 communicate with each other based on a command from the control device 30, bait is discharged from the opening of the second nozzle 622. The bait discharged from the second nozzle 622 is thicker than the bait discharged from the first nozzle 621. Also, when the switching valve 620 is operated so that the bait supply pipe 64 and the third nozzle 623 communicate with each other based on a command from the control device 30, bait is discharged from the opening of the third nozzle 623. The bait discharged from the third nozzle 623 is thicker than the bait discharged from the second nozzle 622.

In the example shown in FIG. 5, the second nozzle member 62-2 includes one nozzle. The bait ejected from the nozzle of the second nozzle member 62-2 is thicker than the bait ejected 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 bait ejected from the nozzle of the second nozzle member 62-2 may be approximately the same as the thickness of the bait ejected from the third nozzle 623.

The moving device 63 is a device that moves the nozzle member 62 relative to the bait support part 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 bait support part PL.

The moving device 63 and the control device 30 are connected to each other by wire or wirelessly so that signals can be transmitted, and the moving device 63 operates based on commands from the control device 30. The moving device 63 changes the position of the nozzle member 62 in three dimensions based on commands from the control device 30. In the example shown in FIG. 5, the moving device 63 includes a robot arm 630.

In the example shown in FIG. 5, the moving device 63 (more specifically, the moving device 63-1) moves the nozzle member 62-1 relative to the bait support part PL. The bait support part PL is, for example, a bait support part arranged in the first rearing container C1. The bait support part PL is preferably made of a mesh-like member (in other words, a net-like member). In this case, the silkworm droppings fall below the bait support part PL through each opening of the mesh-like member. Therefore, the rearing environment for the silkworms is less likely to deteriorate in the area above the bait support part PL.

In the example shown in FIG. 5, the moving device 63 (more specifically, the second moving device 63-2) moves the second nozzle member 62-2 relative to the bait support part PL. The bait support part PL is, for example, a bait support part that will be placed in the second rearing container C2. The bait support part PL is preferably made of a mesh-like member (in other words, a net-like member). In this case, the silkworm droppings fall below the bait support part PL through each opening in the mesh-like member. Therefore, the rearing environment for the silkworms is less likely to deteriorate in the area above the bait support part PL.

(Partition member P)
In the example shown in FIG. 5, a partition member P is disposed inside the first rearing container C1. As shown in FIG. 6, the partition member P (more specifically, the first partition member P1) is a member that divides the space in the first rearing container C1 into a first region R1 in which silkworms are raised and a second region R2 in which the entrance of silkworms is restricted (i.e., a region into which silkworms cannot enter). The position of the partition member P can be changed between a first position (see the upper diagram of FIG. 6) that divides the first region R1 and the second region R2, and a second position (see the lower diagram of FIG. 6) in which the partition state by the partition member is released. The first position (in other words, the partition position) is, for example, the position of the partition member P when the partition member P is disposed in the first rearing container C1. The second position (in other words, the non-partition position) is, for example, the position of the partition member P when the partition member P is removed from the first rearing container C1.

(Partition member moving device 70)
7, the silkworm rearing system 1B includes a partition member moving device 70 that moves the partition member P arranged in the first rearing container C1. The partition member moving device 70 moves the partition member P, for example, from a first position in the first rearing container C1 to a second position outside the first rearing 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 gripping portion 71a and a second gripping portion 71b. In this case, by reducing the distance between the first gripping portion 71a and the second gripping portion 71b, the partition member holding portion 71 can hold the partition member P. Alternatively, the partition member holding portion 71 may include a hook portion 71c (if necessary, see FIG. 5) from which the partition member P can be suspended.

The holder moving device 72 includes, for example, a robot arm. The robot arm of the holder moving device 72 may be the robot arm 630 of the moving device 63-1 shown in FIG. 5, or may be a robot arm different from the robot arm 630 of the moving device 63-1. Note that there are no particular limitations on the shape and structure of the partition member moving device 70, so long as it is a device capable of moving the partition member P.

The partition member moving device 70 and the control device 30 are connected by wire or wirelessly so that signals can be transmitted, and the partition member moving device 70 operates based on commands from the control device 30. More specifically, the partition member holding section 71 of the partition member moving device 70 holds the partition member P based on commands from the control device 30. Then, the holding section moving device 72 of the partition member moving device 70 moves the partition member holding section 71 in the direction from the first position toward the second position based on commands from the control device 30. In this way, the partition member P is removed from the first rearing container C1.

(First silkworm rearing process)
With reference to Figures 8 and 9, an example of the first rearing step (the above-mentioned first step ST1) of rearing a plurality of silkworms A in the first rearing container C1 will be described in more detail.

In step ST201, multiple silkworms are raised in a first area R1 on one side of a first partition member P1 arranged in a first rearing container C1. Step ST201 is performed, for example, in a first rearing container C1 arranged in a first rearing container storage area AR1. In the example shown in FIG. 9(b), multiple first rearing containers C1 are accommodated in the first rearing container storage area AR1. The number of first rearing containers C1 accommodated in the first rearing container storage area AR1 is, for example, 10 or more, 50 or more, or 100 or more.

In step ST201, food F and multiple silkworms A are placed in the first region R1. Also, in step ST201, food F and silkworms A are not placed in the second region R2.

The first region R1 of the first rearing container C1 is supplied with silkworm food F in advance. The supply of food to the first region R1 is performed, for example, through the nozzle member 62-1 (more specifically, the first nozzle 621 described above) of the food supplying device 60 (see FIG. 9(a)). The thickness (in other words, the diameter) of the food supplied to the first region R1 is, for example, 3 mm or less, or 2 mm or less. The multiple silkworms A in the first region R1 grow by eating the food F in the first region R1. Note that if the food support part PL is a mesh-like member (in other words, a net-like member), the silkworm feces M falls below the food support part PL. Therefore, the rearing environment of the silkworms on the food support part PL does not deteriorate.

In step ST202, food F is supplied to the second area R2 on the other side of the first partition member P1. Step ST202 is performed, for example, after the first rearing container C1 is transported from the first rearing container storage area AR1 toward the food supplying device 60.

The feed F is supplied to the second region R2, for example, via the nozzle member 62-1 of the feed supplying device 60 (more specifically, the second nozzle 622 described above) (see FIG. 9(c)). In step ST202, since there are no silkworms A in the second region R2, the silkworms A do not get in the way when supplying the feed F to the second region R2. It is preferable that the thickness of the feed F supplied from the second nozzle 622 is thicker 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, 6 mm or less, or 5 mm or less.

In step ST203, the state (partition state) in which the first partition member P1 separates the first region R1 and the second region R2 is released (see FIG. 9(d)). The release is performed, for example, by the partition member moving device 70 moving the first partition member P1. In the example shown in FIG. 9(d), the release is performed by the partition member moving device 70 removing the first partition member P1 from the first breeding container C1. In the example shown in FIG. 9(d), the partition member moving device 70 has 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 have a gripping portion that can grip the partition member P.

When the partition state by the first partition member P1 is released, the first region R1 and the second region R2 are combined, and the area in which the multiple silkworms A are reared becomes larger. This provides a more suitable rearing environment for the multiple silkworms that have grown in the first region R1.

After step ST203 is performed, the first rearing container C1 is transported to the first rearing container storage area AR1. Fresh food F is supplied to the first rearing container C1 in step ST202. Thus, the multiple silkworms A eat the fresh food and continue to grow.

