CA2338947C - Device and method for processing meat - Google Patents
Device and method for processing meat Download PDFInfo
- Publication number
- CA2338947C CA2338947C CA002338947A CA2338947A CA2338947C CA 2338947 C CA2338947 C CA 2338947C CA 002338947 A CA002338947 A CA 002338947A CA 2338947 A CA2338947 A CA 2338947A CA 2338947 C CA2338947 C CA 2338947C
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- CA
- Canada
- Prior art keywords
- flesh
- separating means
- processing
- separating
- cuts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/16—Removing fish-bones; Filleting fish
- A22C25/166—Removing loose pin bones, e.g. from fish fillets
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/18—Cutting fish into portions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/30—Means for performing other operations combined with cutting for weighing cut product
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
- B26D1/14—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter
- B26D1/157—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a movable axis
- B26D1/16—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a movable axis mounted on a movable arm or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D2210/00—Machines or methods used for cutting special materials
- B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/08—Means for actuating the cutting member to effect the cut
- B26D5/12—Fluid-pressure means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D7/018—Holding the work by suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
Abstract
The invention relates to a method for processing (1) meat, comprising at least one transportation means (3), at least one position-detecting element (11), at last one separating means (12) and at least one regulation and/or control device (22). According to the invention the separating means communicates with the position-detecting element by means of the regulation and/or control device.
Description
DEVICE AND METHOD FOR PROCESSING MEAT
The invention concerns a device for processing flesh, essentially including at least one transport means, at least one element for position detection, at least one separating means and at least one regulating and/or control device. Furthermore the invention concerns a method for processing flesh such as e.g. fish. Such a method or such a device is known, for example from US 4 557 019. In this an automatic fish fillet cutting device together with associated method is disclosed, producing portions with a predetermined weight. Here it is a drawback that determination of the density of the fish fillet necessitates several manual working steps. Another drawback results from the fact that cutting of the fillet pieces is effected transversely to the direction of conveying.
It is the object of the present invention to provide a device which enables automated, reliable and flexible processing of flesh. Furthermore it is the object of the invention to propose a method for processing flesh.
According to the present invention, there is provided a device for processing flesh, including at least one transport means for moving the flesh into a processing region, at least one element which detects a position of the flesh in the processing region, at least one separating means for making variant cuts of the flesh, and at least one control device, characterized in that the element is electronically connected with the separating means via the control device, and said element provides information to be recorded and processed at least into geometric data of the flesh and image data of the flesh, so that separating cuts based on geometric and image data are made with the separating means.
As a result it is possible within automated processing to perform, in addition to separating cuts, for example for portioning, trimming curs as well, for example for removing pinbone strips.
In a preferred development of the invention, the elements for position detection is designed for recording information as well as for generating and processing it into geometrical data and/or image data. This ensures that complete processing of fish, which consists of separating and/or trimming cuts, can be carried out reliably and flexibly, because in addition to the geometrical data, for example for determining the volume, the image data are important, because for example different halftone areas reveal error points, flaws or other unwanted areas.
Preferably, the separating means is controllable for the removal of areas of different consistency. Thus it is made possible to cut out for example fat areas within a fillet piece.
In a further preferable embodiment of the invention, the element for position detection essentially consists of at least one transmitter, at least one receiver, at least one shading element and at least one computer-assisted image processing system. This enables automated processing, without the time-consuming and sometimes error-laden interventions by operators.
Preferably, a development according to the invention provides that the separating means is arranged essentially freely slidably in the space in order to make precise cuts.
2a Preferably, in another development according to the invention it is provided that the separating means comprises at least one circular blade.
Preferably it can be provided according to the invention that the transmitter is a light source and the receiver is an optoelectronic system.
Preferably, a development according to the invention provided that between transmitter and receiver is arranged at least one shading element.
The object of the invention is further achieved by a method including the following steps:
transport of the flesh by a transport means into the processing region of a device for processing flesh, - detection of the position and/or properties of the flesh by means of an element for position detection by recording information and processing it into data of two kinds, - driving separating means with a regulating and/or control device and performing separating cuts and/or trimming cuts with the aid of the detected data according to a preselected processing programme.
A practical example of the invention is shown in the drawings below. They show:
Figure 1 a side view of the device showing schematically the element for position detection;
2b Figures 2a-c displays of the recording filed in the memory of the image computer;
Figure3 a view of a fillet after computer determination of the pinbone region;
Figure4 a top view of the device;
Figure5 a top view of the horizontal blade;
Figure6a a section through the horizontal blade according to Fig. 5;
Figure6b an enlarged view of the section according to Fig. 6a;
Figure 7 cutting variants;
Figure 8 schematic view.
The device for processing 1 includes, as shown in Figure 1, a housing 2, a transport means 3, wherein the transport means 3 has a perforated conveyor belt 4. In the processing region of the device 1 is located a suction box 5 which draws in the fillets lying on the perforated conveyor belt 4 during mechanical processing through the holes in the conveyor belt 4. The suction box 5 is connected by means of a suction pipe 19 to the vacuum pump 6, the vacuum pump 6 ensuring the required partial pressure. The device has an element for position detection 11 (Fig. 2) which has two transmitters 7, which in this embodiment are designed as a light source. Furthermore for the light sources 7 there is a corresponding receiver 8 which is here constructed as an electronic camera. To provide areas of different illumination, between light source 7 and projection surface is arranged a shading element 9 which produces on the conveyor belt 4 a shadow region and an illuminated region. The electronic camera 8 is connected by signal wires 18 to the image computer 10.
