Device and method for sexing insects

Abstract

The invention relates to a device for sexing insects, the device comprising - an insect delivery system (1) configured to progressively deposit the insects onto a deposition surface (203) of a conveying system (2); - the conveying system (2) being configured to transport the insects in the open air, to spatially separate each insect individually and to position each inesect in a desired orientation through mechanical interaction between the conveying system (2) and the insect, which interaction results from gravity and / or movement of the deposition surface (203) of the conveying system (2); - a capture system (3) comprising a light source (301) configured to illuminate or backlight a portion of the insect comprising its sexual organs, and an optical sensor (302) configured to acquire an image of at least this portion of the insect or a corresponding reflection spectrum; - a computer system (4) configured to identify, in the image, the sexual appendage of the insect or to analyse the reflection spectrum and determine the sex of the insect.

Description

[0001] Device and method for sexing insects

[0002] TECHNICAL FIELD OF THE INVENTION

[0003]

[0001] The present invention relates to the field of large-scale breeding of insects.

[0004]

[0002] Large-scale insect production has many advantages, particularly in the agro-industry. Some edible insect species are rich in protein and can be used in particular for animal feed, for example for fish, crustaceans, and certain birds. Large-scale insect farming also has advantages in other industrial fields. For example, the exoskeleton of insects is largely made up of chitin, a known derivative of which is chitosan. The applications of chitin and / or chitosan are numerous: cosmetics (cosmetic composition), medical and pharmaceutical (pharmaceutical composition, treatment of burns, biomaterials, corneal dressings, surgical threads), dietetics and food, technical (filtering agent, texturizer, flocculant or adsorbent, particularly for the filtration and decontamination of water), etc.

[0005]

[0003] The insects concerned by the present invention may be, in a non-limiting manner, chosen from the group of Coleoptera, Diptera, Lepidoptera, Neuroptera, Orthoptera, Hymenoptera, Dictyoptera including in particular Blattoptera, including Isoptera, and Mantoptera, Phasmoptera, Hemiptera, Heteroptera, Ephemeroptera, Mecoptera, and mixtures thereof, preferably from the group of Coleoptera, Diptera, Lepidoptera, Neuroptera, Orthoptera and mixtures thereof, more preferably, the insects belong to the group of Coleoptera. Preferably, the Diptera belong to the suborder Brachycera. Preferably, Lepidoptera belong to the suborder Ditrysia, more preferably to the superfamily Pyraloidea.Preferably, the Neuroptera belong to the suborder Hemerobiiformia, in particular to the families Mantispidae, Ithonidae, Chrysopidae, Hemerobiidae, or mixtures thereof. Preferably, the beetles belong to the infraorder Cucujiformia, in particular to the families Tenebrionidae, Coccinellidae, Cerambycidae, Dryophthoridae, or mixtures thereof. More preferably, the beetles are chosen from Tenebrio molitor, Alphitobius diaperinus, Zophobas morio, Tenebrio obscurus, Tribolium castaneum, Rhynchophorus ferrugineus, and mixtures thereof, even more preferably Tenebrio molitor, Alphitobius diaperinus, and mixtures thereof. The insects targeted by the invention therefore preferably belong to the group of beetles and more particularly to the family Tenebrionidae. Preferably, the insects targeted by the invention belong to the species Tenebrio molitor and / or Alphitobius diaperinus.

[0006] STATE OF THE ART

[0007]

[0004] Many recent works have made it possible to develop breeding systems allowing in particular the growth of a large quantity of insects.

[0008]

[0005] For example, document FR3034622 presents a workshop suitable for the breeding of insects on a large scale, that is to say on an industrial scale. The configuration of the breeding workshop presented in this document allows the breeding of a large quantity of insects (at any stage of development from the egg or ootheca to the adult insect), in a largely automated and optimized manner.

[0009]

[0006] The productivity of a breeding operation, if it concerns not only the growth of larvae or adult insects but also the obtaining of these larvae or adults, depends on the capacity to obtain a large quantity of insect eggs, from a given population of reproductive insects.

[0010]

[0007] Breeding therefore requires controlling mating between insects and therefore the sex of the insects.

[0011]

[0008] In insects, such as Tenebrio Molitor, sex can be determined at the nymphal and adult stages. This determination is usually done manually by exposing the nymphs' sexual appendages under a magnifying glass. This determination is time-consuming, delicate, and requires special skills.

[0012]

[0009] On a large scale, manual determination of the sex of nymphs or larvae becomes unrealistic and would constitute a repetitive and tedious task.

[0013]

[0010] In this context, the present invention tends to propose an automated insect sexing device.

[0014]

[0011] Document US20220254182 discloses a device for observing organs of interest on organisms such as fish or insects, and in particular for sexing insects. In this device, the insects (or other organisms) are drawn into a fluid conduit by a liquid towards a detection zone where an optical module acquires optical data. The data is analyzed to determine the presence or absence of structures of interest, allowing, for example, the sexing of the organisms thus observed. The device proposed in this document is unsuitable for insects whose pre-adult stages (larvae, nymphs, pupae) are not suitable for immersion.Generally speaking, applied to non-aquatic insects, for example tenebrionids, the process proposed in US20220254182 would cause an increase in insect mortality, as well as health problems linked to the fact that the insects are wet (in particular mold problems).

[0015]

[0012] Document WO2020226933 discloses a device for sorting insects, in particular mosquitoes, which uses blowing means to space insects placed on a conveyor apart from each other in order to capture a general image of them. Based on each image, the corresponding insect is categorized by analyzing its morphology, according to its sex, size, species, genus, state of health, etc. This solution is nevertheless technically complex and unsuitable for sexing nymphs.

[0016] STATEMENT OF THE INVENTION

[0017]

[0013] The present invention therefore aims to propose a solution allowing the automated sexing of insects, which resolves all or part of the aforementioned drawbacks.

