EP2048958A1 - Appareil et procédé d'imagerie pour la détermination d'un trajet de découpe et la classification d'une carcasse - Google Patents

Appareil et procédé d'imagerie pour la détermination d'un trajet de découpe et la classification d'une carcasse

Info

Publication number
EP2048958A1
EP2048958A1 EP07808689A EP07808689A EP2048958A1 EP 2048958 A1 EP2048958 A1 EP 2048958A1 EP 07808689 A EP07808689 A EP 07808689A EP 07808689 A EP07808689 A EP 07808689A EP 2048958 A1 EP2048958 A1 EP 2048958A1
Authority
EP
European Patent Office
Prior art keywords
carcass
ray
detector
section
images
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.)
Ceased
Application number
EP07808689A
Other languages
German (de)
English (en)
Other versions
EP2048958A4 (fr
Inventor
Mark Hamish Seaton
Roger William Glendenning
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robotic Technologies Ltd
Original Assignee
Robotic Technologies Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robotic Technologies Ltd filed Critical Robotic Technologies Ltd
Priority to EP15167476.9A priority Critical patent/EP2946667B1/fr
Priority to DK15167476.9T priority patent/DK2946667T3/en
Publication of EP2048958A1 publication Critical patent/EP2048958A1/fr
Publication of EP2048958A4 publication Critical patent/EP2048958A4/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
    • A22B5/0041—Electronic, robotic or computer assisted cutting, dividing or deboning carcasses
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0064—Accessories for use during or after slaughtering for classifying or grading carcasses; for measuring back fat
    • A22B5/007—Non-invasive scanning of carcasses, e.g. using image recognition, tomography, X-rays, ultrasound