In the example shown in FIG. 9, in addition to the first partition member P1, a second partition member P2 is arranged in the first rearing container C1. The second partition member P2 is a member that separates the new first region Rn1 (enlarged first region) from the new second region Rn2 after the first partition member P1 is removed from the first rearing container C1 (see FIG. 9(d)).

If the second partition member P2 is placed in the first rearing container C1, food F is supplied to the new second area Rn2 in step ST204. Step ST204 is performed, for example, after the first rearing container C1 is transported from the first rearing container storage area AR1 toward the food supplying device 60.

The feed is supplied to the new second region Rn2, for example, via the nozzle member 62-1 of the feed supplying device 60 (more specifically, the third nozzle 623 described above) (see FIG. 9(e)). Note that it is preferable that the thickness of the feed F supplied from the third nozzle 623 is thicker 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, 7 mm or less.

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

In the example shown in FIG. 9, the first rearing container C1 is a tray (in other words, a relatively shallow container with an open top). Because the top of the first rearing container C1 is open, it is easy to remove the partition member P from the first rearing container C1.

In the example shown in FIG. 9, the number of partition members P arranged in the first rearing container C1 is two. Alternatively, the number of partition members P arranged in the first rearing container C1 may be one, or three or more. Also, in the example shown in FIG. 6, the partition member P has an L-shape in 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 rectangular frame shape in plan view.

(Egg transfer device 80)
An example of an egg transfer device 80 for transferring silkworm eggs to a first rearing container C1 (e.g., a tray) will be described with reference to Figures 11 and 12.

The egg transfer device 80 transfers silkworm eggs E from a container C3 containing multiple silkworm eggs E to the first rearing container C1. When the silkworm rearing system 1 has the egg transfer device 80, the task of transferring silkworm eggs E to the first rearing container C1 (e.g., a tray) is automated. As a result, silkworm rearing is made more efficient. In addition, since the silkworm eggs E are transferred automatically by the egg transfer device 80, there is virtually no contamination of the silkworm rearing environment with germs. The egg transfer device 80 is, for example, disposed within the container 2 (more specifically, within the first container 2A). When the egg transfer device 80 is disposed within the container 2, contamination of the silkworm rearing environment with germs is more effectively suppressed.

In the example shown in FIG. 11, the egg transfer device 80 includes a suction tube 81 that sucks up the silkworm eggs E in the liquid, and a suction tube moving device 86 that moves the suction tube 81 relative to the first rearing container C1. In the liquid, dead silkworm eggs E1 tend to float more easily than live silkworm eggs E2. Therefore, by sucking up the silkworm eggs in the liquid (more specifically, silkworm eggs that have sunk in the liquid), it is possible to select and pick up live silkworm eggs E2.

The liquid in container C3 is, for example, a disinfectant. The silkworm eggs E are sterilized by immersing them in the disinfectant in container C3. In this case, the risk of bacteria being mixed into the first rearing container C1 is reduced when the silkworm eggs E are transferred to the first rearing container C1.

In order to facilitate picking up the silkworm eggs E from the container C3, it is preferable that the tip of the container C3 has a tapered shape that becomes thinner toward the tip. By having the tip of the container C3 have a tapered shape, multiple silkworm eggs E tend to gather near the bottom of the container C3. Therefore, simply by inserting the suction tube 81 near the bottom of the container C3 (in other words, the deepest part of the container C3), it is possible to position the tip of the suction tube 81 near the silkworm eggs E.

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 also provided in the pipe 82. When the tip of the suction pipe 81 is positioned in the liquid in the container C3, the on-off valve 83 is opened, causing the suction pipe 81 to suck up one silkworm egg E. Alternatively, a suction force may be generated in the suction pipe 81 by moving a piston relative to a cylinder. In this case, the vacuum pump 84 may be omitted.

After the suction tube 81 has sucked up the silkworm eggs E, the suction tube moving device 86 moves the suction tube 81 in a direction from the container C3 toward the first rearing container C1. When the tip of the suction tube 81 reaches above the first rearing container C1, the suction tube 81 releases the silkworm eggs E. This release may be performed by sending air into the suction tube 81, or by opening the suction tube 81 to the atmosphere.

In the example shown in FIG. 11, a partition member P is placed in the first rearing container C1. In this case, it is preferable for the egg transfer device 80 to transfer the silkworm eggs E only to the area on one side of the partition member P (first area R1). In other words, it is preferable for the egg transfer device 80 not to transfer the silkworm eggs E to the area on the other side of the partition member P (second area R2). Note that if a partition member P is not placed in the first rearing container C1, the egg transfer device 80 may transfer the silkworm eggs E to any position in the first rearing container C1.

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

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

As shown in FIG. 12, the egg transfer device 80 may have multiple suction tubes 81. When the egg transfer device 80 has multiple suction tubes 81, the egg transfer device 80 can simultaneously transfer multiple silkworm eggs to the first rearing container C1. In the example shown in FIG. 12, the egg transfer device 80 has six suction tubes 81. Alternatively, the egg transfer device 80 may have one, two, three, four, five, or seven or more suction tubes 81.

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

As shown in FIG. 13, the silkworm rearing system 1 may include a transport device 41 that transports the first rearing container C1 between the egg transfer device 80 and the first rearing container storage area AR1. In the example shown in FIG. 13, the transport device 41 is a transport device separate from the first rearing container transport device 40. The transport device 41 can transport the first rearing container C1, for example, along the vertical direction (in other words, the Z direction) and the first horizontal direction (for example, the X direction). The transport device 41 includes, for example, a conveyor, or a transport device with a transfer device that transfers the first rearing container C1 to the shelf T1.

(Other components of the silkworm rearing system 1)
With reference to FIG. 13, other components of the silkworm rearing system 1 will be described.

The silkworm rearing system 1 may include a monitoring computer 101. The monitoring computer 101 monitors the status of each device (10, 20, 30, 40, 41, 60, 70, 80, 92). When an abnormality exists in each device (10, 20, 30, 40, 41, 60, 70, 80, 92), the monitoring computer 101 notifies the operator of information identifying the abnormal device and information identifying the type of abnormality. In the above embodiment, an example in which the control device 30 controls each device (10, 20, 30, 40, 41, 60, 70, 80, 92) has been described. Alternatively, the monitoring computer 101 and the control device 30 may cooperate to control each device (10, 20, 30, 40, 41, 60, 70, 80, 92).

The silkworm rearing system 1 may include a cocoon recovery device 103. The cocoon recovery device 103 is a device that recovers cocoons from the second rearing container C2 (e.g., a robot that recovers cocoons from the second rearing container C2).

The silkworm rearing system 1 may include a cleaning device 105 for cleaning the first rearing container C1 and/or the second rearing container C2. The cleaning device 105, for example, blows air into the first rearing container C1 (or the second rearing container C2) to remove feces or residual food from the first rearing container C1 (or the second rearing container C2). The feces removed from the first rearing container C1 (or the second rearing container C2) may be collected for use as feed for other livestock or as an ingredient in medicine. When silkworms are reared in a sterile environment, the silkworm feces are also maintained in a sterile state. Therefore, the silkworm feces are suitable as feed for other livestock or as an ingredient in medicine.