[0018]

[0014] To this end, the invention relates to a device for sexing insects, comprising

[0019] - an insect delivery system comprising a receptacle in which a group of insects can be deposited, the insect delivery system being configured to progressively deposit the insects of said group of insects onto a deposition surface of a conveyor system;

[0020] - the conveying system for conveying the insects in the open air and being configured to spatially individualize each insect of the group of insects and to position it according to a desired orientation, the conveying system being configured so that the insect is individualized and positioned by mechanical interaction between the conveying system and the insect, said mechanical interaction resulting from gravity and / or a movement of the deposition surface of the conveying system,

[0021] - a capture system comprising a light source configured to illuminate or backlight a part of the insect comprising its sexual organs, and an optical sensor configured to acquire an image of at least said part of the insect comprising its sexual organs or a corresponding reflection spectrum;

[0022] - a computer system configured to identify the sexual appendage of the insect in the image or to analyze the reflection spectrum and to determine the sex of the insect.

[0023]

[0015] The determination of the sex of the insect is thus carried out on the basis of the identification of the sexual appendage in the captured image, or of the analysis carried out of the reflection spectrum.

[0016] The device thus developed is suitable for the sexing of non-aquatic insects, in an automated manner and in an industrial context.

[0024]

[0017] The delivery system may comprise a funnel forming a receptacle for the group of insects. The insect delivery system may also comprise a means for blowing compressed air causing the insects to be deposited on the conveyor system when it is actuated.

[0025]

[0018] The delivery system may include a blade elevator.

[0026]

[0019] The provisioning system may comprise a vibrating bowl.

[0027]

[0020] In this case, the sexing device may comprise a vibrating hopper and a detector, the detector being configured to detect the quantity of insects present in the vibrating bowl, the vibrating hopper being configured to introduce a quantity of insects into the vibrating bowl in response to a level of insects detected in the vibrating bowl by the detector.

[0028]

[0021] The sexing device may further comprise a control device configured to ensure that only one insect at a time exits the insect delivery system.

[0029]

[0022] The conveying system may be a footprint conveyor, the footprint conveyor comprising footprints on an upper surface forming a deposition surface, each footprint forming a concavity adapted to receive and orient an insect in a desired position by shape correspondence.

[0030]

[0023] Alternatively, the conveying system may comprise a belt conveyor comprising a belt forming the deposition surface extending in a so-called longitudinal direction, the belt conveyor having an upstream end and a downstream end defined according to the direction of travel of the belt of said belt conveyor.

[0031]

[0024] The belt conveyor may be configured to have a running speed such that the insects are deposited on the belt of the belt conveyor, forming a space greater than 1 mm, preferably greater than 3 mm, such as greater than 5 mm, between two successive insects.

[0032]

[0025] The sexing device may comprise a mechanism which creates a longitudinal concavity over all or part of the length of an upper face of the belt of the belt conveyor, which forms the deposition surface.

[0033]

[0026] The conveying system may further comprise a plurality of edges extending a short distance above said deposition surface, the edges extending alternately from a first longitudinal edge of the belt conveyor and from a second longitudinal edge of the belt conveyor, said edges forming a non-orthogonal angle with respect to the longitudinal direction so as to be oriented towards the downstream end of the belt conveyor, said edges extending beyond a median axis of the belt of the belt conveyor.

[0027] The sexing device may for example comprise between three and ten edges.

[0028] When the sexing device comprises a belt conveyor, the belt of the belt conveyor may be transparent.

[0034]

[0029] The optical sensor of the capture system comprising a main acquisition direction, the capture system may comprise one or more light sources whose illumination is oriented obliquely relative to said main acquisition direction.

[0030] The optical sensor may be a camera with a telecentric lens.

[0035]

[0031] The capture system may comprise several optical sensors.

[0036]

[0032] At least one of said optical sensors, when the belt of the belt conveyor is transparent, can be positioned under the deposition surface.

[0037]

[0033] The sexing device may further comprise a sorting system for separating male insects and female insects, according to the sex determined by the computer system.

[0038]

[0034] The sorting system may include a blowing nozzle for sending insects of a given sex to a container.

[0039]

[0035] The sorting system may comprise a wheel carrying blades, the wheel being positioned and configured so that its rotation in a given direction makes it possible to send insects of a given sex towards a container.

[0040]

[0036] The invention also relates to a method for sexing insects, comprising the steps of: progressively depositing a group of insects on a conveying system; conveying in the open air, on the conveying system and spatial individualization of each insect of the group of insects and positioning of each insect according to a desired orientation, by mechanical interaction between the conveying system and the insect, acquisition by an optical sensor, while illuminating or backlighting a part of the insect comprising its sexual organs, of an image of the part of the insect comprising its sexual organs or of a corresponding reflection spectrum; identification in the image by a computer system of the sexual appendage of the insect and determination of the sex of the insect.

[0041]

[0037] The method may comprise, prior to the depositing step, a step of making the insects available using a vibrating bowl fed by a vibrating hopper controlled by a detector configured to detect the quantity of insects present in the vibrating bowl, the vibrating hopper being configured to introduce a quantity of insects into the vibrating bowl in response to a level of insect detected in the bowl by the detector.

[0042]

[0038] The method may also include a sorting step according to the determined sex in order to separate male insects and female insects. The sex of each insect may be determined according to three categories, namely male insects, female insects, and insects of indeterminate sex, the insects of indeterminate sex being returned to the deposition step.

[0043]

[0039] In the sexing process, the determination of the sex of the insect can be carried out by shape recognition software using artificial intelligence based on a neural network trained for the detection of complex shapes associated with the sexual appendage of insects.

[0044]

[0040] Sexed insects can be nymphs, for example nymphs of the mealworm (or tenebrio molitor, from the tenebrionidae family).