Definitions

  • the invention relates to the X-ray imaging of an animal carcass to determine a cutting path for cutting of the carcass.
  • the invention relates to a method for determining the cutting path for a cutting device by X-ray imaging the carcass from two different perspectives and processing the imaging data to determine a cutting path.
  • the invention also relates to a method of grading carcasses.
  • Cuts can be biased so that the maximum amount of meat is left on higher value cuts.
  • X-ray imaging of animal carcasses is a known method for determining the best positions for making cuts to the carcases. Some methods employ the technique of obtaining X-ray images at two different angles to give 3- dimensional coordinates for determining a cutting path.
  • US 5,205,779 describes a method for X-ray imaging an animal carcass to determine internal anatomical features in 3 dimensions.
  • this method suffers from the disadvantage that the carcass must be oriented horizontally on a trolley fixture. Since most animal carcass processing operations have the carcass hanging vertically by the hind hocks from an overhead meat rail conveyor, horizontal X-ray imaging is a significant disadvantage. Removing a carcass from the rail is difficult, and requires a human operator or a costly automated device. Multiple trolleys are necessary for medium to large scale meat processing operations. The trolleys must be cleaned, and must be designed so that the driving mechanism is protected from cleaning fluids.
  • the need for carcasses to be oriented horizontally uses up a significant amount of valuable processing floor-space, and requires a faster line speed to match the throughput of an equivalent vertical system because the carcass pitch will be much greater.
  • the trolleys may interfere with the X-ray signal or require expensive materials and construction techniques.
  • the method requires the trolleys to stop at the start of the imaging zone thereby reducing the potential throughput of the system.
  • the method described requires two X-ray systems to perform the imaging. This adds to cost, and also means that higher radiation dosages are transmitted.
  • An image intensifier is used to capture the X-ray image.
  • image intensifiers are less accurate than digital flat panel detectors. Due to the fan nature of the X-ray beam, the image is distorted in both the vertical and the horizontal planes, whereas use of a linear detector means the distortion is only along the length of the detector.
  • the two X-ray systems are mounted on either side of the carcass. In the case of determining cutting positions relative to ribs, this method is much more difficult and much less accurate than having the systems mounted at either end of the carcass.
  • WO 97/21352 also describes the use of two X-ray images to determine a 3- dimensional cutting path.
  • the method has all the disadvantages of the trolley system described above because the carcass (poultry) is held stationary in a fixture. Two X-ray systems are required to perform the imaging. This is more costly and transmits a higher radiation dosage than a single X-ray system.
  • the imaging is performed at the cutting station. This means that the cutting station will need to be fully enclosed in radiation shielding, and the image processing must be done before any cutting can take place, thereby reducing the time available for processing of the carcass. It is therefore an object of the invention to provide a method for determining the cutting path for cutting an animal carcass which overcomes or ameliorates one or more of the above disadvantages of known methods, or to at least provide a useful choice.
  • the invention provides a method of determining a cutting path including the steps of: a. obtaining X-ray images of a hanging carcass from different perspectives; b. determining the spatial configuration of elements of the carcass based on the X-ray images; and c. determining a cutting path for cutting the carcass based on the spatial configuration of the elements of the carcass.
  • the X-ray images are preferably captured using a single X-ray source and a single X-ray detector.
  • the carcass is moved to obtain X- ray images from different perspectives.
  • the X-ray source and X- ray detector may be moved relative to the carcass to obtain images of the carcass from different perspectives.
  • the carcass is preferably hung from a conveyor rail and moved along the conveyor rail to obtain X-ray images from different perspectives.
  • An X-ray image of the carcass may be obtained whilst the carcass is conveyed along a first conveyor track section and the carcass is then conveyed along a loop and rotated through 180 degrees so that on a return path an X-ray image from a different perspective but with the carcass in the same orientation is obtained.
  • the X-ray source preferably propagates a fan-shaped beam and the X-ray detector is preferably a linear detector so that the carcass is scanned as it moves along the conveyor track through the fan shaped beam.
  • the spatial configuration of bones of the carcass may be determined based on the X-ray images and the cutting path determined based upon the spatial configuration of the bones.
  • the carcass may be cut using an automated cutting machine based on the cutting path determined.
  • a method of producing a spatial image of elements of a carcass including the steps of: a. moving a carcass through an X-ray imaging system along a first path to obtain a first X-ray image; b. moving a carcass through the X-ray imaging system along a second path to obtain a second X-ray image from a different perspective to the first X-ray image; c. developing a spatial model of elements of the carcass based on the first and second images.
  • the carcass is preferably hanging as it passes through the X-ray imaging system.
  • the X-ray images are preferably captured using a single X-ray source and a single X-ray detector.
  • the X-ray images may also be used to determine attributes of the carcass for grading purposes.
  • an imaging apparatus comprising: a. an X-ray source; b. an X-ray detector spaced apart from the X-ray source and positioned to receive a beam generated by the X-ray source; c. a carcass moving system for moving a carcass between the X-ray source and the X-ray detector to enable a first X-ray image to be acquired from a first perspective and to move the carcass between the X-ray source and the X-ray detector to enable a second X-ray image to be acquired from a second perspective; and d. a processor for determining the spatial configuration of carcass elements based on the first and second X-ray images.
  • the X-ray source preferably propagates a fan-shaped beam and the X-ray detector is preferably a linear detector.
  • the carcass moving system is preferably a conveyor track system that moves the carcass whilst it is hanging. This is preferably part of a continuous conveyor track that transfers the carcass to a cutting station which segments the carcass.
  • a carcass segmenting system comprising: a. an imaging apparatus as hereinbefore described wherein the processor determines cutting path data based on the spatial configuration of the carcass elements; and b. an automated cutting machine which receives the cutting path data from the processor and cuts a carcass in accordance with the cutting path data.
  • a method of grading a carcass comprising the steps of: a. acquiring an X-ray image of a carcass; and b. calculating the weight of a section of the carcass based on X- ray intensity over a section of the X-ray image.
  • the animal carcass is the carcass of a quadruped animal such as a bovine cow, a sheep, a goat, a pig, or a deer.
  • Figure 1 is a schematic plan view of an X-ray imaging apparatus
  • Figure 2 is a side view illustrating the imaging of an animal carcass.
  • the invention relates to a method for determining a cutting path for the cutting of an animal carcass using a cutting device and to an apparatus for effecting the method.
  • the invention may be used for a wide range of quadruped animal carcasses, but is particularly suited to bovine cow, sheep, goat, pig and deer carcasses.
  • the animal carcass is preferably hung during processing, typically it is held by its hind hocks from a conveyor rail. While a system may be employed where animal carcasses are not hung, there are advantages with a system where the carcasses hang from a standard overhead chain conveyor as typically found in meat processing facilities. This facilitates easy integration of the imaging system of the invention into conventional carcass processing operations, and enables high-speed throughput to match the processing rate.
  • X-ray imaging systems requiring a full body scan using a linear detector that covers the width of the body and traverses its length are typically slow.
  • the same X-ray system is used to acquire both images.
  • the method therefore requires only a single X-ray source and a single X-ray detector. While any suitable X-ray beam shape may be used, the X-ray beam is preferably a vertical fan-shaped beam to minimize unnecessary radiation (as would be present using a cone beam). It is also preferred that the detector is a digital linear detector.
  • X-ray images are preferably taken from different perspectives to determine the spatial configuration of elements of the carcass.
  • the spatial configuration of the bones of the carcass is determined to determine a cutting path between bones of the carcass.
  • the configuration of other elements of the carcass such as muscle or fat, may also be determined to determine a cutting path.
  • Images may be obtained from different perspectives by shifting the carcass to a different position (higher and closer to the detector) within the fan beam. For any one point on the carcass, between first and second X-ray images, being acquired the X-ray beam passing through that point will be at a different angle (closer to vertical for the image of the carcass in the higher position). This represents an important advantage because only one set of X-ray hardware (X-ray source and detector) is used. The cost of a single hardware system is therefore lower than for a system having multiple sets of X-ray hardware, and a system having only one hardware set has lower levels of radiation that must be shielded against.
  • the X-ray beam is oriented at an angle about an imaginary vertical axis to the conveying direction, for example 75 degrees. This enables better image definition for a few key points on the carcass - particularly the forequarter region - that are otherwise difficult to see on the X-ray image due to the density and thickness of that region of a carcass.
  • the invention also has the advantage that the only moving part (other than the simple stabilisation mechanism) is the movement of carcasses along on the conveyor, which occurs in conventional processing systems anyway.
  • the imaging process is typically part of a meat processing operation where the carcass moves to a carcass cutting stage once the X-ray imaging steps have taken place. Further, cutting of the carcass may occur in more than one cutting stages. For example, the carcass may be transported to a first cutting stage for one predetermined cutting operation, and then to a second cutting stage for a second cutting operation, and then to a third cutting stage, and so on.
  • the continuous processing operation preferably includes a conveyor system where animal carcasses are hung by their hocks from a conveyor rail. Each animal carcass is transported from a site of X-ray imaging to a site of X-ray re-imaging. To enable the use of a single X-ray system for both imaging and re-imaging steps, the operation will have a means for moving the carcass so that it is exposed to the X-ray beam at different angle for the re-imaging step.
  • the carcass is turned by 180 degrees relative to the conveyor, about an imaginary vertical axis, so that the carcass is facing the same direction when the X-ray imaging and re-imaging steps are taking place.
  • the invention is described with reference to the example described below. However, it is to be appreciated that the invention is not in any way limited to this example.
  • an animal carcass enters the animal processing system (1 ) at conveyor infeed (2) hanging from an overhead meat rail conveyor (3).
  • the conveyor (3) is designed to accommodate a continuous line of spaced apart carcasses travelling along the conveyor (3).
  • the orientation of the carcass is maintained by a "rub rail" (not shown), which the carcass hocks come into contact with if the carcass starts to turn.
  • the carcass passes through a first stabiliser (4), which applies pressure to the sides of the hind hocks to dampen any carcass swing.
  • the carcass passes through an X-ray beam (5).
  • a detector (6) collects a first image of the carcass and transmits this to a computer (1 5) for processing.
  • the carcass is turned 1 80 degrees in a carcass turning zone (7) by means of a complex profiled section of the hock rub rail.
  • the carcass is turned so that when it passes through the X-ray beam (5) for the second time (when located in a second stabiliser (8)) the carcass has the same orientation as when it first passed through the X-ray beam.
  • the carcass then passes through a second stabiliser (8), which is located in the system (1 ) so that when the carcass passes through the second stabiliser (8), it also passes through the same X- ray beam (5) to enable a second X-ray image to be taken and transmitted to the computer.
  • the movement of carcasses along the conveyor (3) is synchronised so that when a carcass passes through one of the first stabilisers (4 and 8), there is no carcass located in the other stabiliser (4 and 8).
  • the X-ray beam sees only one carcass at any time.
  • the carcass travels up a conveyor incline zone (9) so that the carcass is at a different height when it passes through the X-ray beam (5) for the second time.
  • the height difference is shown in Figure 2 where an animal carcass (10) is shown at a first position (1 1 ), when in the first stabiliser (4), and at a second position (1 2), when in the second stabiliser (8).
  • X-ray source (13) and single detector (6) is all that is needed to obtain two X-ray images of the same carcass which can then be processed to determine for a cutting path specific for that carcass.
  • the first and second images are processed by computer (1 5) to produce a cutting path by identifying key features from each image and matching them.
  • the carcass once X-ray imaged for the second time, travels along the conveyor (3), and from the conveyor outfeed (14), is transported to a carcass segmenting system (16).
  • a cutting device of the carcass segmenting system is in communication with computer (1 5).
  • Computer (15) transmits cutting path data to the carcass segmenting system which then cuts the carcass along the predetermined cutting path. This may be a simple cut height calculation through to a complex three dimensional cutting path.
  • the cut carcass may be transported to other cutting devices in turn to undergo sequential cutting operations.
  • the row where it appears in each image must be determined. This is precisely related to a particular element of the detector, which is converted to a point in space based on the measured geometry of the system.
  • the position of a virtual X-ray source and detector for one scan is calculated by translating the reference point on that rail to the reference point of the other.
  • the ray from the source to the point on the detector from one image is intersected with the ray from the virtual source to the point on the virtual detector for the other image. This will give the height and distance from the source (depth).
  • the other dimension (width) can be calculated by defining a reference point on the carcass and knowing the speed which the carcass travels along the rail.
  • Image processing techniques may be applied to determine the spatial configuration of bones of the carcass.
  • a cutting path may be determined based on this information and communicated to a cutting machine to execute the cuts.
  • the cutting path may be a simple height setting through to a three dimensional cutting path.
  • X-ray image information may also be used for grading purposes.
  • the weight of the whole or parts of the carcass e.g. the three primal sections - forequarter, middle and hindquarter
  • the weight of the whole or parts of the carcass is calculated in order to assess the monetary value of the carcass based on the average value per kilogram of the whole carcass, or each carcass section.
  • X-ray intensity is related to the thickness and density of the portion of the carcass in the path of the X-ray beam
  • X-ray intensity may be used to estimate the weight of a carcass.
  • the intensity of each pixel within the outline of a section of the carcass may be used to predict the weight of the region viewed in the pixel.
  • the predicted weights of all the pixels within the image may then be summed to produce an estimate of the weight of each section of the carcass. This estimated weight may be multiplied by the value per kilogram of each section to determine a monetary value for each carcass section.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Food Science & Technology (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Biophysics (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