In the above example, the cleaning device 105 is an air cleaning device that uses air. Alternatively, or additionally, the cleaning device 105 may be a device that sprays water or a disinfectant onto the first rearing container C1 (or the second rearing container C2) to remove feces or remaining food from the first rearing container C1 (or the second rearing 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 AR1. The second rearing container C2 cleaned by the cleaning device 105 is reused for rearing silkworms in the second rearing container storage area AR2.

In the example shown in FIG. 13, the monitoring computer 101, the cocoon recovery device 103, and the cleaning device 105 are arranged in the first container 2A. Alternatively, at least one of the monitoring computer 101, the cocoon recovery device 103, and the cleaning device 105 may be arranged in the second container 2B. Alternatively, at least one of the monitoring computer 101, the cocoon recovery device 103, and the cleaning device 105 may be arranged outside the container 2.

(Silkworm rearing method)
Next, an example of a silkworm rearing method according to the second embodiment will be described with reference to FIGS.

In the first step ST1, multiple silkworms are reared in the first rearing container C1. The first step ST1 is the first silkworm rearing process.

In the first step ST1, first, in step ST101, silkworm food F is supplied to the first rearing container C1 (more specifically, the first region R1). Step ST101 is performed, for example, using the above-mentioned food supplying device 60. More specifically, while the first nozzle 621 moves relative to the first rearing container C1 (more specifically, the first region R1), the first nozzle 621 ejects food F into the first rearing container C1 (more specifically, the first region R1).

In step ST102, multiple silkworm eggs E are transferred to the first rearing container C1. Step ST102 is performed, for example, using the above-mentioned egg transfer device 80. More specifically, the transport device 41 transports the first rearing container C1 toward the egg transfer device 80, and then the egg transfer device 80 transfers multiple silkworm eggs E from the container C3 to the first rearing container C1. The number of silkworm eggs E placed in one first rearing container C1 is, for example, 10 to 1,000, 30 to 500, or 50 to 300. It is preferable that the first rearing container C1 is sterilized in advance with a disinfectant or the like before the multiple silkworm eggs E are transferred. Sterilized silkworm eggs E are transferred to the sterilized first rearing container C1, and the first rearing container C1 is placed in a sterile atmosphere AT, thereby maintaining the germ-free state of the silkworms reared in the first rearing container C1.

Step ST102 may be performed before or after step ST101. After steps ST101 and ST102 are performed, the first breeding container C1 is transported to the first breeding container storage area AR1 by the transport device 41.

Then, steps ST201 to ST205 described above are executed.

In step ST201, multiple silkworms A are raised in the first rearing container C1 (more specifically, in the first region R1). When the first partition member P1 is placed in the first rearing container C1, the first rearing period during which the silkworms are reared in the first region R1 defined by the first partition member P1 is several days (e.g., 5 days).

After the first rearing period has elapsed, the first rearing container C1 is transported from the first rearing container storage area AR1 to the food supplying device 60. The transport is performed, for example, using the transport device 41, etc.

In step ST202, silkworm food F is supplied to the first rearing container C1 (more specifically, the second region R2). Step ST202 is performed, for example, using the above-mentioned food supplying device 60. More specifically, the second nozzle 622 ejects food F into the first rearing container C1 (more specifically, the second region R2) while moving relative to the first rearing container C1 (more specifically, the second region R2).

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

After step ST203 is performed, the first rearing container C1 is transported to the first rearing container storage area AR1 by a transport device 41 or the like. After step ST202 is performed (in other words, after the second feeding), the second rearing period during which the silkworms are reared in the new first area Rn1 defined by the second partition member P2 is several days (e.g., 5 days).

After the second rearing period has elapsed, the first rearing container C1 is transported from the first rearing container storage area AR1 to the food supplying device 60. The transport is performed, for example, using the transport device 41, etc.

In step ST204, silkworm food F is supplied to the first rearing container C1 (more specifically, the new second region Rn2). Step ST204 is executed, for example, using the above-mentioned food supplying device 60. More specifically, while the third nozzle 623 moves relative to the first rearing container C1 (more specifically, the second region Rn2), the third nozzle 623 ejects food F into the first rearing container C1 (more specifically, the second region Rn2).

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 performed, for example, using the partition member moving device 70 described above.

After step ST205 is performed, the first rearing container C1 is transported to the first rearing container storage area AR1 by a transport device 41 or the like. After step ST204 is performed (in other words, after the third feeding), the third rearing period during which the silkworms are reared in the first rearing container C1 lasts for several days (e.g., five days).

In the above example, the feed F is supplied to one first rearing container C1 every few days, a total of three times. Alternatively, the number of times that feed is supplied to one first rearing container C1 may be once, twice, or four or more times. When the feed F is supplied to the first rearing container C1 every few days, the silkworms A can grow by eating fresh feed. In contrast, when the feed F is supplied to the first rearing container C1 only once, there is a risk that the feed F will deteriorate due to drying, etc.

The total period during which the silkworms are reared in the first rearing container C1 (e.g., the sum of the first rearing period, the second rearing period, and the third rearing period) is a dozen days (e.g., 15 days). In this case, the silkworms grow from eggs to fourth-instar larvae in the first rearing container C1.

After the first step ST1 (first rearing process) is performed, in the second step ST2, multiple silkworms (e.g., multiple fourth-instar larvae) in the first rearing container C1 are transferred to the second rearing container C2. The transfer is performed using a silkworm transfer device 10.

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

In the example shown in FIG. 13, as shown by the dashed line B1, the first rearing container C1 is transported from the first rearing container storage area AR1 to the silkworm transfer area AR. The transport of the first rearing container C1 to the silkworm transfer area AR may be performed using a plurality of transport devices including the first rearing container transport device 40. In the example shown in FIG. 13, the first rearing container storage area AR1 is located in the first container 2A, and the silkworm transfer area AR is located in the second container 2B. Therefore, the first rearing container C1 is transported from the first container 2A to the second container 2B. The transport of the first rearing container C1 from the first container 2A to the second container 2B is performed through the container connection section 95.

In the example shown in FIG. 13, as shown by dashed line B2, the second rearing container C2 is transported from the second rearing container storage area AR2 to the silkworm transfer area AR. The transportation of the second rearing container C2 to the silkworm transfer area AR may be performed using multiple transport devices including the second rearing container transport device 20. In the example shown in FIG. 13, the second rearing container transport device 20 is disposed within the second rearing container storage area AR2.

In the example shown in FIG. 13, the second rearing container storage area AR2 is located in the second container 2B, and the food supplying device 60 is located in the first container 2A. In this case, in order to supply food F to the second rearing container C2, the second rearing container C2 is transported from the second rearing container storage area AR2 in the second container 2B to the food supplying device 60 in the first container 2A. The transport is performed using multiple transport devices including, for example, the second rearing container transport device 20 and the first rearing container transport device 40.

In the example shown in FIG. 13, the silkworm transfer area AR is located inside the second container 2B. Therefore, after food F is supplied to the rearing chamber SP of the second rearing container C2, the second rearing container C2 is transported from the first container 2A to the second container 2B (more specifically, the silkworm transfer area AR inside the second container 2B).

