Insect metering system and method

Abstract

An insect metering system is composed of: at least one scale; an imager; a calibration function; and a dose function.

Description

Technical Field

[0001] The present disclosure relates to the field of insect breeding, and in particular to an insect metering system and method. Background Art

[0002] Insects can be used in various applications such as pest management, protein and oil production for food and animal feed industries, material production for pharmaceutical and cosmetic industries, waste reduction, fertilizer production in agriculture, etc.

[0003] One way to provide insects to customers is to deliver them in the larval stage. When ordering a batch of insect larvae, a specific number of larvae is ordered and the number of larvae delivered should be as close to the number ordered as possible. In addition, larvae are usually reared in batches and the number of larvae in each batch has a great influence on their performance. However, counting larvae that are very small, of varying sizes and tend to aggregate can be challenging. In addition, the presence of debris from egg shells, growth medium or other sources adds more noise to the system. Therefore, applying "traditional" and off-the-shelf solutions to count or weigh the larvae is insufficient and can result in errors in the range of tens of percentage points. In addition, prior art solutions that attempt to improve the accuracy of the measurement are usually very slow and therefore not economically efficient. This applies not only to larvae, but also to other insects with similar characteristics, namely being very small, having large size differences from sample to sample and having a tendency to aggregate. Summary of the invention

[0004] It is therefore a primary object of the present invention to overcome at least some of the disadvantages of prior art insect metering systems.

[0005] In one embodiment, this object is provided by an insect metering system comprising: at least one scale; an imager; a calibration function; and a dosing function, wherein the calibration function: receives a measurement of the weight of a calibration group of insects from the scale; receives at least one image of the calibration group of insects from the imager; determines the number of insects in the calibration group in response to the at least one image received; and determines the number of insects in the calibration group in response to the determined calibration

[0006] The dosage function: receives a measurement of the weight of the insects of the product group from the at least one scale; and in response to the received measurement of the weight of the product group and the determined calibration function, outputs a signal indicating the number of insects in the product group.

[0007] In some examples, the insect metering system further includes: a container; and a dispenser that provides a path from the container to a scale, wherein the dosing function: applies a determined calibration function to a received measurement of the weight of the product group to determine the number of insects in the product group; compares the determined number of insects in the product group to a predetermined metering value; and controls the dispenser to add insects from the container to the at least one scale until the determined number of insects in the product group reaches the predetermined metering value.

[0008] In some examples, the insect metering system further includes: a container; and a dispenser that provides a path from the container to a scale, wherein the dosing function: applies a determined calibration function to a predetermined metering value to determine a target weight; compares a measurement of the weight of the received product group to the determined target weight; and controls the dispenser to add insects from the container to the at least one scale until the determined target weight is reached.

[0009] In some examples, the dispenser includes a vibrating conveyor that is controlled by the dosing function.

[0010] In some examples, the surface of the vibrating conveyor is coated with a hydrophobic or hydrophilic material.

[0011] In some examples, the insect metering system further includes a dead insect filter that filters out dead insects.

[0012] In some examples, the dead bug filter comprises a sieve. In some examples, the average diameter of the mesh of the sieve is 250-300 microns.

[0013] In some examples, the dead bug filter includes a platform.

[0014] In some examples, the insect metering system further includes: a plate; and a vertical translation mechanism that translates the plate between a first position and a second position, wherein in the first position the plate rests on the at least one scale and in the second position the plate is vertically displaced from the at least one scale.

[0015] In some examples, the at least one image includes a plurality of images taken at predetermined time intervals.

[0016] In some examples, the predetermined time intervals are offset from each other by 1-15 seconds.

[0017] In some examples, the calibration function determines the number of insects in the calibration group by: determining, for each of a plurality of images, a histogram of the area of ​​objects within the corresponding image; determining, for one or more of the plurality of images, a threshold responsive to a maximum value of the corresponding histogram; and selecting an image from the plurality of images, the selected image containing a lowest percentage of objects having an area greater than the determined threshold, wherein the number of insects in the calibration group is determined based on the selected image.

[0018] In some examples, the number of insects in the calibration group is determined by counting the number of objects having an area smaller than a determined threshold.

[0019] In some examples, the calibration function further compares corresponding pixels of the plurality of images to one another and defines the pixel as containing a dead newly hatched larva when corresponding pixels in all of the plurality of images exhibit the same value.

[0020] In some examples, the calibration function determines the calibration function multiple times throughout a day.

[0021] In some examples, the calibration function determines the calibration function every 30-90 minutes while in operation.

[0022] In some examples, the insect metering system further includes: at least one processor; and at least one memory having instructions contained therein, wherein when the instructions are read by the processor, the instructions of the at least one memory cause the at least one processor to implement a calibration function and a dosing function.

[0023] In some examples, the insect metering system further includes: a calibration unit; and a metering unit, wherein the at least one scale includes two scales, wherein the calibration unit includes an imager, a first scale of the two scales, and a calibration function, and wherein the dosing unit includes a second scale of the two scales and a dosing function.

[0024] In some examples, the calibration group of insects and the product group of insects include insect larvae.

[0025] In some examples, the calibration group of insects and the product group of insects include newly hatched insect larvae.

[0026] Independently, an insect metering method is provided, the method comprising: receiving a measurement of the weight of insects of a calibration group from at least one scale; receiving at least one image of the insects of the calibration group from an imager; determining the number of insects in the calibration group in response to the at least one image received; determining a calibration function in response to the determined number of insects in the calibration group and the received measurement of weight; receiving a measurement of the weight of insects of a product group from the at least one scale; and outputting a signal indicating the number of insects in the product group in response to the received measurement of the weight of the product group and the determined calibration function.