[0045] BRIEF DESCRIPTION OF THE FIGURES

[0046]

[0041] Other advantages, aims and particular characteristics of the present invention will emerge from the following non-limiting description of at least one particular embodiment of the devices and methods which are the subject of the present invention, with reference to the appended drawings, in which: Figure 1 is a schematic perspective view of an example of a sexing device according to an embodiment of the invention; Figure 2 schematically represents an example of an insect provision system which can be used in a sexing device according to an embodiment of the invention; Figure 3 schematically represents another example of an insect provision system which can be used in a sexing device according to an embodiment of the invention;Figure 4 schematically represents an example of a conveying system that can be used in a sexing device according to one embodiment of the invention; Figure 5 schematically represents another example of a conveying system that can be used in a sexing device according to one embodiment of the invention; Figure 6 schematically represents an example of a capture system implemented with the conveying system of Figure 5; Figure 7 schematically represents an example of a capture system that can be used in a sexing device according to one embodiment of the invention; Figure 8 schematically represents an example of a sorting system that can be used in a sexing device according to one embodiment of the invention; Figure 9 schematically represents another example of a sexing device according to one embodiment of the invention;Figure 10 shows in a block diagram an exemplary method of sexing insects in accordance with one aspect of the present invention.;

[0047] DETAILED DESCRIPTION OF THE INVENTION

[0048]

[0042] The present description is given as a non-limiting example of embodiment.

[0049]

[0043] Figure 1 represents an example of a sexing device according to an embodiment of the invention. The sexing device generally comprises an insect provision system 1, a conveying system 2, a capture system 3, and a computer system 4. It may also comprise a sorting device 5.

[0050]

[0044] The insect provision system aims to deposit a group of insects, progressively on the conveyor system 2. By "progressively", it is understood that the insects of the group of insects are deposited, either one after the other, or successively in small groups of a few insects or a few dozen insects, or regularly, at a rate of a few insects or a few dozen insects per second.

[0051]

[0045] In the exemplary embodiment of Figure 1, the insect provision system 1 comprises a funnel 101. The funnel 101 has a wide upper opening 102 and forms a receptacle for the group of insects whose sex is to be determined. The insects placed in the funnel, which forms a receptacle for the group of insects, descend by gravity towards the mouth of the funnel. The progressive restriction of the section of the funnel, between the upper opening 102 and the mouth 103, which opens onto the conveying system 2, regulates the flow rate of the insects deposited therein.

[0052]

[0046] In the example of Figure 1, the funnel also has a curved configuration, which orients the mouth 103 in the direction of travel of the conveyor system 2. This limits the fall height, or even eliminates the fall, of insects onto the conveyor system.

[0053]

[0047] Other systems may be contemplated as insect delivery systems. Examples of insect delivery systems that may be used in the invention are shown in Figures 2 and 3 described below.

[0054]

[0048] The conveyor system 2 comprises, in the example shown here, a belt conveyor 201.

[0055]

[0049] The belt conveyor 201 comprises a belt 202 forming a deposit surface 203 on which the insects are deposited.

[0056]

[0050] The conveying system 2 used in the invention generally makes it possible to transport insects in the open air. In particular, the insects are not transported in a liquid, which makes the conveying system suitable for conveying non-aquatic insects.

[0057]

[0051] The conveying system 2 also has the function of spatially individualizing each insect of the group of insects which is deposited (for example in small groups) on said conveying system. The spatial individualization of the insects consists of placing them separately from each other so that an optical capture system can acquire an image of each insect (or of a part of each insect) without the insects superimposing themselves on the acquired image.

[0058]

[0052] Obtaining a line of insects one behind the other on the conveyor system 2 addresses this problem.

[0059]

[0053] To this end, the conveying system 2 shown here comprises a set of edges 204 positioned and oriented so as to align the insects one behind the other as will be described in more detail with reference to FIG. 4.

[0060]

[0054] The conveying system 2 also makes it possible to orient the insects according to a desired position adapted to their sexing.

[0061]

[0055] In this case, the insects, which are for example mealworm nymphs, are advantageously positioned on their flanks under the effect of the edges and the movement of the strip, as will also be described in more detail with reference to Figure 4.

[0062]

[0056] In the exemplary embodiment shown here, the conveying system further comprises a chute 205 which forms a slide making it possible to bring the correctly aligned and positioned insects towards the capture system 3.

[0063]

[0057] The capture system 3 comprises at least one light source 301 and an optical sensor 302. The optical sensor 302 is configured to acquire an image of an insect positioned opposite the optical sensor 302, or at least of an area of ​​interest of this insect. The area of ​​interest advantageously corresponds to a part of the insect comprising its sexual organs. The area of ​​interest may in particular be a terminal part of its abdomen.

[0064]

[0058] In the example shown here, the capture system comprises four optical sensors 302. The multiplication of optical sensors 302 makes it possible to process a greater number of insects per second. In addition, the fact of positioning optical sensors 302 on either side of the means which transports the insects to be sexed makes it possible to guarantee that on at least one of the captured images, each insect will be positioned optimally relative to the optical sensor, in particular with the part of interest, for example the terminal part of its abdomen, facing towards the optical sensor.

[0065]

[0059] An example of a capture system is described in more detail below with reference to FIG. 7.

[0060] The sexing device comprises a computer system 4. The computer system executes software for determining the sex of each insect on the basis of the images acquired by the capture system 3.

[0066]

[0061] In particular, the computer system advantageously implements artificial intelligence for identifying the sex of insects.

[0067]

[0062] In particular, the applicant has developed recognition software based on the learning of a neural network in order to specialize shape recognition software.

[0068]

[0063] Thus, a network pre-trained to recognize simple geometric shapes (deep layers) was specialized with regard to its upper layers (dedicated to complex shapes) for the detection of the sexual characteristics of insects, in this case mealworm nymphs. This principle can of course be extended to other insects.

[0069]

[0064] The learning that was carried out consists of annotation, learning, verification of the results, relearning of the network (generally referred to as “fine tuning”), evaluation of the new performances, and implementation of the software whose network was trained on the computer system 4.