After the first rearing container C1 and the second rearing container C2 are transported to the silkworm transfer area AR, the silkworm transfer device 10 transfers the silkworms A from the first rearing container C1 to the rearing chamber of the second rearing container C2. It is preferable that the number of silkworms A transferred to each rearing chamber of the second rearing container C2 is one. By individually rearing the silkworms A, the stress of the silkworms A is reduced.

In the example shown in FIG. 14, a plurality of openings OP are formed at the first end Ca of the second rearing container C2. The plurality of openings OP correspond to the entrances of the plurality of rearing rooms SP, respectively. The silkworm transfer device 10 transfers the silkworms A to each rearing room SP through the openings OP. In the example shown in FIG. 14, the openings OP are formed on the side of the second rearing container C2. After the plurality of silkworms are accommodated in the second rearing container C2, the plurality of openings OP are covered by a cover member CL (see FIG. 1, if necessary). It is preferable that an air hole is formed in the cover member CL. The cover member CL is a member that changes its 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 cover member CL. The first state means a state in which the silkworms can be inserted into the rearing room SP through the openings OP, and the second state means a state in which the silkworms cannot escape out of the rearing room SP through the openings OP. It is preferable that one lid member CL can close multiple openings OP simultaneously. In this case, the lid member CL can efficiently close multiple openings OP.

The shape of each breeding room SP is, for example, elongated. More specifically, the depth of the breeding room SP is at least twice the height of the breeding room SP, and the depth of the breeding room SP is at least twice the width of the breeding room. When the breeding room SP is elongated, a relatively small space is required for individually raising multiple silkworms. In the example shown in FIG. 14, the length of each breeding room SP in the depth direction (in other words, the length in the direction from the first end Ca of the second breeding container C2 to the second end Cb) is, for example, 20 cm or more, 30 cm or more, or 40 cm or more. It is preferable that the longitudinal direction of the breeding room SP is approximately parallel to the horizontal plane (in other words, it is preferable that the angle between the longitudinal direction of the breeding room SP and the horizontal plane is 20 degrees or less). In addition, it is preferable that the above-mentioned opening OP is formed at the longitudinal end of the breeding room SP.

In the example shown in FIG. 14, the second rearing container C2 has multiple rearing chambers SP. The number of rearing chambers SP that the second rearing container C2 has is, for example, 10 to 1000, 30 to 500, or 50 to 300. It is preferable that a food support part PL that supports food F is disposed in each rearing chamber SP. The food support part PL is, for example, composed of a mesh-like member (in other words, a net-like member). In this case, silkworm droppings fall below the food support part PL through each opening of the mesh-like member. Therefore, the rearing environment for the silkworms is less likely to deteriorate in the area above the food support part PL.

It is preferable that the food support portion PL extends in a direction from the first end portion Ca of the second rearing container C2 (in other words, the first longitudinal end portion of the second rearing container C2) to the second end portion Cb (in other words, the second longitudinal end portion of the second rearing container C2). It is also preferable that the food F placed on the food support portion PL extends in a direction from the first end portion Ca of the second rearing container C2 to the second end portion Cb.

In the example shown in FIG. 14, each of the breeding rooms SP is formed by an independent cylindrical container CY, and a collection of the cylindrical containers CY constitutes at least a part of the second breeding container C2. The second breeding container C2 may be constituted by surrounding a plurality of cylindrical containers CY with a housing member H. In this case, the cylindrical container CY provides a first sterile atmosphere, the housing member H that houses the plurality of cylindrical containers CY provides a second sterile atmosphere, and the second breeding container storage area AR2 (or a container 2 such as the second container 2B) that houses the second breeding container C2 provides a third sterile atmosphere. This more reliably maintains the sterile state in the breeding room SP. In addition, by setting the degree of sterility in stages, the sterile state in the breeding room SP can be achieved efficiently and at low cost.

Alternatively, as shown in FIG. 15, each of the breeding rooms SP may be defined by a partition wall J disposed within a 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 housing member H housing the partition wall J, and a third sterile atmosphere is provided by the second breeding container storage area AR2 housing the second breeding container C2 (or a container 2 such as the second container 2B). This more reliably maintains the sterile state within the breeding room SP. Also, by setting the degree of sterility in stages, a sterile state within the breeding room SP can be achieved efficiently and at low cost.

In the examples shown in Figures 14 and 15, the cross-sectional shape of the breeding room SP in a plane perpendicular to the longitudinal direction of the breeding room is a rectangle. Alternatively, the cross-sectional shape of the breeding room SP in a plane perpendicular to the longitudinal direction of the breeding room may be a hexagon, an octagon, or another polygonal shape. Alternatively still, the cross-sectional shape of the breeding room SP in a plane perpendicular to the longitudinal direction of the breeding room may be a circle.

In the example shown in FIG. 13, after multiple 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 AR2. This transport is performed using a second rearing container transport device 20 or the like. In addition, after multiple silkworms are transferred from the first rearing container C1 to the second rearing container C2, the first rearing container C1 is transported to a cleaning device 105. After the first rearing container C1 is cleaned by the cleaning device 105, it is reused for rearing silkworms in a group.

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

Before the fifth instar larvae make cocoons, it is preferable that the air conditioner 92 supplies dry air to the first end Ca or the second end Cb of the second rearing container C2. Because fifth instar larvae prefer dry air, supplying dry air to the first end Ca or the second end Cb of the second rearing container C2 causes the fifth instar larvae to gather at the first end Ca or the second end Cb. In this case, it becomes easier to remove the cocoons from the first end Ca or the second end Cb (for example, it becomes easier for the cocoon recovery device 103, or more specifically, the robot, to remove the cocoons from the first end Ca or the second end Cb).

After the fifth instar larvae make cocoons, the second rearing container C2 is transported from the second rearing container storage area AR2 to the cocoon recovery device 103. The transport is performed using a transport device such as the second rearing container transport device 20.

In the example shown in FIG. 13, the second rearing container storage area AR2 is located in the second container 2B, and the cocoon recovery device 103 is located in the first container 2A. Therefore, the second rearing container C2 is transported from the second container 2B to the first container 2A. In the example shown in FIG. 13, the transport of the second rearing container C2 within the first container 2A is performed using the first rearing container transport device 40. After the cocoons are removed from the second rearing container C2, the second rearing container C2 is transported to the cleaning device 105. After being cleaned by the cleaning device 105, the second rearing container C2 is reused for individual rearing of silkworms.

In the silkworm rearing method of the second embodiment, rearing of relatively young silkworms and rearing of relatively old silkworms are carried out separately, so that silkworms can be efficiently reared in a relatively small space. In addition, at least one of the following operations (preferably all of them) is automatically performed mechanically: 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 silkworm eggs to the first rearing container C1, supplying food F to the first rearing container C1 or the second rearing container C2, cleaning the first rearing container C1 or the second rearing container C2, and recovering cocoons from the second rearing container C2. This improves the rearing efficiency of silkworms and makes it difficult for germs to be introduced into the silkworm rearing environment.

When the first rearing container C1 and/or the second rearing container C2 are washed and reused, it is possible to repeatedly rear silkworms without refilling the first rearing container C1 and/or the second rearing container C2 from outside the sterile atmosphere into the sterile atmosphere (e.g., inside the container 2). This reduces the risk of bacteria entering the sterile atmosphere AT. The cocoons collected by the cocoon collecting device 103 may be taken out through the door DR (see FIG. 4, if necessary) of the container 2 (more specifically, the first container 2A). The food F and/or silkworm eggs E may be replenished through the door DR of the container 2 (more specifically, the first container 2A). It is preferable that the door DR be a double door from the viewpoint of preventing bacteria from entering the container 2.