[0027] In some examples, the method further includes: applying the determined calibration function to the received measurement of the weight of the product group to determine the number of insects in the product group; comparing the determined number of insects in the product group with a predetermined measurement value; and controlling a dispenser to add insects from a container to the at least one scale until the determined number of insects in the product group reaches the predetermined measurement value.

[0028] In some examples, the method further includes: applying the determined calibration function to predetermined metered values ​​to determine a target weight; comparing the measured value of the weight of the received product group to the determined target weight; and controlling the dispenser to add insects from the container to the at least one scale until the determined target weight is reached.

[0029] In some examples, the dispenser includes a vibrating conveyor.

[0030] In some examples, the surface of the vibrating conveyor is coated with a hydrophobic material.

[0031] In some examples, the method further includes filtering the calibrated set of insects through a dead insect filter to filter out dead insects.

[0032] In some examples, the dead bug filter comprises a sieve. In some examples, the average diameter of the mesh of the sieve is 250-300 microns.

[0033] In some examples, the dead bug filter includes a platform.

[0034] In some examples, the method further includes translating the plate between a first position where the plate rests on the at least one scale and a second position where the plate is vertically displaced from the at least one scale.

[0035] In some examples, the at least one image includes a plurality of images taken at predetermined time intervals.

[0036] In some examples, the predetermined time intervals are offset from each other by 1-15 seconds.

[0037] In some examples, determining the number of insects in a calibration group includes: for each of a plurality of images, determining a histogram of the area of ​​objects within the corresponding image; for one or more of the plurality of images, determining a threshold responsive to a maximum value of the corresponding histogram; selecting an image from the plurality of images, the selected image containing a lowest percentage of objects having an area greater than the determined threshold, and wherein the number of insects in the calibration group is determined from the selected image.

[0038] In some examples, the number of insects in the calibration group is determined by counting the number of objects having an area smaller than a determined threshold.

[0039] In some examples, the method further includes: comparing corresponding pixels of the plurality of images to each other; and defining the pixel as containing a dead newly hatched larva when corresponding pixels in all images of the plurality of images exhibit the same value.

[0040] In some examples, the calibration function is determined multiple times a day. In some examples, the calibration function is determined every 30-90 minutes.

[0041] In some examples, the insects in the calibration group and the insect-producing group include insect larvae.

[0042] In some examples, the pinkun of the calibration group and the pinkun of the product group include newly hatched insect larvae.

[0043] Additional features and advantages of the invention will become apparent from the following drawings and description.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those of ordinary skill in the art to which the present invention belongs. In the event of a conflict, the patent specification (including definitions) shall prevail. The articles "a" and "an" used herein mean "at least one" or "one or more", unless the context clearly specifies otherwise. "And / or" used herein means any one or more items in a list connected by "and / or". For example, "x and / or y" means any element in a three-element group {(x), (y), (x, y)}. In other words, "x and / or y" means "x, y or both x and y". For another example, "x, y and / or z" means any element in a seven-element group {(x), (y), (z), (x, y), (x, z), (y, z), (x, y, z)}.

[0045] In addition, unless expressly stated otherwise, "or" refers to an inclusive or rather than an exclusive or. For example, condition A or B is satisfied by any of the following: A is true (or exists) and B is false (or does not exist), A is false (or does not exist) and B is true (or exists), and both A and B are true (or exist).

[0046] In addition, the use of "a" or "an" is used to describe elements and components of embodiments of the present inventive concept. This is done only for convenience and to give a general meaning of the present inventive concept. "A" and "an" are intended to include one or at least one, and the singular also includes the plural, unless it is obvious that it means otherwise.

[0047] As used herein, the term "about" when referring to a measurable value (e.g., an amount, a duration in time, etc.) is intended to encompass variations of + / - 10%, more preferably + / - 5%, even more preferably + / - 1%, and more preferably + / - 0.1% relative to the specified value, as such variations are suitable for performing the disclosed devices and / or methods.

[0048] The following embodiments and aspects thereof are described and illustrated in conjunction with systems, tools, and methods, which are intended to be exemplary and illustrative, but not limiting in scope. In various embodiments, one or more of the above problems have been reduced or eliminated, while other embodiments are directed to other advantages or improvements. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] For a better understanding of the invention and to show how it may be carried into effect, reference will now be made, by way of example only, to the accompanying drawings in which like numerals refer to corresponding parts or elements throughout.

[0050] With specific reference now to the drawings in detail, it is emphasized that the details shown are presented by way of example only and only for illustrative discussion of the preferred embodiments of the present invention, and are presented in order to provide what is believed to be the most useful and easily understood description of the principles and conceptual aspects of the present invention. In this regard, no attempt is made to show the structural details of the present invention in more detail than is necessary for a basic understanding of the present invention, and the description in conjunction with the drawings makes it clear to those skilled in the art how several forms of the present invention may be implemented in practice. In the drawings:

[0051] Figures 1A-1F shows various high-level views of a calibration unit according to some examples;

[0052] Figures 2A-2D Various high-level views of a metering unit according to some examples are shown;

[0053] Figures 3A-3EVarious graphs showing the experiment, showing the weight of newly hatched insect larvae over time and the change in the number of standard at different temperatures and repetitions; and

[0054] Figure 4 A high-level flow chart of an insect metering method according to some examples is shown. DETAILED DESCRIPTION

[0055] In the following description, various aspects of the present disclosure will be described. For the purpose of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the different aspects of the present disclosure. However, it will also be appreciated by those skilled in the art that the present disclosure may be implemented without the specific details presented herein. In addition, well-known features may be omitted or simplified to avoid obscuring the present disclosure. In the figures, the same reference numerals always represent the same components. In order to avoid excessive confusion due to too many reference numerals and leads on a particular figure, some components will be introduced by one or more figures and will not be clearly identified in each subsequent figure containing the component.

