Pollination system
A pollination system including an enclosure configured to house an insect nest, and a gate system operatively connected to the enclosure. The gate system includes an exit gate assembly, an entrance gate assembly, a vision system configured to capture images of insects within the exit gate assembly and the entrance gate assembly, and a controller configured to operate the exit gate assembly and the entrance gate assembly based on the images captured by the vision system to control a number of insects within an enclosed space surrounding the pollination system.
1. A pollination system comprising:
(A) an enclosure configured to house an insect nest; and
(B) a gate system operatively connected to the enclosure, the gate system comprising:
(i) an exit gate assembly comprising:
a proximal portion;
a distal portion;
a middle portion disposed between the proximal and distal portions;
a first gate between the proximal and middle portions; and
a second gate between the middle and distal portions;
(ii) an entrance gate assembly;
(iii) a vision system configured to capture images of insects within the exit gate assembly and the entrance gate assembly; and
(C) a controller configured to operate the exit gate assembly and the entrance gate assembly based on the images captured by the vision system to control a number of insects within an enclosed space surrounding the pollination system,
wherein the controller is configured to operate the first and second gates in sequence so that:
in a first step of the sequence, the first gate is opened to allow one or more insects to enter the middle portion from the proximal portion;
in a second step of the sequence, the first gate is closed; and
in a third step of the sequence, the second gate is opened to allow the one or more insects to enter the enclosed space from the middle portion through the distal portion,
wherein the controller comprises a computing unit,
wherein the computing unit comprises a bee detection module configured to detect locations of insects within the exit gate assembly and the entrance gate assembly at a point in time based on image data generated by the vision system,
wherein the bee detection module is configured to output global insect location data within a horizontal and vertical reference frame at the point in time,
wherein the computing unit further comprises a middle portion bee count estimator module configured to estimate a current number of insects within the middle portion of the exit gate assembly based on the insect location data,
wherein the computing unit further comprises an insect tracker module configured to generate insect count adjustment data associated with a number of insects leaving and entering the entrance gate assembly,
wherein the insect tracker module tracks the number of insects leaving and entering the entrance gate assembly by tracking insect trajectories within the entrance gate assembly within a predetermined period of time to determine an increase or decrease in a number of insects within the enclosed space,
wherein the computing unit further comprises a command logic module configured to:
determine insect count data associated with the number of insects in the enclosure based on the insect count adjustment data, insect release data and reset data, wherein the reset data is associated with a scheduled rest period in which the nest is closed and the insect count data is reset, and wherein the insect release data is associated with a number of insects released by the exit gate assembly; and
determine, based on the insect count data, insect count limiting data and the reset data, control data for operation of the exit gate assembly.
2. The pollination system of claim 1 , wherein the entrance gate assembly comprises a trap door configured to allow the insects to enter the nest while preventing the insects from exiting the nest.
3. The pollination system of claim 1 , further comprising one or more servo motors that open and close the first and second gates.
4. The pollination system of claim 1 , wherein the vision system comprises a camera.
5. The pollination system of claim 4 , wherein the camera is disposed above at least one of the exit gate assembly or the entrance gate assembly.
6. The pollination system of claim 4 , wherein the camera is disposed below at least one of the exit gate assembly or the entrance gate assembly.
7. The pollination system of claim 4 , wherein the exit gate assembly and the entrance gate assembly share a first common wall.
8. The pollination system of claim 7 , wherein the first common wall is made of a transparent material.
9. The pollination system of claim 8 , wherein the camera is positioned to capture images of the insects within the exit gate assembly and the entrance gate assembly through the first common wall.
10. The pollination system of claim 7 , wherein the exit gate assembly and the entrance gate assembly share a second common wall.
11. The pollination system of claim 10 , wherein the second common wall is made of a translucent material.
12. The pollination system of claim 11 , further comprising a lighting system positioned to direct light though the second common wall.
13. The pollination system of claim 11 , wherein the first common wall is positioned opposite the second common wall.
14. The pollination system of claim 1 , wherein the current numbers of insects within the middle portion is estimated with an exponential filter.
15. The pollination system of claim 1 , wherein the insect tracker module generates the insect count adjustment data using a filtering technique.
16. The pollination system of claim 15 , wherein the filtering technique comprises Kalman filtering, nearest neighbor, extended Kalman filtering or unscented Kalman filtering.
17. The pollination system of claim 1 , wherein the scheduled rest period begins during a nighttime period and ends during a daytime period following the nighttime period.
18. The pollination system of claim 1 , wherein the computing unit further comprises an exit gate control module configured to operate the first and second gates based on the control data generated by the command logic control module.
19. The pollination system of claim 18 , wherein the exit gate control module is further configured to generate the insect release data based on the number of insects released from the exit gate assembly.
20. The pollination system of claim 1 , wherein the insect nest is a bee hive and the insects are bees.