2c In the processing region above the suction box 5 are located separating means 12 including two essentially parallel, spaced-apart circular blades 13 arranged essentially vertically or within an angular range from 45° to 90° to the conveyor belt 4 and arranged essentially in the ' - ' direction of conveying as well as a horizontal blade 21 which is arranged essentially transversely to the direction of conveying of the conveyor belt 4. In an alternative embodiment the spaced-apart separating means 12 can also be arranged obliquely to each other. Following and essentially below the conveyor belt 4 is located a skinning device 14 known in the art, as shown for example in JP1202134 or SE 170906.
Further, such skinning devices are known as Baader 52, wherein in the embodiment shown here the subsequent skinning refers only to fillets without a pinbone strip and/or ventral flank. By means of the stepping motor 15, the circular blades 13 and the horizontal blade 21 are controlled essentially in a plane parallel to the conveyor belt 4 as a function of the signals transmitted via control wires 18 to the stepping ,s motor.
The speed pick-up or clock signal generator 16 is coupled to the conveyor belt drive motor 23 and delivers the information on movement of the transport means 3 or its conveyor belt 4 via the signal wires 18 to the image computer 10 and to the regulating/control device 22. The blades 13, 21 described above are driven by meats of flexible shafts which are coupled by a reduction gear for flexible shafts 25 to the:
blade drive motor 17, wherein the blade drive motor opxrates at constant speed. In an alternative embodiment the blade drive motor communicates via signal wires 18 wilh the regulating/control device. The control/signal wires 18 connect all functional elements of the device 1 to the regulating/control device 22, so that essentially the blades 13 and 21, taking into account the individual position of the fillets on the conveyor belt 4 after image evaluation followed by computer analysis of the pinbones :. ,~ and e.g. the ventral flank of the fish fillets, are controlled in such a way that the pinbone strip is separated out from the fillet without skin by the essentially parallel, spaced-apart circular blades 13, and the ventral flank is separated out by the horizontal blade 21. The drive mechanism of the horizontal blade 20 ensures, together with the horizontal blade pivot device 28, that the horizontal blade 21 swings in, the moment the perforated conveyor belt conveys the ventral flank of the fish fillet into the radius of action of the horizontal blade 21. The blade pivot device 28 operates in this -embodiment pneumatically, and receives the pivot signal from the control device 22 at the appropriate moment by means of the signal wires 18, and moves the blade 21 into ' a plane parallel to the conveyor belt 4 or to the fish fillet in order to separate the ventral flank essentially from the skin of the fillet. Analogously, the pair of circular . , blades 13 are lowered into the fillet the moment the control device 22 signals impingement of the pinbone strip to the circular blade liftingJlowering device 24 by means of the signal wires 18, in such a way that only the pinbone strip is separated from the skin of the fillet by means of a chisel which i~,arranged between the blades 13, and for this eventuality the blade 21 remains in the waiting position (outside the cutting region). By means of the stepping motor 26, which can be seen in Figure,: the common blade support 27 on which both the circular blades i 3 and the horizontal blade 21 are arranged is brought into the position determined by the control unit. The suction box 5, which is supplied with partial pressure by means of suction pipe 19 and s vacuum pump 6, always needs essentially the optimum suction power when a fillet passes into its input region. For this reason, in the suction pipe 19 is arranged a control valve 29 which, at the moment signalled by the control unit 22 via the signal wires 18, exposes the full cross-section of the suction pipe 19. After the fillet has passed ' through the processing stations described, it is transported away out of the range of action of the device 1 by the skinner 14 with the transport means 30, for further processing.
The transport system generates at precise intervals of for example 20 mm, by means of a clock signal generator 16, a clock signal which passes via a control/signal wire 18 to the regulatinglcontrol device 22, as shown e.g. in Figure 1.
The video images of the electronic camera 8 are detected by the image computer for example at 25 images per second. The images are first stored temporarily in a precise memory area of the image computer 10.
When the clock signal comes from the clock signal generator 16 of the transport system, an evaluation is made of the last image recorded and stored.
The ' - ' transition line to. a shaded region 31 which is formed by the shading element 9 in . 3 p connection with the light source 7 is examined. Here it is relevant whether it is a 4a question of a straight shadow line_33 or a deflected shadow line 34, than is, a so-called contour line, as shown in Figure 26. Due to projection of a straight edge, a projected shadow line occurs at a precise region on the conveyor belt 4. Shading is effected by the plate 9 which is mounted in the lighting chamber in such a way that it does not lie in the field of recording or vision of the camera, wherein the field of vision of the camera is composed of the shaded region 31 and the illuminated image region 32, which can be seen in Figure 1. The shaded region 31 produced by the shading element 9 lies in the field of vision of the camera. On account of the angle between the light source and the camera, the shadow line in the camera image varies with respect to location and form when an object lies on the conveyor belt. If therefore there is deformation, the presence of a fillet on the conveyor belt is deduced.
If there is no fillet present, the current image in the memory of the image computer 10 is erased. But if there is a fillet present, a copy of the shadow line is filed in another memory area of the image computer, as shown in Figure 2a. Therefore a topology map of the fillet is built up each time at the predetermined transport intervals. As soon as a fillet has been completely transported out of the shadow region, if there is a straight shadow line again after the deformations of the shadow line, a complete copy of the current camera image is stored in another memory area of the image computer 10, as can be seen in Figure 2c. Immediately afterwards, image analysis is commenced on the copied image.