[0056] Figure 1A shows a high-level perspective view of a calibration unit 10 according to some examples; Figure 1B shows a high-level perspective view of various components of the calibration unit 10 according to some examples; Figure 1C According to some examples Figure 1B A high-level side view of the various components of the calibration unit 10; Figure 1D shows a high-level perspective view of various components of the calibration unit 10 according to some examples; and Figure 1E According to some examples Figure 1D A high-level side view of the various components of the calibration unit 10.

[0057] In some examples, the calibration unit 10 includes: a scale 20; an imager 30; and a calibration function 35. In another example, the calibration unit 10 also includes: a plate 40 having an upper surface 41 and a lower surface 42; and a vertical translation mechanism 50. In another example, the calibration unit 10 also includes a cleaning mechanism 60. In another example, the calibration unit 10 also includes: an arm 70. In another example, the calibration unit 10 also includes: a housing 80, optionally including a door 85. In some examples, the housing 80 contains the scale 20, the imager 30, the plate 40, the vertical translation mechanism 50, the cleaning mechanism 60, and the arm 70.

[0058] As used herein, the term "scale" is intended to include any device that determines the weight of one or more objects. As used herein, the term "imager" is intended to include any device that generates an image, such as a camera.

[0059] In some examples, calibration function 35 is implemented as computer-implemented instructions stored on memory 36 and read by processor 37. The computer-implemented instructions cause processor 37 to perform the functions of calibration function 35 described below. In some examples, memory 36 includes any of the following: read-only memory (ROM), such as programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM); or random access memory (RAM), such as static RAM (SRAM) and dynamic RAM (DRAM). In some examples, processor 37 is part of a computer.

[0060] Although calibration functionality 35, memory 36, and processor 37 are shown as being located within housing 80, this is not meant to be limiting in any way. In some examples, calibration functionality 35, memory 36, and / or processor 37 are located in an external computer system.

[0061] The plate 40 is shown as a rectangle, but this is not meant to be limiting in any way. In some examples, the upper surface 41 of the plate 40 is black. In another example, the upper surface 41 of the plate 40 presents a matte surface, optionally black. In another example, the plate 40 is an aluminum plate, optionally anodized aluminum. The imager 30 faces the upper surface 41 of the plate 40 and is fixed to the end of the arm 70 in some examples. In some examples, the size of the plate 40 and the lens diameter of the imager 30 are defined so that the field of view of the imager 30 covers at least the entirety of the upper surface 41 of the plate 40. In another example, the plate is electrically discharged.

[0062] The term "vertical translation mechanism" is intended to include any device that produces vertical motion. In some examples, the vertical translation mechanism 50 includes: one or more vertically oriented support members 51, which are in the shape of a track or a slot; one or more sliding members 52, each sliding member 52 is fixed in a corresponding support member 51; and one or more vertical actuators 53, each vertical actuator 53 optionally includes a motor, each vertical actuator 53 is fixed to a corresponding sliding member 52. In some examples, the translation member 52 can be moved away from the plate 40, as shown. Specifically, in such an example, the translation member 52 includes one or more members 55, which are shaped and sized to fit securely in a corresponding socket of the plate 40. In some examples, the translation members 54 are each a rod, a tube, or a member of any suitable shape fixed between the sliding members 52. In some examples, the vertical translation mechanism 50 includes a control circuit 56.

[0063] In some examples, control circuit 56 includes one or a combination of: a microcontroller; a field programmable gate array (FPGA); a computer; or any suitable circuit.

[0064] In some examples (not shown), cleaning mechanism 60 includes: a pressurized air tank and a pressurized air valve; a motor that rotates a fan to generate suction; a linear actuator that linearly translates the wiping member; or a combination of the above. Arm 70 is shown as L-shaped, however this is not meant to be limiting in any way.

[0065] In operation, the plate 40 is positioned above the scale 20 so that the lower surface 42 is in contact with the scale 20. In some examples, the vertical translation mechanism 50 vertically translates the plate 40 between the following positions: a first position, which is away from the scale 20; and a second position, in which the lower surface 42 is in contact with the scale 20. In some examples, the control circuit 56 controls the one or more vertical actuators 53 to vertically translate the translation member 54 and the plate 40 so that the plate 40 is vertically translated between the first and second positions. As shown, in some examples, after bringing the plate 40 to the second position on the scale 20, the vertical actuator 53 further translates the translation member 54 downward away from the plate 40 by pulling the member 55 out of the socket 43. Although the calibration unit 10 is described herein in relation to the vertical translation mechanism 50, this is not meant to be limiting in any way, and the calibration unit 10 can be provided without vertically translating the plate 40.

[0066] The calibration group of insects is dispersed on the upper surface 41 of the plate 40. The term "calibration group" simply refers to a group of insects currently used in the calibration unit 10 to perform calibration, as described below, and is not meant to be limiting in any way.

[0067] In some examples, the calibration unit 10 also includes a dead insect filter. The dead insect filter filters out dead insects. In some examples, such as Figure 1F As shown, the dead insect filter includes a sieve 90. In some examples, the sieve 90 has a mesh 91 with a diameter of about 250-300 microns. In such an example, the calibration group is filtered through the sieve 90. The use of the sieve 90 advantageously filters out egg shells. In addition, the diameter of the mesh 91 is such that insects generally do not fall and the insects need to crawl through the mesh 91, so most of the insects that pass through the sieve 90 are live insects.

[0068] In another example (not shown), the dead insect filter includes a platform. As used herein, the term "platform" refers to a generally flat and horizontal surface, wherein at least a portion of the edges of the platform are open so that insects can advance over the edges. In such an example, live insects will crawl off the platform, while dead insects will remain on the platform, thereby allowing live insects to be weighed and imaged without dead insects.