L'invention concerne un procédé de détermination d'un trajet de découpe pour traiter la carcasse d'un animal sur la base d'une imagerie par rayons X. Une image de la carcasse est de préférence réalisée à l'aide d'une unique source de rayons X et d'un unique détecteur - de préférence un détecteur à faisceau en éventail et linéaire. La carcasse est, de préférence, suspendue à partir d'un rail d'acheminement pendant l'imagerie et acheminée à travers tout le traitement sur un rail d'acheminement continu. Une image de la carcasse est, de préférence, réalisée par passage de la carcasse à travers les systèmes d'imagerie le long de trajets différents pour produire des images à partir de deux perspectives pour permettre de déterminer la configuration spatiale d'éléments de la carcasse. Les informations de l'imagerie peuvent également être utilisées pour classifier la carcasse.
EP20070808689 2006-07-21 2007-07-19 Appareil et procédé d'imagerie pour la détermination d'un trajet de découpe et la classification d'une carcasse Ceased EP2048958A4 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15167476.9A EP2946667B1 (fr) 2006-07-21 2007-07-19 Appareil d'imagerie à rayons x pour la détermination d'une trajectoire de coupe d'une carcasse et procédé correspondant
DK15167476.9T DK2946667T3 (en) 2006-07-21 2007-07-19 X-ray imaging apparatus to determine a cutting path for a carcass and a similar method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NZ548648A NZ548648A (en) 2006-07-21 2006-07-21 X-ray imaging of animal carcass to determine cutting path
PCT/NZ2007/000191 WO2008010732A1 (fr) 2006-07-21 2007-07-19 Appareil et procédé d'imagerie pour la détermination d'un trajet de découpe et la classification d'une carcasse