[0070]

[0065] Compared to other image analysis technologies, the Applicant has found that the use of artificial intelligence is technologically relevant to address the issue of diversity in the images acquired by the insect sexing device. This diversity results from the morphological diversity of the insects and the diversity of positioning of the insects in the field of vision of the camera. In particular, the parametric analysis techniques generally used by image analysis software do not allow for correct consideration of the hazards leading to the diversity observed in the images.

[0071]

[0066] The sexing device, and in particular the identification system, developed within the framework of the invention allows the sexing of 140 nymphs per second with an accuracy (concordance with manual sexing) of more than 99%.

[0072]

[0067] When the sex of an insect is not determined, the insect may be returned to the input of the sexing device, to the insect provision device, to the group of insects being sexed, or to a subsequent group of insects.

[0073]

[0068] When after a certain number of attempts (for example five attempts) it is found that the sex of the same insect is not determined, manual sexing can be carried out and the data acquired on this insect are recorded to then carry out training of the software making it possible to determine the sex of the insect.

[0074]

[0069] The insect sexing device further comprises a sorting device 5 which makes it possible to separate the insects according to their sex. The insects are advantageously separated into three categories, namely male insects, female insects and insects of indeterminate sex.

[0075]

[0070] Insects can thus be sent to different containers depending on their sex.

[0076]

[0071] The sorting device 5 shown in Figure 1 comprises nozzles 501 arranged laterally on either side of the sexing device. Each nozzle can project air so as to deflect the insects to one side or the other of the device according to their sex and send them to the appropriate container 502. A ramp 503 makes it possible to guide the insects to the container where they are sent.

[0077]

[0072] Insects which are of indeterminate sex are not deflected laterally by the sorting device 5 and end up in a box 504 dedicated to them.

[0078]

[0073] Another example of a sorting system that can be used in the invention is described below with reference to Figure 8.

[0079]

[0074] Figure 2 shows another example of an insect delivery system that can be used in the invention. The insect delivery system of Figure 2 comprises a funnel 101 forming a receptacle for a group of insects. The insects are referenced 6, and may in particular be nymphs, for example mealworm nymphs.

[0080]

[0075] Compared to the insect provision system of Figure 1, the system of Figure 2 further comprises a compressed air blowing means 104 making it possible to control the sending of the insects from the funnel to the conveying system 2. The insects can be deposited on the conveying system via a cannula 105 of small diameter, nevertheless sufficient for the passage of each insect.

[0081]

[0076] The insects can be deposited individually almost already in line on the conveyor system 2. The conveyor system 2 will nevertheless make it possible to guarantee the alignment and orientation of the insects before their arrival at the capture system 3.

[0082]

[0077] Figure 3 shows another example of an insect delivery system that can be used in the invention. The insect delivery system of Figure 3 includes a device called a blade elevator 106.

[0083]

[0078] The group of insects is placed in a lower receptacle 107. The blade elevator 106 comprises an inclined belt 108 which runs and which carries blades 109 or buckets making it possible to recover a certain quantity of insects in the lower receptacle and to raise them towards a descent 110 which opens onto the conveyor system 2.

[0084]

[0079] The insects are thus brought in small groups to the descent 110 in which they can be pre-aligned before being placed on the conveyor system 2.

[0080] The embodiment of the insect provision system 1 of FIG. 3 has the advantage of not subjecting the insects, in particular the nymphs (which are generally fragile), to any significant pressure or shock. This embodiment can therefore be considered as a preferred embodiment within the framework of the present invention.

[0085]

[0081] As an alternative to the blade elevator, it is possible to use a vibrating bowl. An embodiment of the invention using a vibrating bowl is shown as an example in Figure 9.

[0086]

[0082] Figure 4 schematically represents an example of a conveying system that can be used in a sexing device according to one embodiment of the invention. The conveying system of Figure 4 essentially corresponds to that illustrated in the insect sexing device of Figure 1.

[0087]

[0083] The conveying system 2 thus comprises, in the example shown here, a belt conveyor 201, which comprises a belt 202 forming an upper surface or deposition surface 203 on which the insects are deposited.

[0088]

[0084] The conveying system 2 comprises a set of edges 204 positioned and oriented so as to align the insects. The edges 204 are positioned at a short distance from the deposition surface 203 of the belt 202, that is to say at a distance shorter than the smallest dimension of each insect in the group of insects whose sex is to be determined, so that an insect cannot pass between an edge 204 and the deposition surface 203, nor, advantageously, become stuck under an edge 204.

[0089]

[0085] The banks have the form of flat plates positioned substantially perpendicular to the surface 203.

[0090]

[0086] Considering that the belt conveyor 201 extends in a longitudinal direction L (which is also the direction of travel of the belt 202), the edges 204 extend alternately from a first longitudinal edge 206 of the belt conveyor 201 and from a second longitudinal edge 207 of the belt conveyor 201.

[0091]

[0087] The edges form a non-orthogonal angle with respect to the longitudinal direction and are oriented towards the downstream end 209 of the belt conveyor (the notion of upstream and downstream, and in particular of upstream end 208 and downstream end 209 being understood according to the direction of travel of the belt 202). By "oriented towards the downstream end", it is understood that the edge comprises a free end 210 which is located further downstream than the end by which it is connected at the level of the first edge 206 or at the second edge 207 of the belt conveyor 201. Furthermore, the free end 210 of each edge 204 is located beyond a median axis (A) of the belt of the belt conveyor.

[0092]

[0088] A space allowing the passage of one (or more) insect is provided between two successive banks 204 (between the end of one bank and the surface of the following bank).

[0093]

[0089] Each bank 204 thus constitutes an obstacle for the insects 6 placed on the belt conveyor 201. When an insect 6 encounters a bank 204, the insect will slide along it under the effect of the movement of the belt 202 and tends to turn into its most stable position, that is to say on its side. It is therefore appropriate to use a belt whose coefficient of friction with respect to the insects is sufficient to cause each insect to turn over on its side. The friction of the belt must however not risk injuring the insects when it comes into contact with a bank. A belt made of rubber material is generally suitable. Certain textile belts can also be used successfully.