[0069] When the plate 40 is positioned on the scale 20, the scale 20 outputs a measurement of the weight of the calibration group of insects, which is received by the calibration function 35. In some examples, the output of the scale 20 is predefined relative to the weight of the plate 40 so that the output measurement is equal to the weight of the calibration group of insects. In another example, the output of the scale 20 includes the sum of the weight of the calibration group and the weight of the plate 40. In such an example, the calibration function 35 subtracts the known weight of the plate 40 from the received measurement to obtain the weight of the calibration group of insects.

[0070] The imager 30 is controlled to capture one or more images of the upper surface 41 of the board 40 and output the one or more images to the calibration function 35. In some examples, the imager 30 captures multiple images at predetermined time intervals. In some examples, the predetermined time intervals are offset from each other by 1-15 seconds. In some examples, the images are captured at 8-12 time intervals. In some examples, the imager 30 is controlled by the control circuit 56 to capture the images. In another example (not shown), a dedicated control circuit is provided for the imager 30.

[0071] In response to the received weight measurement and the received one or more images, the calibration function 35 determines a calibration function. In some examples, the calibration function is determined by: determining the number of insects in the calibration group in response to the received one or more images; and defining a relationship between the number of insects in the calibration group and the total weight of the calibration group. In some examples, the calibration function CF is:

[0072] CF = 1 / (W / N) Equation 1

[0073] Where W is the measured weight of the calibration group and N is the number of insects determined in the calibration group.

[0074] In some examples, before identifying the objects in each image, the illumination inconsistency of the upper surface 41 of the plate 40 is corrected by the calibration function 35. In another example, a morphological opening operation is performed on the image to remove all insects from the image, thereby leaving a background image. The term "background image" as used herein refers to an image that mainly contains background and no objects. The background image is then subtracted from the original image to correct for the illumination.

[0075] In some examples, the calibration function 35 uses Otsu's method to binarize and then fill in the segments using morphological reconstruction to identify objects in the image. In some examples, any segments smaller than a predetermined size are excluded from consideration because they are too small to be insects. In some examples, for insects, the predetermined size is approximately 0.05*1 mm. 2 .

[0076] In some examples, the calibration function 35 determines a histogram of the area of ​​objects within the corresponding image for each image. In some examples, the calibration function also determines a threshold value for each image in response to the maximum value of the corresponding histogram. Specifically, for each image, the maximum value in the histogram (i.e., the most common area value) should represent the typical size of the insects in the calibration group. Then, the threshold is determined in response to the maximum value of the histogram. Objects with an area greater than the threshold represent insect swarms, so the calibration function 35 identifies the percentage of objects representing insect swarms in the image by counting the number of objects that exhibit a size greater than the determined threshold and comparing it to the total number of objects. In some examples, the threshold is determined separately for each image. In another example, the threshold is determined in a subset of images. In some examples, the threshold is defined such that an object is identified as a mass if the following conditions are met:

[0077] round(A obj / H max) >1Equation 2

[0078] where "round" is the rounding function, A obj is the area of ​​the object, H max is the maximum value of the histogram.

[0079] In some examples, the calibration function 35 then selects the image containing the lowest percentage of objects whose area is greater than a threshold value. Thus, the selected image contains the least amount of insects, thereby providing a more accurate insect weight calculation, as described below. In some examples, the calibration function 35 also receives the weight of the insects of the calibration group at each time interval, and the weight used to determine the calibration function is the weight measured at the corresponding time interval of the selected image. In another example, the weight of the calibration group is measured only once.

[0080] In some examples, the calibration function 35 compares pixels and / or objects of the multiple images to each other and defines the pixels and / or objects as containing dead insects when corresponding pixels and / or objects in all of the multiple images present the same value. For example, if the pixel with coordinates (100, 100) in each of the binarized images is equal to 1, this indicates that the pixel represents a portion of a dead insect (because it has not moved during multiple time intervals), and the calibration function 35 removes the object containing the pixel from consideration, optionally by deleting the object from the image or subtracting the object when counting insects. In another example, to determine the presence of a dead insect, multiple adjacent pixels or entire objects are identified as being located at the same coordinates in each image.

[0081] In some examples, the calibration function 35 counts the number of insects on the plate 40 by counting the number of objects having an area smaller than the determined threshold value described above. As described above, the number of insects is counted only in the selected one of the plurality of images.

[0082] In another example, the calibration function 35 includes a neural network trained to identify live insects. In such an example, the calibration function 35 counts the number of live insects identified and determines the calibration function, as described above.

[0083] In some examples, the determined calibration function is output to a user display. In another example, the determined calibration function is output to a dosage function, as described below.

[0084] In some examples, after weighing and imaging the calibration set, a cleaning mechanism 60 is used to clean insects from the plate 40. In some examples, the cleaning mechanism 60 uses any one or a combination of the following to clean the plate 40: pressurized air; suction; and a wiping member that is linearly translated across the upper surface 41 of the plate 40 to wipe off any insects. In some examples, the vertical translation mechanism 50 vertically translates the plate 40 to the height of the cleaning mechanism 60 for cleaning. In some examples, the control circuit 56 controls the vertical actuator 53 to slide the moving member 52 along the support member 51 to vertically translate the plate 40, as described above.

[0085] Advantageously, housing 80 and door 85 allow weighing and imaging to be performed without being affected by any air currents that might move insects dispersed on plate 40 and / or affect the measurements of scale 20 .

[0086] In some examples, calibration function 35 determines the calibration function multiple times throughout the day. Specifically, a calibration group of insects is spread over plate 40 multiple times throughout the day, and weight measurements and imaging measurements are received, as described above. Due to changes in humidity, the moisture weight of the insects may change over the course of a day, so frequent determination of the calibration function will keep it up to date. Additionally, the weight of the insects may change due to energy expenditure and sticky secretions. In some examples, calibration function 35 determines the calibration function every 30-90 minutes within a predetermined portion of a day.

