CN107667991B - Intelligent silkworm feeding system - Google Patents
Intelligent silkworm feeding system Download PDFInfo
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- CN107667991B CN107667991B CN201711045669.2A CN201711045669A CN107667991B CN 107667991 B CN107667991 B CN 107667991B CN 201711045669 A CN201711045669 A CN 201711045669A CN 107667991 B CN107667991 B CN 107667991B
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- 241000255789 Bombyx mori Species 0.000 title claims abstract description 167
- 235000008708 Morus alba Nutrition 0.000 claims abstract description 143
- 240000000249 Morus alba Species 0.000 claims abstract description 143
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000000384 rearing effect Effects 0.000 claims abstract description 18
- 238000003860 storage Methods 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 24
- 238000005520 cutting process Methods 0.000 claims description 20
- 230000000007 visual effect Effects 0.000 claims description 10
- 238000005303 weighing Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 4
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 2
- 238000009395 breeding Methods 0.000 abstract description 10
- 230000001488 breeding effect Effects 0.000 abstract description 10
- 238000011161 development Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000021050 feed intake Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
- A01K67/033—Rearing or breeding invertebrates; New breeds of invertebrates
- A01K67/04—Silkworms
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- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
The invention relates to the technical field of silkworm breeding auxiliary devices, in particular to a silkworm intelligent feeding system, which comprises a silkworm feeding detection system and a silkworm automatic feeding device; the silkworm feeding detection system is used for detecting and identifying the number of silkworms and the surplus of the mulberry leaves in a silkworm rearing bed, judges whether the mulberry leaves need to be added or not by combining the number of the detected silkworms and the surplus of the mulberry leaves with the silkworm age, transmits corresponding signals to the automatic silkworm feeding device when the silkworm feeding detection system judges that the mulberry leaves need to be put in for the silkworms, and automatically cuts and puts in the mulberry leaves with corresponding amount to be eaten by the silkworms in the silkworm rearing bed according to the received signals. Through the mutual cooperation of the mulberry silkworm feeding detection system and the automatic mulberry silkworm feeding device, unattended operation is realized, the purpose of automatically feeding mulberry silkworms is achieved, and the workload of silkworm raisers is reduced.
Description
Technical Field
The invention relates to the technical field of auxiliary silkworm breeding devices, in particular to an intelligent silkworm feeding system.
Background
As one of the leading industries of agricultural industrialization, the production of the mulberry silkworms has economic, social and ecological benefits, is a rich industry which accords with the basic national policy of resource conservation and environmental protection, and plays an important role in the aspects of external trade, agricultural efficiency improvement, farmer income increase, ecological environment improvement of mulberry silkworm culture areas and the like. The intelligent and efficient silkworm breeding is realized, and the method has important significance for improving the comprehensive benefit of silkworm production in China and promoting the sustainable development of silkworm production.
The silkworm breeding is a labor-intensive industry, the labor cost is high, time and labor are wasted, the workload is large, the working efficiency is extremely low, and the rapid development of the silkworm breeding industry is severely restricted. In recent years, with the progress and development of scientific technology, the modern electronic technology is applied to the intelligent silkworm breeding, the automation and intelligent control of the breeding process are realized, the method is an effective way for improving the silkworm breeding efficiency, and the method becomes the development direction and trend of the silkworm breeding technology. The feeding strategies adopted in different stages of the silkworm are different due to the fact that the feed intake of the silkworm to mulberry leaves in each stage is different in the development and growth process of the silkworm, excessive mulberry leaves cannot be added to the silkworm at one time, the silkworm cannot be appetized due to excessive use of the mulberry leaves, the silkworm seats are wet in the shade, the mulberry leaves are wasted, the silkworm is too few, the mulberry is not eaten enough, the age period is prolonged, and the silkworm is light in small cocoons. When the mulberry is needed to be given, the amount of the mulberry is given at any time, the temperature and the humidity of the outside are also related to the time period, for example, the mulberry is given more in the daytime, the mulberry is given less at night, the mulberry feeding amount in unit time of temperature increase is increased in a proper temperature range, but when the temperature is beyond the proper temperature range, various physiological functions of the silkworm are weakened, and the mulberry feeding amount is reduced; the bigger the humidity is, the more the silkworms grow and develop quickly, and the more mulberry should be given. At present, the mulberry feeding amount and the machine timing of silkworms are completely judged according to the experience of silkworm breeding, and certain uncertain factors exist. However, if the aim is to be achieved, people need to frequently patrol the silkworm rearing bed to see whether mulberry leaves need to be added or not, a great burden is caused to silkworm rearing people, and if people forget to patrol and do not add the mulberry leaves in time, the growth and development of the silkworm are affected, and further, the yield of the silkworm cocoon silk is affected. The research and development of an accurate, intelligent and efficient intelligent silkworm feeding system becomes urgent.