(Silkworm transfer device 10)
With reference to FIG. 17, an example of a silkworm transfer device 10 that can be employed in the silkworm rearing system 1 in the embodiment will be described.

In the example shown in FIG. 17, the silkworm transfer device 10 has a holding member moving device 12 (more specifically, an arm unit) and a gripping unit 110. The holding member moving device 12 is, for example, a robot arm including one or more joints. The gripping unit 110 has a plurality of gripping pieces 111 including, for example, a first gripping piece 111a and a second gripping piece 111b. The number of gripping pieces 111 that the gripping unit 110 has may be two, or may be three or more.

The contact portion 112 of the gripping piece 111 that comes into contact with the silkworm is preferably made of an elastically deformable material (elastic material). The contact portion 112 is formed, for example, from silicone rubber. By forming the contact portion 112 from an elastic material (for example, silicone rubber), it becomes possible to appropriately grip the silkworm, which changes shape and moves.

The gripping piece 111 may be, for example, a gripping piece having an internal space IS surrounded by an elastic material. In this case, it is possible to drive the gripping piece 111 by supplying a fluid such as air to the internal space IS. In the example shown in FIG. 17, each gripping piece 111 has a fluid supply path PH that supplies a fluid to the internal space IS.

The present invention is not limited to the above-described embodiments, and it is clear that each embodiment can be modified or changed as appropriate within the scope of the technical concept of the present invention. In addition, the various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction arises. Furthermore, any additional configurations in each embodiment or modification can be omitted as appropriate. For example, each component included in the second embodiment can also be used in the first embodiment.

In the second embodiment, an example was described in which multiple silkworms are raised using multiple containers (2A, 2B). However, in the second embodiment, multiple silkworms may be raised using one container 2. Also, in the second embodiment, multiple silkworms may be raised in a sterile environment that is set up regardless of the container.

In the second embodiment, an example has been described in which the silkworm transfer device 10 and the second rearing container transport device 20 are placed in the second container 2B. Alternatively, the silkworm transfer device 10 or the second rearing container transport device 20 may be placed in the first container 2A. Further alternatively, the silkworm transfer device 10 or the second rearing container transport device 20 may be placed in a sterile environment unrelated to the container.

In the second embodiment, an example was described in which the first breeding container transport device 40, the food supply device 60, the partition member moving device 70, and the egg transfer device 80 are arranged in the first container 2A. Alternatively, the first breeding container transport device 40, the food supply device 60, the partition member moving device 70, or the egg transfer device 80 may be arranged in the second container 2B. As a further alternative, the first breeding container transport device 40, the food supply device 60, the partition member moving device 70, or the egg transfer device 80 may be arranged in a sterile environment unrelated to the container.

In the second embodiment, the silkworms transferred from the first rearing container C1 to the second rearing container C2 are fourth-instar larvae. Alternatively, the silkworms transferred from the first rearing container C1 to the second rearing container C2 may be fifth-instar larvae, for example. In addition, when fifth-instar larvae silkworms (more specifically, silkworms immediately before making cocoons) are transferred to the second rearing container C2, placing food in the second rearing container C2 may be omitted. In this case, it is not necessary to transport the second rearing container C2 toward the food supplying device 60. In addition, when no food is placed in the second rearing container C2, the "food support part PL" in the description of the above embodiment is replaced with "support part". The "support part" is a support part capable of supporting silkworms.

In the example shown in Figures 14 and 15, an OP through which silkworms can pass is arranged at the first end Ca (first end surface) of the second rearing container C2. Additionally, an opening through which silkworms can pass may be arranged at the second end Cb (second end surface) of the second rearing container C2.

[Embodiment 3]
An automatic sericulture system, an automatic sericulture method, a program, and a storage medium according to the third embodiment will be described with reference to FIGS.

[Growth of silkworms]
Eggs: Hatch in about 3 days at temperatures above 30 degrees. Count the number of days from hatching. Larvae: Young silkworms
First molt
2nd instar 3rd instar 4th instar 3rd to 5th instars are raised in groups. It is also possible to raise up to 1 million of them.

For example, on the 15th day, when the silkworms are less active before they molt from the third to fourth instar, a picking robot is used to remove the silkworms from the group rearing container and move them to individual rearing containers. Alternatively, they can be reared in individual rearing containers from the egg stage. Silkworms can be moved from the group rearing container to individual rearing containers at any stage: egg, young silkworm, first to fifth instar, or mature silkworm.

Since the individual rearing containers are made of SUS and are expensive to manufacture, it is desirable to use them as frequently as possible. To achieve this, it is advantageous to rear the silkworms in a group until they become mature, and then move them to the individual rearing containers once they have matured. For example, the silkworms may be reared in a group rearing container until they become mature on the 25th day, and then moved to the individual rearing container when they are ready to start spinning silk. In this case, it is possible to determine whether the silkworms are ready to start spinning silk by detecting the following characteristics.
- Large amounts of feces and pee.
-Body color changes from white to yellowish transparent.
・Lift your head.

5th stage Mature silkworms continue to eat for 10 days, then urinate and release large amounts of feces, turning from white to yellow (transparent). Cocoons begin to spin silk from the 25th day, and are removed on the 28th day, about 3 days after they start making cocoons. The number of days is a guideline, so you can roughly pinpoint the time, but you can adjust the time to remove the cocoons by sensing. Sensing can be done about once an hour.
The silkworm is exposed to light and observed with a sensor. Once the cocoon is complete, the silkworm stops moving inside the cocoon.
An X-ray camera or an infrared camera may also be used.

When collecting eggs, the moths are raised until they break out of the cocoons and emerge as adult silkworm moths.
Each female lays about 200 eggs.

[About feed]
Mulberry leaves, dried and powdered (weight is one-third of the weight of the leaves)
The fineness is about 80μm to 100μm. It takes time to dry. The moisture content of the leaves is 60% in winter and 70% in summer.
70% to 60% → 30% Heat pump dryer 6 hours → 3 days to 3% 30% → 3% Vacuum + microwave + stirring 20 minutes
The softness of the bavarois-like kamaboko-shaped blocks made from the dried powder varies depending on the ingredients and their ratios, and ranges from that of mayonnaise to that of udon noodles.
Alternatively, the product may be dried from start to finish using a heat pump dryer.
When the mixed feed is put into the hopper, it is squeezed out by the pump, and the feed of the desired thickness can be provided to the designated place in the rearing container. The thickness and the mixing ratio can be changed according to the growth of the silkworms. The feed mixing and thickness adjustment are also automated.

・Dried mulberry leaf powder (sterilized)
Secondary feed: Defatted soybeans Dried soybean pulp produced during the production of soy sauce and tofu (edible and sterilized). Amino acids and protein are necessary.
- Moisture (use sterilized or germ-free water.)
Mix the above three ingredients together and form into a soft, bavarois-like shape.