Each individual contour line 34 is analysed with the aid of so-called curve discussion, which as a result allows a statement about the contour shape of the area under analysis. In the location which is directly in the region to be analysed and in which the height is equal to zero, lies the outer boundary of the fish fillet.
If these zero points are now joined e.g. by mathematical methods such as spline interpolation or the like methods, the result is a computer-generated outer contour which in combination e.g. with the detected contour shape allows a statement about the volume of the product presented. By multiplication by the relative density of the product, therefore, a statement about the weight of each individual product is possible.
First the recorded topology map is brought into register with the copied image.
In a first step the topology reproduces the outer boundary of the fillet - its contour.
Next the contour is related to that of a representative fillet (standard fillet) stored in the image computer. This standard fillet contains information on morphological peculiarities of a given species, e.g. where the so-called pinbones are located. This can be illustrated in such a way that the standard fillet is pulled like a rubber skin into the contour of the fillet to be examined. In the process the external shape of the standard fillet can be distorted, but the basic proportions are preserved. In ' CA 02338947 2001-O1-29 particular the position to be expected of the pinbone strip is therefore already clearly confined.
In the confined region of the position to be expected of the pinbone strip, a further analysis of the topology rnap is made. For each individual shadow line 34 the point which on account of the contour shape is located on the desired pinbone line is computer analysed, and there is differential comparison of the actual contour line with a mathematical curve.
The pinbone points thus derived from the contour lines are combined by a polynomial approximation into a smoothed line. This Iine is widened by a given tolerance, so that there is now further confinement of the possible pinbone line position 34, as can be seen from Figure 3.
Within the given tolerance range, an analysis of the copied image is then made. With a mathematical filter function, in the halftones of the image a kind of trench structure is sought (lighter picture points merge with darker ones and then again with lighter ones). Here, use is made of the fact that the fat and cartilage strip in which the pinbones are embedded can be seen in the halftone image as a darker line.
The points within the tolerance range which exhibit this trench structure are utilised as pinbone points.
The number of points found is again smoothed by a polynomial approximation and the polynomial parameters are transmitted via a RS 232 data link from the image computer 10 to the regulating/control device 22 which controls the stepping motors for the pinbone cut or ventral flank cut.
An improvement in visibility of the fat line is made in an alternative embodiment by means of lighting properties and optical glass filters. As the fat lines 38 which can be seen in Fig. 3 are reddish or brownish, an increase in contrast can be obtained with blue light. The possible pinbone position 39 is also shown in Fia. 3. The use of blue glass filters for the unshaded image region 32 is provided in combination with red glass filters for the shaded region 31. In a further alternative embodiment it is provided, as shown in Figure 4, that several paths, e.g. two of them. are arranged adjacent to each other in order thus to process simultaneously the two fish halves arising for each fish.
In an alternative embodiment there is provision for the use of a camera to determine the contour lines and the use of a further camera to determine the halftone ' CA 02338947 2001-O1-29 images, the two cameras cooperating in the manner already described with the device or its image computer 10.
The horizontal blade 21 shown in Figure 5 has at the circumference an essentially blunt edge 36 which is not designed as a cutting edge. The actual cutting edges 35 are concealed in the sawtooth-like structure of the blade.
An alternative embodiment of the horizontal blade 21 shown in Figure 6a, b has on its lower side or on the side facing towards the fish skin two undercuts 37 which seem suitable for receiving in compensated fashion any cut remains arising as well as fish fillet which is added, in order not to hinder the cut in itself.
In Figure 7 are shown the different cutting variants which can be obtained with the device according to the invention. First there is the so-called pinbone cut, which is produced with circular blades 13 from Figure 1 from the fillets presented.
after the element for position detection 11 in cooperation with the image computer 10 and the regulating/control device 22 has determined the position of the pinbones and transmitted it to the circular blades 13 via stepping motors 15, 26 as a cutting signal.
In the so-called ventral flank cut, in addition the horizontal blade 21 cuts off a piece from the ventral flank. The following cutting variants such as loin/tail cut and trim cut are in each case variants of the types of cut described above.
In a further embodiment according to Figure 8, skinning takes place already before actual processing.
In Figure 1 the fillet is produced after processing with a skinner 14. In the variant shown in Figure 8 the preliminary skinning takes place in the device which is also referred to as a BA 53. Of this arrangement it is promised that the cuts can be made even more precisely.
With the device according to the invention there is therefore the possibility of making both pinbone cuts and loin/tail cuts or trim cuts or ventral flank cuts. Further it is possible to detect pectoral fins, walking sticks, black ventral skin and/or blood spots. The separated residual pieces such as pinbone pieces or ventral Clank are conveyed separately out of the machine, so that in this way they are available for subsequent further processing.
' CA 02338947 2001-O1-29 Reference numbers 1 device for processing fish 2 housing 3 transport means 4 perforated conveyor belt suction box 6 vacuum pump 7 transmitter (light source) 8 receiver (electronic camera) 9 shading element IO image computer 11 element for position detection 12 separating means 13 circular blade 14 skinner stepping motor 16 speed pick-up / clock signal generator 17 blade drive motor 18 control/signal wires 19 suction pipe drive mechanism of horizontal blade 21 horizontal blade 22 regulating/control device 23 conveyor belt drive motor 24 circular blade lifting/lowering device reduction gear for flexible shaft 26 stepping motor 27 common blade support 28 blade pivot device 29 control valve transport means 31 shaded region 32 illuminated image region 33 straight shadow line 34 deflected shadow line 35 cutting edge 36 blunt edge 37 undercut 38 fat line 39 possible pinbone position
The invention concerns a device for processing flesh, essentially including at least one transport means, at least one element for position detection, at least one separating means and at least one regulating and/or control device. Furthermore the invention concerns a method for processing flesh such as e.g. fish. Such a method or such a device is known, for example from US 4 557 019. In this an automatic fish fillet cutting device together with associated method is disclosed, producing portions with a predetermined weight. Here it is a drawback that determination of the density of the fish fillet necessitates several manual working steps. Another drawback results from the fact that cutting of the fillet pieces is effected transversely to the direction of conveying.