Disclosure of Invention
The invention provides an intelligent silkworm feeding system, which realizes unattended operation through mutual matching of a silkworm feeding detection system and an automatic silkworm feeding device, achieves the purpose of automatically feeding silkworms, and reduces the workload of silkworm raisers.
The invention is realized by the following technical scheme: an intelligent silkworm feeding system comprises a silkworm feeding detection system and an automatic silkworm feeding device; the mulberry silkworm feeding detection system is used for detecting and identifying the number of mulberry silkworms and the residual amount of the mulberry leaves in a silkworm seat, judging whether the mulberry leaves need to be added or not by combining the detected number of the mulberry silkworms and the residual amount of the mulberry leaves with the variety and the silkworm age, transmitting corresponding signals to the automatic mulberry silkworm feeding device when the automatic mulberry silkworm feeding detection system judges that the mulberry leaves need to be put into the mulberry silkworms, and automatically cutting the mulberry leaves which are put into the corresponding amount into the silkworm seat according to the received signals to be eaten by the mulberry silkworms.
Further, the silkworm feeding detection system comprises an image acquisition module, an image identification module, an intelligent control module, a temperature and humidity acquisition module and a communication module which are electrically connected with each other;
the intelligent silkworm rearing device comprises an image acquisition module, an intelligent control module and a communication module, wherein the image acquisition module is used for acquiring a color image in a silkworm rearing bed, the image identification module is used for identifying the number of silkworms and the surplus of mulberry leaves according to the color image acquired by the image acquisition module, the temperature and humidity acquisition module is used for acquiring the temperature and humidity of the silkworm rearing bed, the intelligent control module comprises a time detection unit and a judgment unit, the time detection unit is used for detecting the current time and the previous time of feeding the silkworms, the judgment unit integrates the current temperature and humidity condition, the number of silkworms, the surplus of mulberry leaves, the age of silkworms, the current time and the previous time interval of feeding the silkworms, judges whether the mulberry needs to be fed and fed, and the communication module is used for feeding the mulberry and feeding the mulberry quantity information.
Further, the automatic feeding device of silkworm includes mulberry leaf bin, cutting device, power device, weighing device, puts in the device, and mulberry leaf finished product storage box and controlling means, controlling means is used for receiving communication module's information, controlling means respectively with weighing device reaches power device connects, power device respectively with cutting device and put in the device and connect, the mulberry leaf bin is used for saving the mulberry leaf and puts in extremely with the mulberry leaf cut on the cutting device, the mulberry leaf finished product storage box is used for receiving the process the mulberry leaf after the cutting device cuts.
Further, the image recognition module recognizes the silkworm according to the physical characteristics of the silkworm, wherein the physical characteristics of the silkworm comprise black spots of the head, the chest, the abdomen and the head.
Further, the mulberry leaf storage box is a sealing box.
Further, automatic device of feeding of silkworm still includes audible-visual annunciator, audible-visual annunciator with controlling means connects, controlling means still is used for judging whether the mulberry leaf stock in the mulberry leaf bin can satisfy current required volume of giving the mulberry, and the mulberry leaf stock in the mulberry leaf bin when current can not satisfy current required volume of giving the mulberry controls audible-visual annunciator and sends out the police dispatch newspaper.
Further, when the control device judges that the mulberry leaf storage amount in the current mulberry leaf storage box can not meet the current required mulberry leaf feeding amount, the alarm is sent to the remote mobile terminal in a short message mode through the communication module.
Furthermore, the image acquisition module is an industrial camera, acquires images every 10-120 minutes, and adjusts the time interval of image acquisition according to different ages of silkworms.
Further, when the temperature and humidity detected by the temperature and humidity acquisition module exceeds a preset value, corresponding alarm information is sent to the remote mobile terminal through the communication module.