[0087] Figure 2A shows a high-level, partially transparent perspective view of a metering unit 100 according to some examples; Figure 2B A first high-level perspective view of various components of the metering unit 100 is shown according to some examples; Figure 2C Shows Figure 2B A second high-level perspective view of various components of the metering unit 100; and Figure 2D Shows Figure 2BA high-level top view of the various components of the metering unit 100 is shown.

[0088] In some examples, the metering unit 100 includes: a scale 110; and a dosing function 120. In some examples, the dosing function 120 is implemented as a control circuit, such as a proportional-integral-derivative (PID) controller.

[0089] In another example, as described above with respect to the calibration function 35, the dosage function 120 is implemented as computer-implemented instructions stored on the memory 36 and read by the processor 37. The computer-implemented instructions cause the processor 37 to perform the functions of the dosage function 120 described below. In some examples, the metering unit 100 and the calibration unit 10 each include a corresponding memory 36 and processor 37. In another example, a single memory 36 and / or processor 37 is provided for the metering unit 100 and the calibration unit 10, wherein the dosage function 120 and the calibration function 35 are each implemented as corresponding computer-implemented instructions.

[0090] In some examples, the metering unit 100 includes: a container 130 having an opening 131; and a dispenser 140. In some examples, the metering unit 100 includes a dose accumulation member 150. In some examples, the metering unit 100 includes: a connecting member 160; a weight member 170; and a rotary actuator 180 including a motor 181. A first end of the connecting member 160 is fixed to the dose accumulation member 150, a second end of the connecting member 160 is fixed to the rotary actuator 180, and a portion of the connecting member 160 is fixed to the weight member 170. The weight member 170 is positioned on the scale 110. In some examples, the connecting member 160 is a rod, a tube, or an object of any suitable shape. In some examples, the weight member 170 is generally rectangular with at least 3 sides, so that the connecting member 160 extends through 2 parallel sides and the third side rests on the scale 110.

[0091] In some examples, the metering unit 100 further includes a housing 190 that contains the scale 110 , the dosage function 120 , the container 130 , the dispenser 140 , the dosage accumulation member 150 , the connection member 160 , the weight member 170 and the rotary actuator 180 .

[0092] The dispenser 140 provides a path from the opening 131 of the container 130 to the dose accumulation member 150, and thus to the path of the scale 110. In some examples, the dispenser 140 includes a vibrating conveyor 141, a first end of the vibrating conveyor 141 juxtaposed with the opening 131 of the container 130, and a second end 141 of the vibrating conveyor juxtaposed with the accumulation member 150. In some examples, the surface 143 of the vibrating conveyor 141 is coated with a hydrophobic material (e.g., hydrophobic silica). In some examples, the hydrophobic material is a super hydrophobic material. In another example, the surface 143 of the vibrating conveyor 141 is coated with a hydrophilic material (e.g., silica). In some examples, the hydrophilic material is a super hydrophilic material. The term "vibrating conveyor" used herein is a trough or pipe known to those skilled in the art that is flexibly supported and vibrates to convey objects or bulk materials by mechanical or electrical means. The term "hydrophobic" describes the separation of water and hydrophobic substances, which maximizes the hydrogen bonds between water molecules and minimizes the contact area between water and hydrophobic molecules. The term "hydrophobicity" can also be defined as the wettability of a surface. Specifically, a surface with a lower hydrophobicity exhibits a higher wettability than a surface with a higher hydrophobicity. Similarly, the terms "hydrophilic" and "hydrophilicity" describe the affinity of water for hydrophilic substances. In some examples, any portion of the dispenser 140, the dose accumulation member 150, and / or the container 130 is coated with a hydrophilic or hydrophobic material.

[0093] In some examples, the scale 110 is in communication with an input of the dosing function 120 , and an output of the dosing function 120 is in communication with a motor of the vibrating conveyor 141 , such that the dosing function controls the current amplitude of the vibrating conveyor 141 .

[0094] In operation, the dose function 120 receives the calibration function determined by the calibration function 35, as described above. In some examples, the dose function 120 communicates with the calibration function 35, and the dose function 120 receives the determined calibration function from the calibration function 35. In another example, the dose function 120 includes a user input terminal (e.g., a touch screen or a keyboard), and the calibration function 35 includes a user output terminal (e.g., a screen), so that the user can read the calibration function from the calibration function 35 and input the calibration function at the user input terminal of the dose function 120.

[0095] A metered value containing the desired insect dose is input into the dosing function 120 via the user input terminal. The metered value is defined as the number of insects required. The insects of the product group are weighed on the scale 110, optionally on the accumulation member 150, and the dosing function 120 receives the measurement of the weight of the product group from the scale 110. The term "product group" simply means a group of insects currently used in the dosing unit 100 and is not meant to be limiting in any way. Specifically, the terms "product group" and "calibration group" are used herein only to avoid confusion.

[0096] The scale 110 outputs a measurement of the weight of the insects of the product group, which is received by the dosing function 120. In some examples, the output of the scale 110 is predefined relative to the weight of the accumulation member 150, the connection member 160, and the weight member 170, so that the output measurement is equal to the weight of the insects of the product group. In another example, the output of the scale 20 includes the weight of the calibration group and the sum of the weight of the accumulation member 150, the connection member 160, and the weight member 170. In such an example, the dosing function 120 subtracts the known weight of the accumulation member 150, the connection member 160, and the weight member 170 from the received measurement to obtain the weight of the insects of the product group.

[0097] In some examples, the dosing function 120 determines the number of insects in the product group (i.e., the number of insects weighed by the scale 110) by applying a calibration function to the received measurement of the scale 110. In response to the result of the applied calibration function, the dosing function 120 outputs a signal indicating the number of insects in the product group. Specifically, in such examples, the determined number of insects is compared to the metered value. If the determined number of insects is less than the metered value, the dosing function 120 outputs a signal indicating that more insects are needed for the product group. In some examples, such a signal controls the vibrating conveyor to continue and / or increase its vibration to add more insects to the product group until the determined number of insects is equal to the metered value. In another example, the output signal controls a user display to indicate to the user that more insects are needed.