It is the object of the present invention to provide a device which enables automated, reliable and flexible processing of flesh. Furthermore it is the object of the invention to propose a method for processing flesh.
According to the present invention, there is provided a device for processing flesh, including at least one transport means for moving the flesh into a processing region, at least one element which detects a position of the flesh in the processing region, at least one separating means for making variant cuts of the flesh, and at least one control device, characterized in that the element is electronically connected with the separating means via the control device, and said element provides information to be recorded and processed at least into geometric data of the flesh and image data of the flesh, so that separating cuts based on geometric and image data are made with the separating means.
As a result it is possible within automated processing to perform, in addition to separating cuts, for example for portioning, trimming curs as well, for example for removing pinbone strips.
In a preferred development of the invention, the elements for position detection is designed for recording information as well as for generating and processing it into geometrical data and/or image data. This ensures that complete processing of fish, which consists of separating and/or trimming cuts, can be carried out reliably and flexibly, because in addition to the geometrical data, for example for determining the volume, the image data are important, because for example different halftone areas reveal error points, flaws or other unwanted areas.
Preferably, the separating means is controllable for the removal of areas of different consistency. Thus it is made possible to cut out for example fat areas within a fillet piece.
In a further preferable embodiment of the invention, the element for position detection essentially consists of at least one transmitter, at least one receiver, at least one shading element and at least one computer-assisted image processing system. This enables automated processing, without the time-consuming and sometimes error-laden interventions by operators.
Preferably, a development according to the invention provides that the separating means is arranged essentially freely slidably in the space in order to make precise cuts.
2a Preferably, in another development according to the invention it is provided that the separating means comprises at least one circular blade.
Preferably it can be provided according to the invention that the transmitter is a light source and the receiver is an optoelectronic system.
Preferably, a development according to the invention provided that between transmitter and receiver is arranged at least one shading element.
The object of the invention is further achieved by a method including the following steps:
transport of the flesh by a transport means into the processing region of a device for processing flesh, - detection of the position and/or properties of the flesh by means of an element for position detection by recording information and processing it into data of two kinds, - driving separating means with a regulating and/or control device and performing separating cuts and/or trimming cuts with the aid of the detected data according to a preselected processing programme.
A practical example of the invention is shown in the drawings below. They show:
Figure 1 a side view of the device showing schematically the element for position detection;
2b Figures 2a-c displays of the recording filed in the memory of the image computer;
Figure3 a view of a fillet after computer determination of the pinbone region;
Figure4 a top view of the device;
Figure5 a top view of the horizontal blade;
Figure6a a section through the horizontal blade according to Fig. 5;
Figure6b an enlarged view of the section according to Fig. 6a;
Figure 7 cutting variants;
Figure 8 schematic view.
The device for processing 1 includes, as shown in Figure 1, a housing 2, a transport means 3, wherein the transport means 3 has a perforated conveyor belt 4. In the processing region of the device 1 is located a suction box 5 which draws in the fillets lying on the perforated conveyor belt 4 during mechanical processing through the holes in the conveyor belt 4. The suction box 5 is connected by means of a suction pipe 19 to the vacuum pump 6, the vacuum pump 6 ensuring the required partial pressure. The device has an element for position detection 11 (Fig. 2) which has two transmitters 7, which in this embodiment are designed as a light source. Furthermore for the light sources 7 there is a corresponding receiver 8 which is here constructed as an electronic camera. To provide areas of different illumination, between light source 7 and projection surface is arranged a shading element 9 which produces on the conveyor belt 4 a shadow region and an illuminated region. The electronic camera 8 is connected by signal wires 18 to the image computer 10.
2c In the processing region above the suction box 5 are located separating means 12 including two essentially parallel, spaced-apart circular blades 13 arranged essentially vertically or within an angular range from 45° to 90° to the conveyor belt 4 and arranged essentially in the ' - ' direction of conveying as well as a horizontal blade 21 which is arranged essentially transversely to the direction of conveying of the conveyor belt 4. In an alternative embodiment the spaced-apart separating means 12 can also be arranged obliquely to each other. Following and essentially below the conveyor belt 4 is located a skinning device 14 known in the art, as shown for example in JP1202134 or SE 170906.
Further, such skinning devices are known as Baader 52, wherein in the embodiment shown here the subsequent skinning refers only to fillets without a pinbone strip and/or ventral flank. By means of the stepping motor 15, the circular blades 13 and the horizontal blade 21 are controlled essentially in a plane parallel to the conveyor belt 4 as a function of the signals transmitted via control wires 18 to the stepping ,s motor.