Further, when the temperature and humidity detected by the temperature and humidity acquisition module exceeds a preset value, the audible and visual alarm gives an alarm.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the automatic silkworm feeding device is matched with the silkworm feeding detection system, so that unattended operation is realized, and the purpose of automatically feeding silkworms is achieved. The silkworm feeding detection system can automatically detect the number of silkworms and the current mulberry leaf residual amount, judges whether the mulberry needs to be fed and the mulberry quantity needs to be fed or not by integrating the current temperature and humidity condition, the number of silkworms, the mulberry leaf residual amount, the silkworm age, the current time and the time interval between the current temperature and humidity condition and the previous mulberry feeding through the judgment unit, and then transmits corresponding information to the automatic silkworm feeding device through the communication module to cut the mulberry and put corresponding mulberry leaf quantity into the automatic mulberry feeding device. The whole system is matched with each other to achieve the effects of accurately, intelligently and efficiently detecting whether the current silkworms need to put in mulberry leaves or not, determining the putting amount by integrating other factors and realizing automatic putting. And if the mulberry leaf storage is insufficient, corresponding alarm can be sent out through the acousto-optic alarm device, and meanwhile, the alarm is sent to silkworm raising workers through the communication module, so that the workers are reminded of timely handling.
Drawings
FIG. 1 is a block diagram of a system structure of an intelligent silkworm feeding system according to the present invention;
FIG. 2 is a block diagram of a silkworm feeding detection system of the intelligent silkworm feeding system of the present invention;
FIG. 3 is a block diagram of a system structure of an automatic silkworm feeding device of the intelligent silkworm feeding system of the present invention;
fig. 4 is a working flow chart of the intelligent silkworm feeding system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, an intelligent silkworm feeding system includes a silkworm feeding detection system 10 and an automatic silkworm feeding device 20; the silkworm feeding detection system 10 is used for detecting and identifying the number of silkworms and the residual amount of the mulberry leaves in a silkworm seat, judging whether the mulberry leaves need to be added or not by combining the detected number of the silkworms and the residual amount of the mulberry leaves with the variety and the silkworm age, transmitting corresponding signals to the automatic silkworm feeding device 20 when the silkworm feeding detection system 10 judges that the mulberry leaves need to be put into the silkworms, and automatically cutting and putting the mulberry leaves with corresponding amount into the silkworm seat for the silkworms to eat according to the received signals by the automatic silkworm feeding device 20.
Referring to fig. 2, the silkworm feeding detection system 10 includes an image acquisition module 11, an image recognition module 12, an intelligent control module 13, a temperature and humidity acquisition module 14, a communication module 15 and an audible and visual alarm 17, which are electrically connected to each other; the image capturing module 11 is used for capturing a color image in a silkworm rearing bed, in this embodiment, the image capturing module 11 is an industrial camera, the image capturing module 11 captures images every 10 to 120 minutes, and in this embodiment, the time interval of image capturing is adjusted according to the different ages of silkworms. The image recognition module 12 is configured to recognize the number of silkworms and the residual amount of the mulberry leaves according to the color image acquired by the image acquisition module 11, recognize the mulberry leaves in the image according to the specific shape and color of the mulberry leaves, and recognize the silkworms according to the physical characteristics of the silkworms, including black spots on the head, chest, abdomen, and head. The temperature and humidity acquisition module 14 is used for acquiring the temperature and humidity of the silkworm rearing bed and transmitting related information to the intelligent control module 13. When the temperature and humidity detected by the temperature and humidity acquisition module 14 exceeds a preset value, the intelligent control module 13 controls the audible and visual alarm 16 to give an alarm, and sends corresponding alarm information to the remote mobile terminal through the communication module 15 to inform a manager to dispose. The intelligent control module 13 comprises a time detection unit 131 and a judgment unit 132, the time detection unit 131 is used for detecting the current time and the previous mulberry feeding time, the judgment unit 132 is used for judging whether the mulberry needs to be fed and the mulberry feeding amount according to the current temperature and humidity condition, the number of silkworms, the residual quantity of mulberry leaves, the silkworm age, the current time and the previous mulberry feeding time interval, and the intelligent control module 13 further comprises a storage unit which is used for storing preset judgment logics and calculation formulas for the mulberry feeding and the mulberry feeding amount, and recording data such as the mulberry feeding time, the silkworm age, the preset temperature and humidity value each time. The intelligent control module 13 transmits the mulberry feeding and mulberry amount information to the communication module 15, and the communication module 15 transmits the mulberry feeding and mulberry amount information to the automatic silkworm feeding device.