[0098] In another example, the dosing function 120 applies a calibration function to the measured value to determine a target weight for the product group. In some examples, the dosing function compares the measured value of weight received from the scale 110 with the target weight and outputs a signal indicating the number of insects in the product group. Specifically, in such an example, the signal indicates the number of insects because it indicates whether the target weight has been reached, which target weight is a function of the measured value (i.e., the number of insects). If the received weight measurement is less than the target weight, the dosing function 120 outputs a signal indicating that more insects are needed for the product group. In some examples, such a signal controls the vibrating conveyor 141 to continue and / or increase its vibration to add more insects from the container 130 to the product group until the received weight measurement is equal to the target weight. In another example, the output signal controls a user display to indicate to the user that more insects are needed.

[0099] In some examples, once the target weight or metering value is reached, the dosing function 120 controls the vibrating conveyor 141 to stop providing more insects. In some examples, the motor 181 of the rotary actuator 180 rotates the accumulation member 150, thereby pouring a dose of insects into a container. In another example (not shown), a metering container is placed on the scale 110 and the insects are poured into the metering container. In such an example, when the target weight or metering value is reached, the metering container is removed and a new metering container is placed on the scale 110 for the next dose.

[0100] Thus, in some examples, an insect metering system 200 is provided that includes a calibration unit 10 and a dosing unit 100. Although the insect metering system 200 is shown and described as having separate scales 20 and 110, this is not meant to be limiting in any way. In another example, a single scale is provided for measuring the weight of a calibration group of insects and measuring the weight of a product group of insects.

[0101] Although the above has been described with respect to insect metering system 200, this is not meant to be limiting in any way. In another example (not shown for simplicity), the imaging of the calibration group of insects is not performed on a plate resting on a scale, but rather the plate is in a different position. For example, the calibration group of insects can be weighed in a container placed on the scale, and then the calibration group of insects can be poured onto a plate or other surface for imaging.

[0102] In another example (not shown for simplicity), a calibration group of insects is imaged as it is conveyed on a linear feed conveyor to a container placed on a scale. Imaging can be performed on the conveyor itself and / or while the insects are falling into the container.

[0103] An experiment was conducted to analyze the weight changes of insects over the course of a day. The experiment was conducted as follows:

[0104] 1. Place a batch of 90 mg of insects in an incubator at 25 degrees Celsius;

[0105] 2. Place a batch of 90 mg of insects in a room with an unknown ambient temperature;

[0106] 3. For each batch of insects, every 2 hours, determine the number of insects and their weight as described above; and

[0107] 4. At each time point, determine the nominal number, denoted as CN, which is defined as the number of insects per milligram of weight.

[0108] The experiment was repeated 3 times on 3 different days.

[0109] Figures 3A-3C The experimental results of the corresponding date are shown in a graph, wherein the x-axis represents the time of day and the y-axis represents the determined nominal quantity. For each graph, the nominal quantity of this batch at room temperature (denoted as RT) is represented by a solid circle, and the nominal quantity of this batch in the incubator (denoted as 25C) is represented by a dotted circle.

[0110] Figure 3D Figure 2 shows the results of room temperature experiments, while Figure 3E Graphs showing the results of an incubator experiment. For each graph, the x-axis represents the time of day and the y-axis represents the determined nominal quantity. For each graph, the results of the first repetition of the experiment are represented by a short dashed line, the results of the second repetition of the experiment are represented by a long dashed line, and the results of the third repetition of the experiment are represented by a dotted line.

[0111] like Figures 3A-3E As shown in the figure, as the time after the insects hatch, the calibration number increases due to the decrease in insect weight. It can be seen from the figure that as the time after hatching passes, the calibration number becomes higher and higher. It is worth noting that the calibration number will also decrease over time due to condensation.

[0112] Figure 3D-3E The graph shows that the rate of change of the nominal population is similar even when the insects are placed in different environments. Different ambient temperatures appear to have an effect on the nominal population due to evaporation.

[0113] However, hatch samples showed that, although the ambient temperature was the same, the rate of change was not constant, so it was assumed that there were other factors affecting insect weight.

[0114] Figure 4A high level flow chart of an insect metering method according to some examples is shown. In stage 1000, a measurement of the weight of a calibration group of insects is received from at least one scale. In some examples, the measurement of the weight of the calibration group of insects is received from a first scale of two scales. In some examples, the calibration group of insects is filtered through a sieve, wherein the average diameter of the mesh of the sieve is 250-300 microns.

[0115] In stage 1010, at least one image of the calibrated group of insects of stage 1000 is received from an imager. In some examples, the at least one image includes a plurality of images taken at predetermined time intervals. In another example, the predetermined time intervals are offset from each other by 8-12 seconds.

[0116] In stage 1020, a number of insects in the calibration set is determined in response to the at least one image received in stage 1010. In some examples, as described above, determining the number of insects in the calibration set includes: for each of a plurality of images, determining a histogram of the areas of objects within the corresponding image; for one or more of the plurality of images, determining a threshold responsive to a maximum value of the corresponding histogram; selecting an image in the plurality of images, the selected image containing a lowest percentage of objects having an area greater than the determined threshold, and wherein the number of insects in the calibration set is determined from the selected image. In some examples, the number of insects in the calibration set is determined by counting the number of objects having an area less than the determined threshold.

[0117] In some examples, corresponding pixels of the plurality of images are compared to each other, and when corresponding pixels in all of the plurality of images exhibit the same value, the pixel is defined as containing a dead insect. These dead insects are not counted in the number of insects in the calibration set.