The speed pick-up or clock signal generator 16 is coupled to the conveyor belt drive motor 23 and delivers the information on movement of the transport means 3 or its conveyor belt 4 via the signal wires 18 to the image computer 10 and to the regulating/control device 22. The blades 13, 21 described above are driven by meats of flexible shafts which are coupled by a reduction gear for flexible shafts 25 to the:
blade drive motor 17, wherein the blade drive motor opxrates at constant speed. In an alternative embodiment the blade drive motor communicates via signal wires 18 wilh the regulating/control device. The control/signal wires 18 connect all functional elements of the device 1 to the regulating/control device 22, so that essentially the blades 13 and 21, taking into account the individual position of the fillets on the conveyor belt 4 after image evaluation followed by computer analysis of the pinbones :. ,~ and e.g. the ventral flank of the fish fillets, are controlled in such a way that the pinbone strip is separated out from the fillet without skin by the essentially parallel, spaced-apart circular blades 13, and the ventral flank is separated out by the horizontal blade 21. The drive mechanism of the horizontal blade 20 ensures, together with the horizontal blade pivot device 28, that the horizontal blade 21 swings in, the moment the perforated conveyor belt conveys the ventral flank of the fish fillet into the radius of action of the horizontal blade 21. The blade pivot device 28 operates in this -embodiment pneumatically, and receives the pivot signal from the control device 22 at the appropriate moment by means of the signal wires 18, and moves the blade 21 into ' a plane parallel to the conveyor belt 4 or to the fish fillet in order to separate the ventral flank essentially from the skin of the fillet. Analogously, the pair of circular . , blades 13 are lowered into the fillet the moment the control device 22 signals impingement of the pinbone strip to the circular blade liftingJlowering device 24 by means of the signal wires 18, in such a way that only the pinbone strip is separated from the skin of the fillet by means of a chisel which i~,arranged between the blades 13, and for this eventuality the blade 21 remains in the waiting position (outside the cutting region). By means of the stepping motor 26, which can be seen in Figure,: the common blade support 27 on which both the circular blades i 3 and the horizontal blade 21 are arranged is brought into the position determined by the control unit. The suction box 5, which is supplied with partial pressure by means of suction pipe 19 and s vacuum pump 6, always needs essentially the optimum suction power when a fillet passes into its input region. For this reason, in the suction pipe 19 is arranged a control valve 29 which, at the moment signalled by the control unit 22 via the signal wires 18, exposes the full cross-section of the suction pipe 19. After the fillet has passed ' through the processing stations described, it is transported away out of the range of action of the device 1 by the skinner 14 with the transport means 30, for further processing.
The transport system generates at precise intervals of for example 20 mm, by means of a clock signal generator 16, a clock signal which passes via a control/signal wire 18 to the regulatinglcontrol device 22, as shown e.g. in Figure 1.
The video images of the electronic camera 8 are detected by the image computer for example at 25 images per second. The images are first stored temporarily in a precise memory area of the image computer 10.
When the clock signal comes from the clock signal generator 16 of the transport system, an evaluation is made of the last image recorded and stored.
The ' - ' transition line to. a shaded region 31 which is formed by the shading element 9 in . 3 p connection with the light source 7 is examined. Here it is relevant whether it is a 4a question of a straight shadow line_33 or a deflected shadow line 34, than is, a so-called contour line, as shown in Figure 26. Due to projection of a straight edge, a projected shadow line occurs at a precise region on the conveyor belt 4. Shading is effected by the plate 9 which is mounted in the lighting chamber in such a way that it does not lie in the field of recording or vision of the camera, wherein the field of vision of the camera is composed of the shaded region 31 and the illuminated image region 32, which can be seen in Figure 1. The shaded region 31 produced by the shading element 9 lies in the field of vision of the camera. On account of the angle between the light source and the camera, the shadow line in the camera image varies with respect to location and form when an object lies on the conveyor belt. If therefore there is deformation, the presence of a fillet on the conveyor belt is deduced.
If there is no fillet present, the current image in the memory of the image computer 10 is erased. But if there is a fillet present, a copy of the shadow line is filed in another memory area of the image computer, as shown in Figure 2a. Therefore a topology map of the fillet is built up each time at the predetermined transport intervals. As soon as a fillet has been completely transported out of the shadow region, if there is a straight shadow line again after the deformations of the shadow line, a complete copy of the current camera image is stored in another memory area of the image computer 10, as can be seen in Figure 2c. Immediately afterwards, image analysis is commenced on the copied image.
Each individual contour line 34 is analysed with the aid of so-called curve discussion, which as a result allows a statement about the contour shape of the area under analysis. In the location which is directly in the region to be analysed and in which the height is equal to zero, lies the outer boundary of the fish fillet.
If these zero points are now joined e.g. by mathematical methods such as spline interpolation or the like methods, the result is a computer-generated outer contour which in combination e.g. with the detected contour shape allows a statement about the volume of the product presented. By multiplication by the relative density of the product, therefore, a statement about the weight of each individual product is possible.
First the recorded topology map is brought into register with the copied image.
In a first step the topology reproduces the outer boundary of the fillet - its contour.
Next the contour is related to that of a representative fillet (standard fillet) stored in the image computer. This standard fillet contains information on morphological peculiarities of a given species, e.g. where the so-called pinbones are located. This can be illustrated in such a way that the standard fillet is pulled like a rubber skin into the contour of the fillet to be examined. In the process the external shape of the standard fillet can be distorted, but the basic proportions are preserved. In ' CA 02338947 2001-O1-29 particular the position to be expected of the pinbone strip is therefore already clearly confined.
In the confined region of the position to be expected of the pinbone strip, a further analysis of the topology rnap is made. For each individual shadow line 34 the point which on account of the contour shape is located on the desired pinbone line is computer analysed, and there is differential comparison of the actual contour line with a mathematical curve.