Ratio Mulberry powder 3 grams (10%)
Sub-feed 6g Moisture 21g Total 30g High temperature drying → Nutrients are lost. Supplementary additives must be added.
Low temperature drying: Nutrients are less likely to be lost, so supplementary additives may not be necessary. For example, the ingredient called human oxyria, which increases the appetite of 1st to 3rd instar silkworms, is not lost.
- Drying in an oven (for processing the silkworms inside the cocoons) is at about 80°C.
The heat pump method dries at around 50 to 60 degrees Celsius.
Drying using vacuum + microwave is around 40°C.
Alternatively, drying such as freeze-drying and pulverization may be performed.

Feed is automatically supplied to the group rearing container by the feed supplying means. The thickness and mixture ratio of the feed can be adjusted according to the growth of the silkworms. In the group rearing container, the position where the feed is supplied is changed according to the growth of the silkworms. For example, when replenishing the feed on the 5th day, feed with a predetermined mixture ratio and size (thickness) is supplied to a position adjacent to the position where the eggs and the first feed are supplied. When replenishing the feed on the 10th day, feed with a predetermined mixture ratio and size (thickness) is supplied to a position adjacent to the position of the feed placed on the 5th day. When replenishing the feed on the 15th day, feed with a predetermined mixture ratio and size (thickness) is supplied to a position adjacent to the position of the feed placed on the 10th day. In this way, by shifting the position where the feed is supplied, the position of the silkworms can be guided to the location where the feed is located, and feces can be prevented from accumulating only at the location of a specific feed.

[Silkworm transportation method]
Picking Robot Soft robotics, suction cups and hands Example 1) A third-instar silkworm, approximately 3 cm in size, is sucked up by a vacuum suction cup at the end of the robot arm.
Example 2) Holding with a soft air-powered hand. Soft material made of adhesive silicone.
Example 3) Hold with a soft air-powered hand and suck up with a vacuum cup.
The hand that picks up the cocoons is air-driven and holds them softly. The hand that picks up the silkworms and the hand that picks up the cocoons can be automatically switched.

At the silkworm pick-up position 212, a rotating table is used, so that the silkworms can be picked by a picking robot while rotating the group rearing container. For example, the position of the silkworms is determined by two-dimensional image recognition using a monocular camera. The position of the cocoon is also determined by two-dimensional image recognition using the monocular camera, and the cocoon is removed by a cocoon picking hand. One camera is installed at the silkworm pick position, and another camera is installed at the cocoon pick position. However, it is also possible to perform three-dimensional image recognition using a two-axis camera (stereo camera). At the position 213 for moving silkworms to individual rearing containers or removing cocoons from the individual rearing containers, the individual rearing containers can be raised and lowered by a lifter. The movement of silkworms to individual rearing containers and the removal of cocoons from the individual rearing containers are performed at the same position 213.

Figure 10 is a photograph of the cameras. The cameras are installed above the picking robot, for example, one camera at the silkworm picking position and another camera at the cocoon picking position. Illumination means are provided near the cameras to illuminate the shooting range.

[Egg supply means]
Egg sorting Healthy eggs sink in water, while dead eggs float Healthy eggs are removed with a dropper, using a robot Eggs are dropped into a V-groove shaped disinfectant tank. Normal eggs sink to the bottom of the V-groove. Eggs that have sunk to the bottom are sucked up by suction means (multiple dropper-shaped suction means in parallel) and placed in a designated location in the group rearing container. The eggs are arranged in multiple rows, for example six rows. Food is also supplied in multiple rows parallel to the egg arrangement, between the rows of eggs.
The disinfectant used may be, for example, Osban Liquid (registered trademark). Dilute the original solution to about 1%. Ozone water may also be used. Disinfect the surface of the eggs.

[An example of a sericulture system using containers]
Although not particularly limited, the automatic sericulture system of this embodiment can also be housed in a container.
1st container: work space 2nd container: breeding room,
A conveyor that connects the two
It is capable of rearing around 20,000 silkworms.
If the scale is expanded, it will be possible to raise silkworms in the millions.

Work in the first container: Sorting eggs, preparing group rearing containers, preparing individual rearing containers, adding feed, picking up silkworms, moving them from the group rearing container to the individual rearing container.
Multiple picking robots can be used. For example, multiple picking robots can be placed around a circular or other rotating conveyor (on the inner or outer circumference) and use camera image recognition to pick up only the ripe silkworms.

Second Container A plurality of rearing shelves for storing individual rearing containers and group rearing containers. FIGS. 12 to 14 show the rearing shelves and automatic rearing container storage means arranged in the second container.
FIG. 12 is a photograph of the rearing rack.
FIG. 13 is a photograph of the rails of the automatic rearing container storage means.
14 is a photograph of the automatic breeding container storage means. The automatic breeding container storage means is provided with a lifting means and a means for storing and removing the breeding containers from the breeding shelf.

[Germ-free rearing]
Characteristics Completely germ-free 70% humidity, prevents food from drying out 20-25℃, temperature preferred by silkworms Sterile Food does not spoil = healthy silkworms, disinfection of the outside of eggs. Eggs are placed in a V-groove disinfectant tank and only those that sink to the bottom are taken out.
- Provide sterile feed.
・The rearing environment should be sterilized or germ-free. The room should be clean and equipped with an air purifier that uses a HEPA filter. Dust particles of 1 micron size should be removed.

Egg management: Eggs will hatch in about 3 days at temperatures above 30 degrees. When purchasing from a dealer, specify the planned loading date.
Variety and quantity

By mixing Clafen water into the feed, the tensile strength of the thread can be increased by about 1.5 times.

[Breeding method]
Feed every 5 days Eggs + food → (after 5 days) Feeding → (after 5 days) Feeding → (after 5 days, total 15 days, immobile period before molting from 3rd to 4th stage) 3rd stage silkworms about 3cm in size are transferred to a tube using a picking robot (a vacuum-drawn suction cup), the tube is filled with food, 20g in total → (25th day) They start to spit out silk and make cocoons → (after 3 days, total 28th day) The cocoons are removed using a picking hand

[Cleaning process]
The droppings are used as herbal medicine, and the feces fall through the gaps in the wire mesh and accumulate at the bottom. → Only the droppings are collected.
The molted shells and leftover food remain on the wire mesh and can be separated.
The group cages, individual cages and partitions are cleaned after use. This cleaning can be automated, for example by automatic cleaning using a water stream in a cleaning tank.

It is also possible to automate all of the following: complete automation, collection of collected cocoons, collection of collected feces, collection of collected residues (leftover food, molted material), replenishment of feed, and replenishment of eggs. However, any of these may be done manually.
A fully automated sericulture system can be realized.
The egg supplying means, feed supplying means, silkworm moving means, cocoon removal means, automatic rearing container storage means, and rearing container moving means are all automated. Without manual intervention, sterilization is easier and stress on the silkworms is reduced.
In traditional sericulture, it was very difficult to align the timing of putting the silkworms into the sieve and the time when they would sprout. In this embodiment, the time when they would sprout is analyzed by sensing, and variable tasks can be performed according to the analysis results. Monitoring (sensors), data analysis and decision-making (using AI), variable tasks according to the analysis results (automated by robots).
When the 3rd to 5th instars are transferred to individual rearing containers, there is no need to manage the emergence period. The time to remove the cocoons can be determined by the number of days or by sensing.
When selecting and picking up only mature silkworms, since there are slow-growing silkworms even in the same group rearing container, it is advisable to provide a group rearing container stocker in the vicinity of the picking position where the group rearing containers can be temporarily stored so that the picking operation timing can be adjusted.
By using IoT technology, it is possible to monitor the growth of silkworms and optimize the work schedule according to their growth. For example, the status of silkworms or cocoons can be monitored with a camera. For example, monitoring can be done every hour.