[0118] In some examples, each insect is identified, and for each identified insect, a tracking algorithm is applied across multiple images. The tracking algorithm determines the speed of the insect, for example by determining the change in the position of the identified insect within the image over time. In some examples, the speed of the insect is compared to a corresponding threshold, and if the speed is less than the threshold, the insect is considered unhealthy and is not counted in the number of insects in the calibration set.

[0119] In some examples, it is determined how many insects are in each insect swarm, and / or the average number of insects in each insect swarm is determined. In some examples, a corresponding algorithm is applied to determine how quickly the insect swarm disperses over time, such as by comparing the size of the swarms between multiple images. Specifically, insects tend to initially clump together and then disperse. However, if the insects are unhealthy, they will disperse at a slower rate. In some examples, the determined dispersion rate is output on a user display. In some examples, the dispersion rate is determined and compared to a corresponding threshold. If the dispersion rate is less than the threshold, an indication that the insects are unhealthy is output on a user display.

[0120] In stage 1030, a calibration function is determined in response to the number of insects determined in the calibration group of stage 1020 and the received weight measurements of stage 1000. In some examples, the calibration function is determined multiple times a day. In some examples, the calibration function is determined every 30-90 minutes.

[0121] In some examples, after determining the calibration function, a plate on which the calibration group of insects is dispersed is translated between a first position where the plate rests on the at least one scale and a second position where the plate is vertically displaced from the at least one scale.

[0122] At stage 1040, a measurement of the weight of the insects of the product group is received from the at least one scale. In some examples, the measurement is received from a second scale different from the scale of stage 1000.

[0123] At stage 1050 , in response to the received measurement of the weight of the group of produce at stage 1040 and the determined calibration function at stage 1030 , a signal indicative of the number of insects in the group of produce is output.

[0124] In stage 1060, the determined calibration function is applied to the received measurement of the weight of the product group to determine the number of insects in the product group. The determined number of insects in the product group is compared to a predetermined count. The dispenser is controlled to add insects from the container to at least one scale until the determined number of insects in the product group reaches the predetermined count. In some examples, the dispenser includes a vibrating conveyor. In another example, a surface of the vibrating conveyor is coated with a hydrophobic material.

[0125] In stage 1070, the determined calibration function is applied to a predetermined metering value to determine a target weight, the predetermined metering value being the desired number of insects. The measured value of the weight of the received product group is compared to the determined target weight. The dispenser is controlled to add insects from the container to the at least one scale until the number of insects in the determined product group reaches the determined target weight. In some examples, the dispenser includes a vibrating conveyor. In another example, the surface of the vibrating conveyor is coated with a hydrophobic material.

[0126] In some examples, the insects of the calibration group and the insects of the product group include insect larvae. In another example, the insects of the calibration group and the insects of the product group include newly hatched insect larvae. However, this is not meant to be limiting in any way, and any insect group can be measured using the above-mentioned system and method.

[0127] It will be appreciated that certain features of the invention described in the context of separate embodiments for clarity may also be provided in combination in a single embodiment. Conversely, various features of the invention described in the context of a single embodiment for brevity may also be provided separately or in any suitable sub-combination.

[0128] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. Although methods similar or equivalent to those described herein can be used in the practice or testing of the present invention, suitable methods are described herein.

[0129] All publications, patent applications, patents and other documents mentioned herein are incorporated herein by reference in their entirety. In the event of a conflict, the patent specification (including definitions) shall prevail. In addition, the materials, methods and examples are illustrative only and are not intended to be limiting.

[0130] Those skilled in the art will appreciate that the present invention is not limited to the contents specifically shown and described above. On the contrary, the scope of the present invention is defined by the appended claims, and includes combinations and sub-combinations of the various features described above and variations and modifications that those skilled in the art will think of after reading the foregoing description.

Claims

1. An insect counting system, comprising: At least one scale; Imager; Calibration function; and Dosage function; The calibration function described herein: receiving from the scale a measurement of the weight of a calibration set of insects; receiving at least one image of the calibration set of insects from the imager; determining a number of insects in the calibration group in response to the at least one image received; and determining a calibration function in response to the determined number of insects in the calibration group and the received measurement of the weight, and The dosage function: receiving a measurement of the weight of the insects in the product group from the at least one scale; and In response to the received measurement of the weight of the group of produce and the determined calibration function, a signal indicative of a population of insects in the group of produce is output.

2. The insect metering system according to claim 1, further comprising: container; and a dispenser providing a path from the container to the scale, The dosage function: applying the determined calibration function to the received measurement of the weight of the group of products to determine a number of insects in the group of products; comparing the determined number of insects in the product group with a predetermined count; as well as The dispenser is controlled to add insects from the container to the at least one scale until the determined number of insects in the product group reaches the predetermined metered value.

3. The insect counting system according to claim 1, further comprising: container; and a dispenser providing a path from the container to the scale, The dosage function: applying the determined calibration function to a predetermined weight value to determine a target weight; comparing the received measurement of the weight of the group of products with the determined target weight; as well as The dispenser is controlled to add insects from the container to the at least one scale until the determined target weight is reached.

4. The insect counting system according to claim 2 or 3, wherein: The dispenser comprises a vibrating conveyor which is controlled by the dosing function.

5. The insect counting system according to claim 4, wherein: The surface of the vibrating conveyor is coated with a hydrophobic or hydrophilic material.

6. The insect metering system according to any one of claims 1 to 5, further comprising: Dead bug filter to filter out dead bugs.

7. The insect counting system according to claim 6, wherein: The dead bug filter includes a screen.

8. The insect counting system according to claim 7, wherein: The average diameter of the mesh openings of the sieve is 250-300 microns.