[0094]

[0090] After passing through the succession of banks 204, the insects 6 are thus aligned and generally positioned on their flank, downstream of said banks 204.

[0095]

[0091] The embodiment of the conveyor system 2 of Figure 4 thus allows alignment and positioning of the insects without subjecting them to significant constraints. The alignment, and therefore the spatial individualization, and the correct positioning of the insects are obtained by mechanical interaction between the insects on the one hand and the banks 204 and the belt 202 which has a scrolling movement on the other hand. It is in particular the movement of the belt, therefore of the deposition surface of the conveyor system, which results in the correct positioning and individualization of the insects. The surface of the belt conveyor can also be inclined, towards the downstream of the belt conveyor. In this case, the positioning and individualization of the insects, by mechanical interaction between the conveyor and the insects, is assisted by gravity.

[0096]

[0092] This is a preferred embodiment that can be used within the framework of the invention.

[0097]

[0093] Nevertheless, other embodiments of conveying systems allowing the desired positioning of the insects to be obtained can be envisaged.

[0094] Figure 5 and Figure 6 illustrate an alternative embodiment of a conveying device that can be used in the invention.

[0098]

[0095] The embodiment of Figure 5 and Figure 6 uses a print conveyor 212. In this embodiment the conveying device comprises a plate 213 comprising a set of prints 214 or concavities whose dimensions and shape are adapted to each receive an insect in the determined sex. A group of insects 6 being deposited on print conveyor 212 (that is to say on an upper surface which forms the deposit surface of the print conveyor), the insects are placed, manually or automatically, in the prints 214. The concavity of the print is such that it takes up the average curvature of the insect, for example a nymph, to be sexed. The dimensions of the prints make it possible to receive the statistically largest sexed insects.

[0099]

[0096] Each insect is thus spatially individualized and oriented (as is better seen in Figure 6), by mechanical interaction with an imprint 214 of the deposition surface, under the effect of the insects' weight, and therefore of gravity. The positioning can be assisted by setting the deposition surface of the imprint conveyor in motion (for example by applying slight vibrations or an oscillating movement).

[0100]

[0097] Figure 6 schematically represents an example of a capture system 3 implemented with the conveying system of Figure 5.

[0101]

[0098] In the example shown in Figure 5, the capture system 3 comprises at least one optical sensor 302, for example a camera, under which the impression conveyor 212 presents the insects that it carries. The plate 213 of the impression conveyor is preferably transparent.

[0102]

[0099] A light source 301 is arranged under the plate 213 so as to backlight (in the example shown here) the insects 6. The backlighting, in particular by light in the visible spectrum, makes it possible to highlight certain internal organs of the insect 6. The optical sensor 302 is thus able to acquire an image on which certain internal organs of the insects are visible.

[0103]

[0100] The position of the insects in the 114 prints is such that the camera is able to take an image including a part of the insect which contains its sexual organs, which is often the terminal part of its abdomen.

[0104]

[0101] Figure 7 schematically represents an example of a capture system 3 that can be used in a sexing device according to an embodiment of the invention. Figure 7 presents more particularly an example of a capture system 3 that can be used in the embodiment shown in Figure 1.

[0105]

[0102] The capture system 3 is configured around a belt conveyor which may be the same belt conveyor as that of the conveying system 2 or be a separate belt conveyor.

[0106]

[0103] The capture system 3 comprises an optical sensor 302. In the exemplary embodiment shown here, the optical sensor 302 is a camera. This camera can advantageously be a camera with a telecentric lens.

[0107]

[0104] The use of a telecentric lens is advantageous in that it makes the magnification of the image independent of the distance or position of the sexed insect in the camera's field of view.

[0108]

[0105] A light source 301 is positioned so as to illuminate at an angle to a main acquisition direction of the optical sensor. The main acquisition direction DA of the optical sensor corresponds to the acquisition direction for a camera with a telecentric lens or to the optical axis of the camera, or more generally to the optical axis of the optical sensor.

[0109]

[0106] The Applicant has noted that an angle a of 130° or approximately 130° (for example between 110° and 150°) between the main acquisition direction DA of the optical sensor 302 and the main lighting direction DE of the light source 301 makes it possible to concentrate the brightness, coming from the light source 301, on the terminal part of the abdomen (or other part of interest).

[0110]

[0107] This is the case for curved insects, which is generally the case for nymphs, especially mealworm nymphs. Mealworm nymphs have a curvature between 91° and 151°. These curvature angles were obtained by morphometric measurement of mealworm nymphs with ImageJ software. Two segments drawn from the anterior end of the prothorax to the base of the urogomphs allow the definition of the nymph's curvature.

[0111]

[0108] An angle a of 130° is particularly suitable for sexing mealworm nymphs.

[0112]

[0109] According to other embodiments, applicable both to the system of Figure 6 and to that of Figure 1 or Figure 9, in particular, the light source 301 can emit infrared light, preferably in the near infrared range (i.e. in the wavelength range between 700 nm and 2500 nm). In this case, the light source is placed so as to illuminate the insect 6 (at the level of the part of interest of the insect), and the optical sensor 302 makes it possible to capture the reflected radiation. The light source 301 can in this case comprise one (or more) optical fibers allowing precise illumination of the area of ​​interest. Illumination by infrared radiation, in particular of the near infrared type, allows the formation and analysis of a reflection spectrum. The analysis of the reflection spectrum thus obtained allows a determination of the sex of the insect.The spectrum analysis system can implement artificial intelligence technologies, and in particular be trained according to the aforementioned learning methods.

[0113]

[0110] Figure 8 schematically represents an example of a sorting system that can be used in a sexing device according to an embodiment of the invention. The sorting device 5 of Figure 8 represents an alternative to the sorting device described with reference to Figure 1.