[Individual breeding container]
The breeding space is arranged in a matrix, for example 5 rows x 10 columns.
One breeding space is divided into two rooms by a partition member.
To remove the cocoons, push the partition members halfway lengthwise, one at a time, on a workbench.
For example, the tube is 5 columns and 10 rows, with a partition in the middle and a net to raise the bottom, and the droppings accumulate under the net. The middle partition is surrounded by a sponge, and by moving half of the partition, the droppings inside can be scraped out. The initial cleaning is completed at the same time as removing the cocoons.
Removable covers (translucent) are provided on both sides.

[Collective breeding container]
The group rearing container is a roughly rectangular container with a bottom, and a moisture supplying means is provided in the center to prevent drying. See the roughly rectangular container at the bottom center of Figure 5. The moisture supplying means can be a sponge soaked in moisture, or water can be placed directly in the container as the moisture supplying means. A removable lid (translucent) is provided on the top of the group rearing container.

[Partition member]
FIG. 6 is a photograph of the partition member. The partition member 240 is inserted into the breeding space of the individual breeding container. The partition member 240 has a partition portion 241 and a flat portion 243. The partition portion 241 divides the breeding space into two spaces. The flat portion 243 serves as a floor for breeding silkworms or cocoons. The flat portion 243 has a plurality of holes, and silkworm feces falls through the holes and accumulates between the bottom of the breeding space and the lower portion of the flat portion 243. An elastic member 242 made of, for example, a sponge is provided around the partition portion 241. The elastic member 242 corresponds to the shape and dimensions of the inner wall of the breeding space. Both ends of the flat portion 243 are provided with convex portions 246 that are convex on the upper surface side.

Figure 7 shows the case where the partition member 240 is pushed out of the rearing space by half the length of the partition member 240 by the partition member moving means 220. When the partition member 240 is pushed out halfway from the rearing space in this way, the elastic member 242 is in sliding contact with the inner wall of the rearing space, so that the feces and residue other than feces in the storage space can be separated and removed. Figure 8 is a photograph of the removal of cocoons from the individual rearing containers. Figure 8 is a reference photograph that differs from the actual installation position, so it differs from the actual positional relationship. The position at which the cocoon is removed is the position where the partition member 240 is pushed out halfway from the rearing space, and the partition member storage section is in contact with the individual rearing container, with the protruding side of the partition member 240 fitted into the partition member storage section. In this state, the feces are scraped out by the elastic member 242 and collected by the feces collection container. On the other hand, residue other than feces, such as uneaten food and molted skin, remains on the flat surface 243, making it possible to separate feces from residue other than feces and remove them.

In order to return the partition member 240 from the position shown in FIG. 7 back into the rearing space, the claws provided on the partition member moving means 220 are adapted to engage with the protrusions 246. The individual rearing containers are placed on a lifter, so their height can be adjusted. The individual rearing containers have, for example, 5 tiers and 10 rows, totaling 50 rearing spaces. Each tier has 10 rearing spaces, and the partition members 240 inserted into the 10 storage spaces on each tier can be moved simultaneously by the 10 arms of the partition member moving means 220. The claws provided on the partition member moving means 220 engage with and disengage from the protrusions 246 by adjusting the height of the lifter. If the individual rearing containers are rotated 180 degrees, the partition member 240 can be pushed out of the rearing space by half from both sides of 212 from the opposite side as well, and the partition member 240 can be pushed out of the rearing space from the opposite side as well.

[Embodiment 4]
In this embodiment, a method is described in which, unlike in the third embodiment, a picking robot is not used when transferring from a group rearing container to individual rearing.

When they reach the second stage (about 20 mm), they are moved into a cage (multiple boxes about 50 mm x 50 mm separated by dividers). In other words, they are moved from group rearing to individual rearing.

Example 1
Using a conical tool such as a funnel (funnel 310), the silkworms are placed one by one into the upper sack chamber 300. If one silkworm cannot be placed in each box 301, for example, if two silkworms are placed in one box, or if an empty box occurs, a pick robot is used to move the silkworms so that one silkworm is placed in each box.

The cocoons can be harvested in about three days, making it possible to produce 120 cocoons per year. This means that the rearing equipment does not need to be used for many days.

Figure 33 shows a modified funnel 310A. A first valve 311 is provided above the extraction port of the funnel 301A, a second valve 312 is provided below the extraction port, and a valve chamber 313 is provided between the first and second valves. When the first valve 311 is opened and, for example, one silkworm moves to the first valve chamber, the first valve 311 is immediately closed, so that one silkworm moves to the valve chamber 313. Next, when the second valve 312 is opened, one silkworm is extracted from the valve chamber from the funnel 310 to one basin 301. This allows one silkworm to be stored in each basin 301. If a sensor is provided in the valve 313, it is possible to control the first valve 311 and the second valve 312 in response to the detection of the silkworm by this sensor. This allows the silkworms to be moved to the valve chamber one by one, and the silkworms to be reliably extracted one by one from the funnel.

Example 2
The group rearing container 320 is covered from above with an individual movement container 330, which is divided into a number of containers 331. The inside dimensions of the group rearing container 320 are approximately equal to the outside dimensions of the individual movement container 330. Since silkworms have the habit of climbing to the top and keeping a distance from other silkworms, one silkworm will enter each container of the container by itself.

(Modification 2-1 of Example 2)
Instead of the grid-shaped box members, for example, a plurality of wave-shaped partition members are stacked, that is, a wave-shaped individual moving box 333 provided with a plurality of wave-shaped boxes 333 is used. Since it is easier to manufacture the partition members than the box members, the device becomes less expensive. The partition members are not limited to wave shapes, and may be, for example, continuous rectangles.

(Modification 2-2 of Example 2)
Instead of the lattice-shaped cage member, the silkworms can be raised using a wire mesh-type individual moving cage 336, for example, in which a wire mesh 335 is bent into a continuous wave shape. Mature silkworms have the habit of making cocoons in three-dimensional places. By utilizing this habit of silkworms, the silkworms recognize the three-dimensional space between the wire meshes formed in the wire mesh-type individual moving cage 336 as a three-dimensional shape, and make their cocoons in this space.

(Modification 2-3 of Example 2)
By utilizing the tendency of silkworms to gather where there is food, the silkworms are dispersed throughout the mass rearing container 320 by distributing paste-like food, and it becomes possible to induce the silkworms to move one by one to the container 331 when the individual movement container 330 is placed over the container.

Figure 37A (left) shows how small silkworms that have just hatched from eggs are raised in the first partition 321. Food 325 is dispersedly placed in the first partition 321. The silkworms gather around the dispersed food, which results in the silkworms being dispersed and raised.

Figure 37B (center image) is an explanatory diagram of the case where, when the silkworms grow large, the first partition 321 is removed and they are reared in the second partition 322. Food is evenly distributed in the second partition, and the silkworms gather around this food, so that the silkworms can be reared in a dispersed manner in the second partition 322.