Referring to fig. 3, the automatic silkworm feeding device 20 includes a mulberry leaf storage box 21, a cutting device 25, a power device 24, a weighing device 22, a feeding device 27, a finished mulberry leaf storage box 26, and a control device 23, wherein the mulberry leaf storage box 21 is a sealed box for storing fresh mulberry leaves, the sealed box can effectively maintain the freshness of the mulberry leaves for a long time, and the mulberry leaves are fed to the cutting device 25 for cutting. The weighing device 22 detects the weight of the mulberry leaves in the mulberry leaf storage box in real time and transmits corresponding information to the control device 23, and the control device 23 receives the information of the communication module 15 and controls the power device 24 to provide power for the cutting device 24 and the feeding device 27. The control device 23 controls the actions of the cutting device 24 and the feeding device 27 through the power device 24 according to the mulberry leaf weight information detected by the weighing device 22, when the mulberry leaves in the mulberry leaf storage box 21 reach the feeding amount, the mulberry leaf storage box 21 stops feeding the mulberry leaves onto the cutting device 25, and meanwhile, the cutting device 25 stops cutting; the cut mulberry leaves fall into a mulberry leaf finished product storage box 26; meanwhile, the feeding device 27 uniformly feeds the mulberry leaves in the mulberry leaf finished product storage box 26 to a silkworm rearing bed for silkworms to eat. The launch device 27 is a robotic arm in this embodiment. When the control device 23 judges that the mulberry leaf storage amount in the current mulberry leaf storage box is smaller than the required mulberry leaf putting amount, the information is fed back to the intelligent control module 13 through the communication module 15, the intelligent control module 13 controls the audible and visual alarm 16 to give an alarm, and meanwhile, the communication module 15 is controlled to send the alarm to the remote mobile terminal in the form of short messages to inform a manager to dispose timely.
In the following, the working principle and the implementation mode of the present invention are briefly described, please refer to fig. 1-4, the image acquisition module 11 takes color images of silkworm rearing bed at intervals according to the age setting and transmits the images to the image recognition module 12, the image recognition module 12 recognizes the number of silkworms and the residual amount of mulberry leaves and transmits the corresponding data to the intelligent control module 13; the temperature and humidity acquisition module also periodically transmits temperature and humidity data of the silkworm rearing bed to the intelligent control module 13. The intelligent control module 13 integrates the current temperature and humidity, the number of silkworms, the residual amount of mulberry leaves, the silkworm age, the current time and the time interval between the current time and the previous time of mulberry feeding, judges whether the mulberry needs to be fed or not and calculates the mulberry feeding amount, ends when the mulberry does not need to be fed, controls the audible and visual alarm 16 to give an alarm when the mulberry needs to be fed, and informs a manager of a remote terminal through a short message by the communication module 15 and transmits the information to the control device 23. The control device 23 detects whether the mulberry leaves in the mulberry leaf storage box 21 meet the current required mulberry leaf feeding amount through the weighing device 22, when the mulberry leaves do not meet the required mulberry leaf feeding amount, the control device transmits corresponding signals to the intelligent control module 13 through the communication module 15, the intelligent control module 13 controls the audible and visual alarm 16 to give an alarm, and the communication module 15 sends corresponding information to a remote terminal to inform a manager through a short message; when the mulberry leaves are cut, the control device 23 controls the cutting device 25 to cut the mulberry leaves through the power device 24, when the weighing device 22 detects that the feeding amount is met, the feeding of the cut mulberry leaves is stopped, and the feeding device 27 is controlled to feed the cut mulberry leaves to the silkworm rearing bed.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a system is eaten to silkworm intelligence feeding which characterized in that: comprises a silkworm feeding detection system and a silkworm automatic feeding device; the mulberry silkworm feeding detection system is used for detecting and identifying the number of mulberry silkworms in a silkworm rearing bed and the residual amount of the mulberry leaves, judging whether the mulberry leaves need to be added or not according to the detected number of the mulberry silkworms and the detected residual amount of the mulberry leaves and the variety and the silkworm age of the silkworms, transmitting corresponding signals to the automatic mulberry silkworm feeding device when the automatic mulberry silkworm feeding detection system judges that the mulberry leaves need to be fed to the silkworms, and automatically cutting and feeding the mulberry leaves with corresponding amount into the silkworm rearing bed for the silkworms to eat according to the received signals;
the silkworm feeding detection system comprises an image acquisition module, an image identification module, an intelligent control module, a temperature and humidity acquisition module and a communication module which are electrically connected with each other;
the intelligent silkworm rearing system comprises an image acquisition module, an intelligent control module and a communication module, wherein the image acquisition module is used for acquiring a color image in a silkworm rearing bed, the image identification module is used for identifying the number of silkworms and the residual quantity of mulberry leaves according to the color image acquired by the image acquisition module, the temperature and humidity acquisition module is used for acquiring the temperature and humidity of the silkworm rearing bed, the intelligent control module comprises a time detection unit and a judgment unit, the time detection unit is used for detecting the current time and the previous mulberry feeding time, the judgment unit integrates the current temperature and humidity condition, the number of silkworms, the residual quantity of mulberry leaves, the silkworm age, the current time and the previous mulberry feeding time interval to judge whether the mulberry needs to be fed or not and the mulberry feeding quantity needs to be fed, and the communication module is used for transmitting the mulberry feeding and mulberry feeding quantity information to the automatic silkworm feeding device;
the image recognition module recognizes the silkworm according to the physical characteristics of the silkworm, wherein the physical characteristics of the silkworm comprise a head, a chest, an abdomen and black spots of the head.