[0114]

[0111] The sorting device 5 shown here comprises a wheel 505 carrying blades 506. In this case the sorting device 5 comprises two wheels 505. In the example shown, the two wheels 505 are placed side by side.

[0115]

[0112] Each wheel 505 is mounted transversely above a belt conveyor which may be the extension of the conveyor system 2 and / or the conveyor of the capture system 3.

[0116]

[0113] The blades 506 are configured so that their end passes in the immediate vicinity of the surface of the conveyor which carries the insects 6. By immediate proximity, we mean a shorter distance, and preferably significantly shorter than the smallest dimension of the insects 6. When an insect of a given sex, male or female, passes, according to the identification carried out by the computer system 4, the wheel 505 is set in rotation, a blade 506 pushes the insect laterally, which sends the insect towards an appropriate container 502. A ramp 503 can be provided to guide the insects towards the container where they are sent.

[0117]

[0114] According to a first method, the direction of rotation of the wheel 505 determines towards which container the insect is sent.

[0118]

[0115] According to another modality shown in Figure 8, the two wheels 505 are configured to rotate in opposite directions. The wheel 505 that is actuated determines to which container the insect is sent.

[0119]

[0116] Figure 9 shows another exemplary embodiment of the invention. In this embodiment, the insect provision system comprises a vibrating bowl 111, which is fed with insects by a vibrating hopper 112.

[0120]

[0117] A vibrating bowl corresponds to an industrial device whose exact name is "industrial vibrating feeder". It comprises a tank allowing the group of insects to be placed there, in bulk.

[0121]

[0118] It also comprises a vibrating base, which is actuated in vibration by an electromagnet which successively attracts and releases an actuator of the vibrating base.

[0122]

[0119] This causes a back-and-forth movement at the tank level which causes the insects to move along a helical ramp formed in the tank. At the outlet of the vibrating bowl, the insects arrive one by one on the conveyor system 2. The conveyor system 2 will nevertheless ensure the alignment and orientation of the insects before their arrival at the capture system 3, as explained below.

[0123]

[0120] The tank of the vibrating bowl 111 nevertheless has a relatively limited capacity (generally of the order of a few liters), to limit the time that the insects spend in said bowl (thus limiting the impact of said bowl on the biology of the insects) and so that the insects exit at a regular rate from said vibrating bowl 111, the ramp must not be

[0124] "flooded" under insects. Thus, the vibrating bowl tank cannot be filled; only the bottom of the vibrating bowl must contain insects. This means that insects must be introduced into the vibrating bowl frequently enough to ensure a continuous flow of insects leaving the vibrating bowl.

[0125]

[0121] A vibrating hopper 112 is preferably used to feed the vibrating bowl with insects. The vibrating hopper is thus filled with several hundred or even several thousand insects. A detector 113, which may for example be an optical sensor, is configured to detect the level of insects present in the vibrating bowl 111. When it is determined, according to the data from the detector 113, that insects should be added to the vibrating bowl, the vibrating hopper is activated, causing a progressive supply of insects into the tank of the vibrating bowl. This is for example the case when the detector 113 indicates that the bottom of the vibrating bowl is no longer covered with insects.

[0126]

[0122] This supply is stopped as soon as the desired quantity of insects has been introduced into the vibrating bowl 111. This can be determined either by observing the quantity of insects leaving the vibrating hopper over time, or by using the data from the sensor 113 to control the level of insects in the bowl.

[0127]

[0123] A control device 114 is positioned upstream of the outlet of the vibrating bowl, on the ramp of the vibrating bowl. The control device 114 makes it possible to regulate the number of insects exiting the vibrating bowl. In particular, the control device is configured to prevent several insects from exiting the vibrating bowl simultaneously. The control device 114 may thus comprise a bank positioned on the passage of the insects in the vibrating bowl, typically above the ramp of the vibrating bowl, so as to allow only one insect to pass at a time under the bank and at the outlet of the bowl; Any insects superimposed on another insect are deflected by the bank and thus returned to the bottom of the bowl.

[0128]

[0124] The conveying device 2 used in the example of FIG. 9 is a belt conveyor 201, which extends longitudinally in the longitudinal direction L.

[0129]

[0125] The belt conveyor 201 comprises, as in the embodiment previously presented, a belt 202. The insects are deposited there, so that the upper surface of the belt 202 forms a deposition surface 203 for the insects.

[0130]

[0126] The belt of the belt conveyor has a sufficient running speed so that, with the insects being deposited on the conveyor at a regular rate, a space, i.e. a distance, is created between the insects successively deposited on the belt 202. It can thus be said that the rate of the conveyor is greater than that of the vibrating bowl. The rate of the vibrating bowl can be adjusted, to a certain extent, by varying the vibration (frequency and amplitude) of the vibrating bowl.

[0131]

[0127] The distance between two successive insects is for example at least 1 mm and preferably at least 3 mm, and even more preferably at least 5 mm. A greater distance can be envisaged, but becomes useless from a certain operating value. For example, the distance can be at most 30 mm, or even at most 15 mm.

[0132]

[0128] According to a particular setting, the distance between two successive insects corresponds to the length (largest dimension) of an insect, plus or minus 20%.

[0133]

[0129] The distance thus created between two insects facilitates their individualization and their observation by the capture system 3 described below.

[0134]

[0130] According to another characteristic of the exemplary embodiment shown here, the upper surface of the belt 202, that is to say the surface which carries the insects, has a longitudinal concavity over all or part of its length (that is to say its dimension in the longitudinal direction L). In other words, over its entire length or over part of it, the upper surface of the conveyor has a concave cross-section, preferably “V-shaped”, or “II-shaped”, etc.

[0135]

[0131] This configuration is obtained by a mechanism, forming part of the belt conveyor 201 or attached to it. This mechanism 215 may comprise, as shown here, rollers whose orientation folds the belt 202 to create the longitudinal concavity.