In Figure 37C (right), when the silkworms grow even larger, the second partition 322 is removed and the silkworms are raised in the entire group rearing container 320. Paste-like food is evenly distributed inside the group rearing container 320. The silkworms gather around the food, and as a result, the silkworms are distributed approximately evenly inside the group rearing container 320. When the silkworms become mature in this state, if an individual transfer box 330 is placed over the group rearing container 320, it becomes possible to guide the approximately evenly distributed mature silkworms one by one into the box 331.

Example 3
When silkworms are reared in the group rearing container 320, in addition to the silkworms, silkworm feces and residues such as leftover food accumulate in the group rearing container 320. In order to raise the silkworms to the upper brood chamber, it is necessary to take out only the mature silkworms, but if the mature silkworms are taken out directly from the container, the residues inevitably come out with the silkworms. Therefore, by using a vacuum suction nozzle with an output that allows the silkworms to stand in the group rearing container 320 by themselves, it is possible to suck out only the residues in the group rearing container 320 and take out only the mature silkworms together. If only the mature silkworms can be taken out, it is possible to put the silkworms together into the funnel 310 of the embodiment shown in Figure 32. Furthermore, even if the funnel 310 is not used, since silkworms have the nature of keeping a distance from other silkworms, by simply scattering the mature silkworms on the upper brood chamber container 300, the silkworms can enter each box 301 one by one and spin their cocoons there.

The above describes the automatic sericulture system, automatic sericulture method, program, and storage medium according to the embodiments of the present invention. However, these embodiments are provided as examples to explain the automatic sericulture system, automatic sericulture method, program, and storage medium for embodying the technical ideas of the present invention, and are not intended to limit the present invention to these embodiment examples. The present invention can be equally applied to combinations of the embodiments, examples, or modified examples, or to those in which various modifications have been made.

1, 1A, 1B: Silkworm rearing system 2: Container 2A: First container 2B: Second container 10: Silkworm transfer device 11: Silkworm holding member 11a: First gripping portion 11b: Second gripping portion 11c: Vacuum suction portion 12: Holding member moving device 13: Camera 20: Second rearing container transport device 30: Control device 40: First rearing container transport device 41: Transport device 60: Feed supply device 61: Feed storage container 62, 62-1: Nozzle member 62-2: Second nozzle member 62h: Opening 63, 63-1: Moving device 63-2: Second moving device 64: Feed supply pipe 64d: First branch pipe 64e: Second branch pipe 64m: Main pipe 64r: Return pipe 65: Feed supply pump 67: Water supply pipe 70 : Partition member moving device 71 : Partition member holding part 71a : First gripping part 71b : Second gripping part 71c : Hook part 72 : Holding part moving device 80 : Egg transfer device 81 : Suction pipe 82 : Piping 83 : Opening/closing valve 84 : Vacuum pump 86 : Suction pipe moving device 91 : Heat insulating material 92 : Air conditioning device 92a : Air supply port 95 : Container connection part 101 : Monitoring computer 103 : Cocoon recovery device 105 : Cleaning device 110 : Gripper 111 : Gripper piece 111a : First gripping piece 111b : Second gripping piece 112 : Contact part 201 Automatic sericulture system 202 First container 203 Second container 210 Robot arm 211 Egg or feed supply position 212 Silkworm pick-up position (rotary table)
213 Position for moving silkworms to individual rearing containers or removing cocoons from individual rearing containers (can be raised and lowered)
214 Connecting conveyor 215 Rearing container automatic storage means 216 Rearing shelf 220 Partition member moving means (push, pull (hook claws on convex part of partition member and pull))
230 Rail of automatic rearing container storage means 240 Partition member 241 Partition portion 242 Elastic member 243 Flat portion 244 Hole 245 Flange portion 246 Convex portion 300 Upper brood chamber container 301 Container 310 Funnel 311 First valve 312 Second valve 320 Group rearing container 321 First partition 322 Second partition 325 Food 330 Individual moving container 331 Container 332 Wave-shaped individual moving container 333 Wave-shaped container 335 Wire mesh 336 Wire mesh-shaped individual moving container 611 : Agitator 620 : Switching valve 621 : First nozzle 622 : Second nozzle 623 : Third nozzle 630 : Robot arm 641, 643, 645 : Opening/closing valve 651 : Rotating shaft 652 : Blade member 671 : Opening/closing valve 672 : Filter 921 : Fan 922 : Heat exchanger 923 : Filter 924 : Filter A : Silkworm AR : Silkworm transfer area AR1 : First rearing container storage area AR2 : Second rearing container storage area AT : Sterile atmosphere C1 : First rearing container C2 : Second rearing container C3 : Container CL : Lid member CY : Cylindrical container Ca : First end Cb : Second end D1 : Branching section D2 : Branching section DR : Door DR1 : First door DR2 : Second door E, E1, E2 : Silkworm eggs F : Feed F1 : Mulberry F2 : Okara H : Housing member IS : Internal space J : Partition wall M : Feces M1, M2 : Motor OP : Opening P : Partition member P1 : First partition member P2 : Second partition member PH : Fluid supply path PL : Food support portion Pa : Engagement portion R1 : First region R2 : Second region Rn1 : First region Rn2 : Second region SP : Rearing chamber SP1 : First rearing chamber SP2 : Second rearing chamber T1 : Shelf T2 : Shelf Wa : Outer wall Ws : Inner surface

Claims (10)

a silkworm transfer device for transferring silkworms from the first rearing container to the second rearing container;
A second breeding container transport device that transports the second breeding container ;
A food supplying device that supplies food placed in the first rearing container or the second rearing container;
Equipped with
The feed supplying device includes:
A nozzle member for discharging bait;
A moving device that moves the nozzle member relative to the bait support part;
Includes
Silkworm rearing system. The nozzle member is
a first nozzle having a first opening;
a second nozzle having a second opening;
The silkworm rearing system according to claim 1 , wherein an opening area of the first opening is smaller than an opening area of the second opening. a silkworm transfer device for transferring silkworms from the first rearing container to the second rearing container;
A second breeding container transport device that transports the second breeding container ;
A partition member moving device that moves a partition member disposed in the first rearing container;
A silkworm rearing system equipped with the above. a silkworm transfer device for transferring silkworms from the first rearing container to the second rearing container;
A second breeding container transport device that transports the second breeding container ;
An egg transfer device for transferring silkworm eggs to the first rearing container;
A silkworm rearing system equipped with the above. The egg transfer device is
A suction tube for sucking the silkworm eggs in the liquid;
The silkworm rearing system according to claim 4 , further comprising: a suction tube moving device for moving the suction tube relative to the first rearing container. The first rearing container transport device further comprises a first rearing container transport device for transporting the first rearing container to a silkworm transfer area,
The silkworm rearing system according to claim 1 , wherein the first rearing container transporting device is a transporting device separate from the second rearing container transporting device. The silkworm rearing system according to claim 1 , wherein the second rearing container transport device is arranged within a container. a first container having a first rearing container storage area;
a heat insulating material disposed along an inner surface of an outer wall of the first container;
The silkworm rearing system according to any one of claims 1 to 7 , further comprising an air conditioning device for adjusting a temperature inside the first container. The silkworm rearing system according to claim 8 , wherein the pressure inside the first container is 10 Pa or more higher than the pressure outside the first container. a second container having a second rearing vessel storage area;
The silkworm rearing system according to claim 8 or 9 , wherein the second container is a container separate from the first container.

Images