The pinbone points thus derived from the contour lines are combined by a polynomial approximation into a smoothed line. This Iine is widened by a given tolerance, so that there is now further confinement of the possible pinbone line position 34, as can be seen from Figure 3.
Within the given tolerance range, an analysis of the copied image is then made. With a mathematical filter function, in the halftones of the image a kind of trench structure is sought (lighter picture points merge with darker ones and then again with lighter ones). Here, use is made of the fact that the fat and cartilage strip in which the pinbones are embedded can be seen in the halftone image as a darker line.
The points within the tolerance range which exhibit this trench structure are utilised as pinbone points.
The number of points found is again smoothed by a polynomial approximation and the polynomial parameters are transmitted via a RS 232 data link from the image computer 10 to the regulating/control device 22 which controls the stepping motors for the pinbone cut or ventral flank cut.
An improvement in visibility of the fat line is made in an alternative embodiment by means of lighting properties and optical glass filters. As the fat lines 38 which can be seen in Fig. 3 are reddish or brownish, an increase in contrast can be obtained with blue light. The possible pinbone position 39 is also shown in Fia. 3. The use of blue glass filters for the unshaded image region 32 is provided in combination with red glass filters for the shaded region 31. In a further alternative embodiment it is provided, as shown in Figure 4, that several paths, e.g. two of them. are arranged adjacent to each other in order thus to process simultaneously the two fish halves arising for each fish.
In an alternative embodiment there is provision for the use of a camera to determine the contour lines and the use of a further camera to determine the halftone ' CA 02338947 2001-O1-29 images, the two cameras cooperating in the manner already described with the device or its image computer 10.
The horizontal blade 21 shown in Figure 5 has at the circumference an essentially blunt edge 36 which is not designed as a cutting edge. The actual cutting edges 35 are concealed in the sawtooth-like structure of the blade.
An alternative embodiment of the horizontal blade 21 shown in Figure 6a, b has on its lower side or on the side facing towards the fish skin two undercuts 37 which seem suitable for receiving in compensated fashion any cut remains arising as well as fish fillet which is added, in order not to hinder the cut in itself.
In Figure 7 are shown the different cutting variants which can be obtained with the device according to the invention. First there is the so-called pinbone cut, which is produced with circular blades 13 from Figure 1 from the fillets presented.
after the element for position detection 11 in cooperation with the image computer 10 and the regulating/control device 22 has determined the position of the pinbones and transmitted it to the circular blades 13 via stepping motors 15, 26 as a cutting signal.
In the so-called ventral flank cut, in addition the horizontal blade 21 cuts off a piece from the ventral flank. The following cutting variants such as loin/tail cut and trim cut are in each case variants of the types of cut described above.
In a further embodiment according to Figure 8, skinning takes place already before actual processing.
In Figure 1 the fillet is produced after processing with a skinner 14. In the variant shown in Figure 8 the preliminary skinning takes place in the device which is also referred to as a BA 53. Of this arrangement it is promised that the cuts can be made even more precisely.
With the device according to the invention there is therefore the possibility of making both pinbone cuts and loin/tail cuts or trim cuts or ventral flank cuts. Further it is possible to detect pectoral fins, walking sticks, black ventral skin and/or blood spots. The separated residual pieces such as pinbone pieces or ventral Clank are conveyed separately out of the machine, so that in this way they are available for subsequent further processing.
' CA 02338947 2001-O1-29 Reference numbers 1 device for processing fish 2 housing 3 transport means 4 perforated conveyor belt suction box 6 vacuum pump 7 transmitter (light source) 8 receiver (electronic camera) 9 shading element IO image computer 11 element for position detection 12 separating means 13 circular blade 14 skinner stepping motor 16 speed pick-up / clock signal generator 17 blade drive motor 18 control/signal wires 19 suction pipe drive mechanism of horizontal blade 21 horizontal blade 22 regulating/control device 23 conveyor belt drive motor 24 circular blade lifting/lowering device reduction gear for flexible shaft 26 stepping motor 27 common blade support 28 blade pivot device 29 control valve transport means 31 shaded region 32 illuminated image region 33 straight shadow line 34 deflected shadow line 35 cutting edge 36 blunt edge 37 undercut 38 fat line 39 possible pinbone position
Claims (14)
1. Device for processing flesh, including at least one transport means (3) for moving the flesh into a processing region, at least one element (11) which detects a position of the flesh in the processing region, at least one separating means (12) for making variant cuts of the flesh, and at least one control device (22), characterized in that the element (11) is electronically connected with the separating means (12) via the control device (22), and said element (11) provides information to be recorded and processed at least into geometric data of the flesh and image data of the flesh, so that separating cuts based on geometric and image data are made with the separating means (12).
2. Device according to claim 1, characterized in that the separating means (12) is controllable for removing areas of different consistency.
3. Device according to claim 1 or 2, characterized in that the element (11) includes at least one transmitter (7), at least one receiver (8), at least one shading element (9) and at least one computer-assisted image processing system.
4. Device according to claim 3, characterized in that the shading element (9) is arranged between the transmitter (7) and a projection surface.
5. Device according to any one of claims 1 to 4, characterized in that the separating means (12) is capable of being arranged in a slidable manner in order to make precise cuts.
6. Device according to any one of claims 1 to 5, characterized in that the separating means (12) comprises at least one circular blade.
7. Device according to any one of claims 1 to 6, characterized in that the separating means (12) comprises at least two essentially parallel, spaced-apart circular blades (13), wherein a cutting plane of the circular blades (13) lies essentially perpendicular to a plane in which the flesh is conveyed.