[0136]

[0132] Other mechanisms are conceivable, for example comprising a weight which presses on the center (transversely) of the strip and thus gives it a hollow shape. Alternatively or in addition, the mechanism 215 may comprise a “V” guide under which the strip 202 passes.

[0137]

[0133] In the exemplary embodiment shown, the concavity extends only over a portion of the belt conveyor located at the outlet of the vibrating bowl. Horizontally oriented rollers then guide the belt 202 and return it to a flat position.

[0138]

[0134] The longitudinal concavity of the belt 202 has the effect of ensuring positioning of the insects in the center of the belt 202, and contributes to the positioning of the insects, the elongated shape of which tends to align with the shape of the concavity. The configuration of the conveying device thus tends to perfect the alignment of the insects in the longitudinal direction, under the effect of gravity and by interaction with the belt 202.

[0139]

[0135] Each insect is thus perfectly individualized spatially and oriented.

[0140]

[0136] The strip 202 may be transparent. It may be completely transparent, or only in its central part. This characteristic makes it possible to observe the insects not only from above but also from below. More generally, the insect may be observed from all sides, including the parts of the insect in contact with the strip 202 and / or oriented towards it.

[0141]

[0137] The capture system 3 is similar to the capture systems previously described. In the example shown here, an optical sensor 302 is provided above the belt conveyor and another optical sensor 302 is provided below. It will be noted that the sensor positioned under the belt is here shown, for the sake of clarity of the figure, under the entire belt conveyor 201, but that it can advantageously be positioned in the loop formed by the belt 202, in order to visualize the underside of the upper surface of the belt conveyor 201.

[0142]

[0138] Similarly, the computer system 4 and the sorting device are similar to those presented above. The sorting device 5 shown here comprises nozzles 501 arranged laterally and capable of projecting air so as to deflect the insects to one side or the other of the device according to their sex and send them to the appropriate container 502. Instead of an arrangement on either side of the belt conveyor, the nozzles can be placed at different longitudinal positions. For example, a first nozzle 501 sends the female insects to a first container, a second nozzle 501, located further longitudinally and according to the direction of travel of the belt 202 sends the male insects to a second container, the remaining insects, considered to be of indeterminate sex, being recovered at the end of the conveyor.

[0143]

[0139] Obviously, the features described above with reference to various embodiments are not attached to a specific embodiment and may, subject to technical incompatibility, be combined to form other embodiments. For example, the belt conveyor having a longitudinal concavity may be used with any insect provision system. The same applies to a transparent belt conveyor.

[0144]

[0140] An insect sexing device as described above according to various embodiments makes it possible to implement a sexing method which is also the subject of the present invention, represented in Figure 10.

[0145]

[0141] The proposed sexing method relates to insects, in particular insects in the immature phase, for example nymphs. It would be applicable, where appropriate, to the larval stage, with a suitable capture device (operating for example on the infrared spectrum).

[0146]

[0142] The method comprises a step E1 of depositing onto a conveyor system. During this step E1 of depositing, the insects of a group of insects to be sexed are gradually deposited, using a suitable provision system, onto a conveyor system.

[0147]

[0143] In a following step called conveying E2, the insects are transported in the open air on a conveying system. During this conveying step E2, the insects are spatially individualized (individualization sub-step E21), that is to say they are separated and placed, for example in a line, to allow the subsequent capture of information on each insect, individually. In a positioning sub-step E22 (which can be simultaneous with the individualization sub-step E21) the insects are oriented in order to adopt a desired orientation, conducive to the capture of the desired information for their sexing.

[0148]

[0144] In the conveying step E2, the insects are spatially individualized and positioned by mechanical interaction between the conveying system and the insect.

[0149]

[0145] In a following acquisition step E3, a capture device acquires an image of a part of the insect comprising its sexual organs, for example a terminal part of the insect's abdomen, using an optical sensor and by backlighting said terminal part of the insect's abdomen.

[0146] In a following identification step E4, a computer system carries out the identification, in the image, of the sexual appendage of the insect, and carries out the determination E5 of the sex of the insect.

[0150]

[0147] Finally, in a sorting step E6, the insects are separated according to their sex, between male insects, female insects, and, where appropriate, insects of indeterminate sex. The latter can, optionally, be returned to the depositing step E1.

[0151]

[0148] The insect sexing device and the insect sexing method developed within the scope of the present invention make it possible to determine the sex of a large number of insects in a short time (indicatively, for example at a rate of approximately 140 insects per second), and, where appropriate, to sort the insects efficiently according to their sex.

[0152]

[0149] The means developed within the framework of the present invention are suitable for the automated sexing of non-aquatic insects. They make it possible to respect the mechanical constraints admissible by the insects so as not to cause them damage.

[0153] For mealworm nymphs, for example mealworms, the device and method proposed in the invention allow in particular:

[0154] - to take into account the morphological diversity of insects, in particular the curvature of the mealworm nymph varying from 91° to 151°;

[0155] - to limit the mechanical pressures suffered by insects to 127g / cm 2 to the maximum, in particular thanks to the selection of technologies detailed above on the entire sexing device;

[0156] - to limit the air pressures experienced by the insects to a maximum of 0.5 bar, in particular through the selection of the technologies detailed above for the conveyor system and the sorting system;

[0157] - to limit the air pressures experienced by insects to a maximum of 0.5 bar; in particular thanks to the selection of the technologies detailed above for the sorting system;

[0158] - to limit the vibration frequencies experienced by insects to a maximum of 50 Hz, in particular through the selection of the technologies detailed above for the delivery system and for the conveyor system;

[0159] - to limit the fall heights suffered by insects to a maximum of 30 cm.

[0160]

[0150] Thus, the sexing carried out has no impact on the viability of the sexed nymphs (or insects at other stages of development) and allows sexing at a high rate, compatible with industrial breeding.