2. The system is fed to silkworm intelligence of claim 1, characterized in that, the automatic device of feeding of silkworm includes mulberry leaf bin, cutting device, power device, weighing device, input device, mulberry leaf finished product storage box and controlling means, controlling means is used for receiving communication module's information, controlling means respectively with weighing device reaches power device connects, power device respectively with cutting device and input device connect, the mulberry leaf bin is used for storing the mulberry leaf and puts in the mulberry leaf to cut on the cutting device, mulberry leaf finished product storage box is used for receiving the process the mulberry leaf after the cutting device cuts.
3. The intelligent silkworm feeding system according to claim 2, wherein: the mulberry leaf storage box is a sealing box.
4. The intelligent silkworm feeding system according to claim 2, wherein: the automatic silkworm feeding device further comprises an audible and visual alarm, the audible and visual alarm is connected with the control device, the control device is further used for judging whether the mulberry leaf stock in the mulberry leaf storage box can meet the current required mulberry quantity, and the audible and visual alarm is controlled to give an alarm if the mulberry leaf stock in the mulberry leaf storage box can not meet the current required mulberry quantity.
5. The intelligent silkworm feeding system according to claim 4, wherein: and when the control device judges that the mulberry leaf storage amount in the current mulberry leaf storage box can not meet the current required mulberry leaf feeding amount, the alarm is sent to the remote mobile terminal in the form of short message through the communication module.
6. The intelligent silkworm feeding system according to claim 1, wherein: the image acquisition module is an industrial camera, acquires images every 10-120 minutes, and adjusts the time interval of image acquisition according to the different ages of silkworms.
7. The intelligent silkworm feeding system according to claim 1, wherein: and when the temperature and humidity detected by the temperature and humidity acquisition module exceeds a preset value, sending corresponding alarm information to the remote mobile terminal through the communication module.
8. The intelligent silkworm feeding system according to claim 4, wherein: and when the temperature and humidity detected by the temperature and humidity acquisition module exceeds a preset value, the audible and visual alarm gives an alarm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110597167B (en) * | 2019-09-02 | 2023-03-03 | 重庆中控欧玛仪表研究院有限公司 | Silkworm breeding monitoring system |
| CN113016727A (en) * | 2021-03-02 | 2021-06-25 | 浙江理工大学 | Silkworm production element recommendation system and method based on knowledge base |
| CN114946777B (en) * | 2022-03-04 | 2023-03-14 | 那坡同益新丝绸科技实业有限公司 | Feeding processing system for breeding silkworms based on AGV |
| CN116849183A (en) * | 2023-07-07 | 2023-10-10 | 深圳市微米生物技术有限公司 | Intelligent breeding box for efficient and environment-friendly maggot breeding |
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| CN106063460A (en) * | 2016-07-19 | 2016-11-02 | 深圳博科智能科技有限公司 | A kind of intelligence feeder and long-range control method |
| CN106259209A (en) * | 2016-08-11 | 2017-01-04 | 段永改 | A kind of educate worm device, the cultivating system educating worm device containing this and cultural method based on cultivating system black soldier flies larva |
| CN106332845A (en) * | 2016-08-27 | 2017-01-18 | 浙江省农业机械研究院 | Automatic fly maggot separation machine |
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| CN107667991A (en) | 2018-02-09 |
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Application publication date: 20180209 Assignee: Guangxi Huateng Xunke Information Technology Co.,Ltd. Assignor: GUANGXI UNIVERSITY FOR NATIONALITIES Contract record no.: X2023980044925 Denomination of invention: An Intelligent Feeding System for Silkworm Granted publication date: 20221111 License type: Common License Record date: 20231101 |