8. Device according to any one of claims 1 to 6, characterized in that the separating means (12) comprises at least two essentially parallel, spaced-apart circular blades (13) arranged within an angular range from 45° to 90° to a conveyor belt (4) of the transport means (3).
9. Device according to claim 7, characterized in that the separating means (12) comprises at least one blade (21) in addition to said two blades (13) whose cutting plane selectively lies essentially parallel or essentially perpendicularly to the plane in which the flesh is conveyed.
10. Device according to any one of claims 3 and 4, characterized in that the transmitter (7) is a light source and the receiver (8) is an optoelectronic system.
11. Device according to any one of claims 3, 4 and 10, characterized in that the receiver (8) is a camera.
12. Method for processing flesh, including the following steps:
a) transport of the flesh by the transport means (3) into the processing region of the device for processing the flesh according to any one of claims 1 to 11, b) detection of the position and properties of the flesh by means of the element (11) by recording information and processing information at least into geometric data of the flesh and image data of the flesh, and c) driving the separating means (12) with the control device (22) and performing separating cuts with the aid of the detected data according to a pre-selected processing programme.
a) transport of the flesh by the transport means (3) into the processing region of the device for processing the flesh according to any one of claims 1 to 11, b) detection of the position and properties of the flesh by means of the element (11) by recording information and processing information at least into geometric data of the flesh and image data of the flesh, and c) driving the separating means (12) with the control device (22) and performing separating cuts with the aid of the detected data according to a pre-selected processing programme.
13. Method according to claim 12, characterized in that, in step b, the recording is performed by means of a camera which records images.
14. Method according to claim 12 or 13, characterized in that several complete images of the flesh to be processes are recorded, at a rate of 25 images per minute, and at least image details are stored and later processed for control of the separating means (12).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19834524A DE19834524A1 (en) | 1998-07-31 | 1998-07-31 | Device or method for processing meat |
| DE19834524.0 | 1998-07-31 | ||
| PCT/EP1999/005283 WO2000007452A1 (en) | 1998-07-31 | 1999-07-23 | Device and method for processing meat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2338947A1 CA2338947A1 (en) | 2000-02-17 |
| CA2338947C true CA2338947C (en) | 2004-11-23 |
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ID=7875955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002338947A Expired - Lifetime CA2338947C (en) | 1998-07-31 | 1999-07-23 | Device and method for processing meat |
Country Status (7)
| Country | Link |
|---|---|
| US (4) | USRE40085E1 (en) |
| CA (1) | CA2338947C (en) |
| DE (2) | DE19834524A1 (en) |
| DK (1) | DK176472B1 (en) |
| IS (1) | IS2433B (en) |
| NO (1) | NO323027B1 (en) |
| WO (1) | WO2000007452A1 (en) |
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| US11794434B2 (en) | 2019-11-08 | 2023-10-24 | Provisur Technologies, Inc. | Separating machine |
| US11832623B2 (en) | 2019-11-08 | 2023-12-05 | Provisur Technologies, Inc. | Separating machine with feeding wheel |
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| WO2003037090A1 (en) * | 2001-11-01 | 2003-05-08 | Stein Grov Eilertsen | Apparatus and method for trimming of fish fillets |
| US6688961B2 (en) * | 2002-02-07 | 2004-02-10 | Jeffrey P. Smith | Poultry breast meat apportioning method |
| AU2003215886B2 (en) * | 2002-03-21 | 2009-04-23 | Marel Hf. | A method and device for cutting objects into fixed portions |
| DK1583427T3 (en) * | 2003-01-17 | 2007-07-30 | Hans Moeller Rasmussen | Process for processing fillets |
| DE102004010696B4 (en) * | 2004-02-27 | 2017-06-29 | Nordischer Maschinenbau Rud. Baader Gmbh + Co. Kg | Apparatus and method for the automated processing of meat |
| AU2005248942A1 (en) * | 2004-12-30 | 2006-07-20 | John Bean Technologies Corporation | Conveying conformable products |
| US7621806B2 (en) * | 2004-12-30 | 2009-11-24 | John Bean Technologies Corporation | Determining the position and angular orientation of food products |
| CA2510671A1 (en) * | 2005-06-27 | 2006-12-27 | G.E. Leblanc Inc. | Flat robot with parallel axes and fixed motors for water jet cutting |
| DE102005047752B3 (en) * | 2005-09-28 | 2006-10-05 | Nordischer Maschinenbau Rud. Baader Gmbh + Co Kg | Trimming machine for fish fillets has conveyor which continuously feeds fillets to trimming head and camera which detects position of each fillet and controls head so that it automatically trims its surface |
| WO2007128316A1 (en) * | 2006-05-08 | 2007-11-15 | Tórshavnar Skipasmiðja P/F | A method and apparatus for transilluminating objects |