Claims

Claims 1. Insect sexing device, comprising an insect provision system (1) comprising a receptacle in which a group of insects can be deposited, and the insect provision system being configured to gradually deposit the insects of said group of insects on a deposition surface (203) of a conveying system (2); the conveying system (2) making it possible to convey the insects in the open air and being configured to spatially individualize each insect (6) of the group of insects and to position it in a desired orientation, the conveying system being configured so that the insect is individualized and positioned by mechanical interaction between the conveying system (2) and the insect (6), said mechanical interaction resulting from gravity and / or a movement of the deposition surface (203) of the conveying system (2);a capture system (3) comprising a light source (301) configured to illuminate or backlight a part of the insect comprising its sexual organs, and an optical sensor (302) configured to acquire an image of at least said part of the insect comprising its sexual organs or a corresponding reflection spectrum; a computer system (4) configured to identify in the image the sexual appendage of the insect or analyze the reflection spectrum, and to determine the sex of the insect.; 2. Sexing device according to claim 1, wherein the insect provision system (1) comprises a funnel forming a receptacle for the group of insects.

3. Sexing device according to claim 1, wherein the insect provision system (1) comprises a blade elevator.

4. Sexing device according to claim 1, wherein the insect provision system (1) comprises a vibrating bowl.

5. A sexing device according to claim 4, comprising a vibrating hopper (112) and a detector (113), the detector (113) being configured to detect the quantity of insects present in the vibrating bowl (111), the vibrating hopper (112) being configured to introduce a quantity of insects into the vibrating bowl (11) in response to a level of insects detected in the vibrating bowl (111) by the detector (113).

6. A sexing device according to any preceding claim, further comprising a control device (114) configured to ensure that only one insect at a time exits the insect delivery system.

7. Sexing device according to any one of the preceding claims, in which the conveying system (2) comprises a belt conveyor (201) comprising a belt (202) forming the deposition surface (203) and extending in a so-called longitudinal direction (L), the belt conveyor (201) having an upstream end (208) and a downstream end (209) defined according to the direction of travel of the belt (202) of said belt conveyor (201).

8. Sexing device according to claim 7, wherein the belt conveyor is configured to have a running speed such that the insects are deposited on the belt (202) of the belt conveyor (201) forming a space greater than 1 mm, preferably greater than 3 mm, such as greater than 5 mm, between two successive insects.

9. Sexing device according to claim 7 or claim 8 comprising a mechanism which creates a longitudinal concavity over all or part of the length of an upper face of the belt (202) of the belt conveyor (201) forming the deposition surface (203).

10. Sexing device according to one of claims 7 to 9 and in which the conveying system (2) comprises several edges (204) extending a short distance above said deposition surface (203), the edges (204) extending alternately from a first longitudinal edge (206) of the belt conveyor and from a second longitudinal edge (207) of the belt conveyor, said edges (204) forming a non-orthogonal angle with respect to the longitudinal direction (L) so as to be oriented towards the downstream end (209) of the belt conveyor (201), said edges (204) extending beyond a median axis (A) of the belt (202) of the belt conveyor (201).

11. Sexing device according to any one of claims 7 to 10, wherein the belt (202) of the belt conveyor (201) is transparent.

12. Sexing device according to any one of the preceding claims, in which the optical sensor (302) comprises a main acquisition direction (DA) and the capture system (3) comprises one or more light sources (301) whose illumination is oriented at an angle relative to said main acquisition direction (DA).

13. Sexing device according to any one of the preceding claims, in which the optical sensor (302) is a telecentric lens camera.

14. Sexing device according to any one of the preceding claims in which the capture system (3) comprises several optical sensors (302).

15. Sexing device according to claim 11 comprising wherein the capture system (3) comprises several optical sensors (302), at least one of said optical sensors being positioned under the deposition surface 203.

16. Sexing device according to any one of the preceding claims further comprising a sorting device (5) making it possible to separate the male insects and the female insects, according to the sex determined by the computer system.

17. Sexing device according to claim 16, in which the sorting device (5) comprises a blowing nozzle (501) making it possible to send insects of a given sex towards a container (502).

18. Sexing device according to claim 16, in which the sorting system comprises a wheel (505) carrying blades (506), the wheel (505) being positioned and configured so that its rotation in a given direction makes it possible to send insects of a given sex to a container (502).

19. Method for sexing insects, comprising the steps of: progressive deposition (E1) of a group of insects on a deposition surface (203) of a conveying system (2); conveying (E2) in the open air, on the conveying system (2) and spatial individualization of each insect (6) of the group of insects and positioning of each insect (6) according to a desired orientation, by mechanical interaction between the conveying system (2) and the insect (6), said mechanical interaction resulting from gravity and / or a movement of the deposition surface (203) of the conveying system (2), acquisition (E3) by an optical sensor (302), while illuminating or backlighting a part of the insect comprising its sexual organs, of an image of the part of the insect comprising its sexual organs or of a corresponding reflection spectrum; identification (E4) in the image by a computer system (4) of the sexual appendage of the insect (6) and determination of the sex of the insect (6).

20. Method for sexing insects according to claim 19, comprising, prior to the depositing step, a step of making the insects available using a vibrating bowl fed by a vibrating hopper controlled by a detector configured to detect the quantity of insects present in the vibrating bowl, the vibrating hopper being configured to introduce a quantity of insects into the vibrating bowl in response to an insect level detected in the bowl by the detector.

21. Method according to claim 19 or claim 20, further comprising a sorting step (E6) according to the determined sex in order to separate the male insects and the female insects.

22. Method according to any one of claims 19 to 21, wherein the sex of each insect is determined according to three categories, namely male insects, female insects, and insects of indeterminate sex, the insects of indeterminate sex being returned to the deposition step (E1).

23. Method according to any one of claims 19 to 22, in which the determination of the sex of the insect is carried out by shape recognition software implementing artificial intelligence based on a neural network trained for the detection of complex shapes associated with the sexual appendage of insects.

24. A method according to any one of claims 19 to 23, wherein the insects are nymphs, for example mealworm nymphs.

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