9. The insect counting system according to claim 6, wherein: The dead bug filter includes a platform.

10. The insect metering system according to any one of claims 1 to 9, further comprising: plate; and a vertical translation mechanism that translates the plate between a first position and a second position, wherein in the first position the plate rests on the at least one scale and in the second position the plate is vertically displaced from the at least one scale.

11. The insect counting system according to any one of claims 1 to 10, wherein: The at least one image includes a plurality of images captured at predetermined time intervals.

12. The insect counting system according to claim 11, wherein: The predetermined time intervals are offset from each other by 1-15 seconds.

13. The insect counting system according to any one of claims 11 to 12, wherein: The calibration function determines the number of insects in the calibration group by: For each of the plurality of images, determining a histogram of object areas within the corresponding image; For one or more images of the plurality of images, determining a threshold value responsive to a maximum value of a corresponding histogram; selecting an image from the plurality of images, the selected image containing a lowest percentage of objects having an area greater than a determined threshold, Wherein, the number of insects in the calibration group is determined from the selected image.

14. The insect counting system according to claim 13, wherein: The number of insects in the calibration group is determined by counting the number of objects having an area smaller than the determined threshold.

15. The insect counting system according to claim 13 or 14, wherein: The calibration function further compares corresponding pixels of the plurality of images to one another and defines a pixel as containing a dead newly hatched larva when corresponding pixels in all of the plurality of images exhibit the same value.

16. The insect counting system according to any one of claims 1 to 15, wherein: The calibration function determines the calibration function multiple times during a day.

17. The insect counting system according to claim 16, wherein: The calibration function determines the calibration function every 30-90 minutes while in operation.

18. The insect metering system according to any one of claims 1 to 17, further comprising: at least one processor; and at least one memory containing instructions, Wherein the instructions of the at least one memory, when read by the processor, cause the at least one processor to perform the calibration function and the dosing function.

19. The insect metering system according to any one of claims 1 to 18, further comprising: Calibration unit; and Metering unit, wherein the at least one scale comprises two scales, wherein the calibration unit comprises the imager, a first scale of the two scales and the calibration function, and The metering unit comprises the second of the two scales and the dosage function.

20. An insect metering system according to any one of claims 1 to 19, wherein: The insects of the calibration group and the insects of the product group include insect larvae.

21. The insect counting system according to claim 20, wherein: The insects of the calibration group and the insects of the product group include newly hatched insect larvae.

22. A method for measuring insects, the method comprising: receiving a measurement of the weight of a calibration group of insects from at least one scale; receiving at least one image of the calibration set of insects from an imager; determining a number of insects in the calibration group in response to the at least one image received; determining a calibration function in response to the determined number of insects in the calibration group and the received measurement of the weight; receiving a measurement of the weight of the insects in the product group from the at least one scale; as well as In response to the received measurement of the weight of the group of produce and the determined calibration function, a signal indicative of a population of insects in the group of produce is output.

23. The insect counting method according to claim 22, further comprising: applying the determined calibration function to the received measurement of the weight of the group of products to determine a number of insects in the group of products; comparing the determined number of insects in the product group with a predetermined count; as well as A dispenser is controlled to add insects from a container to the at least one scale until the determined number of insects in the product group reaches the predetermined metered value.

24. The insect counting method according to claim 22, further comprising: applying the determined calibration function to a predetermined weight value to determine a target weight; comparing the received measurement of the weight of the group of products with the determined target weight; as well as A dispenser is controlled to add insects from a container to said at least one scale until said determined target weight is reached.

25. The insect counting method according to claim 23 or 24, wherein: The dispenser includes a vibrating conveyor.

26. The insect counting method according to claim 25, wherein: The surface of the vibrating conveyor is coated with a hydrophobic material.

27. The insect counting method according to any one of claims 22 to 26, further comprising filtering the calibration group of insects through a dead insect filter to filter out dead insects.

28. The insect counting method according to claim 27, wherein: The dead bug filter includes a screen.

29. The insect counting method according to claim 28, wherein: The average diameter of the mesh openings of the sieve is 250-300 microns.

30. The insect counting method according to claim 27, wherein: The dead bug filter includes a platform.

31. The insect counting method according to any one of claims 22 to 30, further comprising: translating the plate between a first position and a second position, wherein in the first position the plate rests on the at least one scale and in the second position the plate is vertically displaced from the at least one scale.

32. The insect counting method according to any one of claims 22 to 31, wherein: The at least one image includes a plurality of images captured at predetermined time intervals.

33. The insect counting method according to claim 32, wherein: The predetermined time intervals are offset from each other by 1-15 seconds.

34. The insect counting method according to any one of claims 32-33, wherein: Determining the number of insects in the calibration group includes: For each of the plurality of images, determining a histogram of object areas within the corresponding image; For one or more images of the plurality of images, determining a threshold value responsive to a maximum value of a corresponding histogram; selecting an image from the plurality of images, the selected image containing a lowest percentage of objects having an area greater than the determined threshold, and Therein, the number of insects in the calibration group is determined from the selected image.

35. The insect counting method according to claim 34, wherein: The number of insects in the calibration group is determined by counting the number of objects having an area smaller than the determined threshold.

36. The insect counting method according to claim 34 or 35, further comprising: comparing corresponding pixels of the plurality of images to one another; as well as When corresponding pixels in all images of the plurality of images exhibit the same value, a pixel is defined as containing a dead newly hatched larva.

37. The insect counting method according to any one of claims 22 to 36, wherein: The calibration function is determined multiple times during a day.

38. The insect counting method according to claim 37, wherein: The calibration function is determined every 30-90 minutes.

39. The insect counting method according to any one of claims 22 to 38, wherein: The insects of the calibration group and the insects of the product group include insect larvae.

40. The insect counting method according to claim 39, wherein: The insects of the calibration group and the insects of the product group include newly hatched insect larvae.

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