| DE102007017899B4 (en) * | 2007-04-13 | 2017-02-16 | Innotech Ingenieursgesellschaft Mbh | Apparatus and method for cutting food material |
| DE102007038365B4 (en) * | 2007-08-11 | 2009-06-10 | Nordischer Maschinenbau Rud. Baader Gmbh + Co Kg | Device and method for skinning fish fillets |
| DE102008009922B4 (en) * | 2008-02-15 | 2010-04-29 | Nordischer Maschinenbau Rud. Baader Gmbh + Co. Kg | Apparatus and method for separating surface layers in food industry products |
| NO328972B1 (en) * | 2008-09-26 | 2010-07-05 | Trio Food Proc Machinery As | Method and apparatus for extracting the bones from a fillet |
| US8233668B2 (en) | 2010-08-09 | 2012-07-31 | John Bean Technologies Corporation | Distinguishing abutting food product |
| NZ611660A (en) * | 2010-11-12 | 2014-06-27 | Marel Salmon As | A fish filleting machine |
| CA2821778C (en) * | 2010-12-15 | 2019-03-26 | Anubis Manufacturing Consultants Corp. | System for and method of measuring flow of a powder |
| DE102011010110A1 (en) | 2011-02-02 | 2012-08-02 | Weber Maschinenbau Gmbh Breidenbach | Apparatus and method for removing a surface layer of food products |
| US9357789B2 (en) * | 2012-03-19 | 2016-06-07 | Nordischer Maaschinenbau Rud. Baader GmbH + Co. KG | Method for mechanically removing pin bones from fillet parts of conveyed fish and device for performing said method |
| JP6006568B2 (en) * | 2012-07-05 | 2016-10-12 | 富士機械製造株式会社 | Fish small bone remover |
| US9538768B2 (en) * | 2014-09-17 | 2017-01-10 | Midwest Machine, LLC | Automated scanning and butchering system and method of use |
| CA2961973A1 (en) * | 2014-09-23 | 2016-03-31 | Marel A/S | A method and a device for automatically cutting meat products such as beef tenderloin into portions |
| DE102015111448B3 (en) * | 2015-07-15 | 2016-05-25 | Nordischer Maschinenbau Rud. Baader Gmbh + Co. Kg | Apparatus and method for removing meatbones from a fish fillet |
| DK179426B9 (en) * | 2016-12-06 | 2018-07-12 | Marel Iceland Ehf | A method of processing a food object |
| TWI593350B (en) * | 2016-12-22 | 2017-08-01 | yu-cai Wu | Food processor |
| DK3409125T3 (en) * | 2017-05-29 | 2021-10-11 | Nordischer Maschinenbau | Device for cutting fish fillets from flank bones, filleting device with such a device and method for cutting fish fillets from flank bones |
| US11202452B2 (en) | 2019-04-08 | 2021-12-21 | Provisor Technologies, Inc. | Apparatus and method for cutting meat products into blocks of meat |
| GB2600087B (en) * | 2020-10-07 | 2022-11-09 | Carr Edward | Apparatus and method for boning fish |
| DE102020006482A1 (en) | 2020-10-14 | 2022-04-14 | Innotech Ingenieursgesellschaft Mbh | Device for cutting agricultural products and central processing unit with at least one data memory for controlling the device |
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| US4748724A (en) * | 1987-05-12 | 1988-06-07 | The Laitram Corporation | Support apparatus for use in video imaging and processing of transverse fish sections |
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| US5324228A (en) * | 1992-07-27 | 1994-06-28 | Frigoscandia Food Processing Systems A.B. | Method and apparatus for detecting and trimming fat from meat products |
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| US5591076A (en) | 1995-04-21 | 1997-01-07 | Nordischer Maschinenbau Rud. Baader Gmbh & Co Kg | Apparatus for processing flat fish |
-
1998
- 1998-07-31 DE DE19834524A patent/DE19834524A1/en not_active Withdrawn
-
1999
- 1999-07-23 DE DE19981456T patent/DE19981456B4/en not_active Expired - Lifetime
- 1999-07-23 US US11/351,219 patent/USRE40085E1/en not_active Expired - Lifetime
- 1999-07-23 US US09/744,519 patent/US6604991B1/en not_active Ceased
- 1999-07-23 CA CA002338947A patent/CA2338947C/en not_active Expired - Lifetime
- 1999-07-23 WO PCT/EP1999/005283 patent/WO2000007452A1/en active Application Filing
-
2001
- 2001-01-29 DK DK200100146A patent/DK176472B1/en not_active IP Right Cessation
- 2001-01-30 IS IS5832A patent/IS2433B/en unknown
- 2001-01-31 NO NO20010543A patent/NO323027B1/en not_active IP Right Cessation
-
2003
- 2003-06-27 US US10/606,958 patent/US6843714B2/en not_active Ceased
-
2006
- 2006-02-10 US US11/351,218 patent/USRE41409E1/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11794434B2 (en) | 2019-11-08 | 2023-10-24 | Provisur Technologies, Inc. | Separating machine |
| US11832623B2 (en) | 2019-11-08 | 2023-12-05 | Provisur Technologies, Inc. | Separating machine with feeding wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| US6843714B2 (en) | 2005-01-18 |
| US6604991B1 (en) | 2003-08-12 |
| US20040029512A1 (en) | 2004-02-12 |
| USRE41409E1 (en) | 2010-06-29 |
| CA2338947A1 (en) | 2000-02-17 |
| WO2000007452A1 (en) | 2000-02-17 |
| DE19981456D2 (en) | 2001-05-31 |
| DK200100146A (en) | 2001-03-26 |
| NO20010543D0 (en) | 2001-01-31 |
| DE19834524A1 (en) | 2000-02-10 |
| IS2433B (en) | 2008-10-15 |
| IS5832A (en) | 2001-01-30 |
| USRE40085E1 (en) | 2008-02-19 |
| DE19981456B4 (en) | 2006-06-29 |
| NO323027B1 (en) | 2006-12-27 |
| NO20010543L (en) | 2001-03-27 |
| DK176472B1 (en) | 2008-04-14 |
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| EEER | Examination request |