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP15167476.9A Division EP2946667B1 (fr) 2006-07-21 2007-07-19 Appareil d'imagerie à rayons x pour la détermination d'une trajectoire de coupe d'une carcasse et procédé correspondant

Publications (2)

Publication Number Publication Date
EP2048958A1 true EP2048958A1 (fr) 2009-04-22
EP2048958A4 EP2048958A4 (fr) 2012-08-08

Family

ID=38957004

Family Applications (2)

Application Number Title Priority Date Filing Date
EP15167476.9A Active EP2946667B1 (fr) 2006-07-21 2007-07-19 Appareil d'imagerie à rayons x pour la détermination d'une trajectoire de coupe d'une carcasse et procédé correspondant
EP20070808689 Ceased EP2048958A4 (fr) 2006-07-21 2007-07-19 Appareil et procédé d'imagerie pour la détermination d'un trajet de découpe et la classification d'une carcasse

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP15167476.9A Active EP2946667B1 (fr) 2006-07-21 2007-07-19 Appareil d'imagerie à rayons x pour la détermination d'une trajectoire de coupe d'une carcasse et procédé correspondant

Country Status (5)

Country Link
EP (2) EP2946667B1 (fr)
AU (1) AU2007275966B2 (fr)
DK (1) DK2946667T3 (fr)
NZ (1) NZ548648A (fr)
WO (1) WO2008010732A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MX2011010360A (es) * 2009-04-03 2012-04-30 Robotic Technologies Ltd Metodos y aparato de corte de pieza en canal.
US20120261256A1 (en) * 2011-04-13 2012-10-18 Chang Chia-Pin Sample holders and analytical instrument for point-of-care qualification of clinical samples
WO2018085879A1 (fr) * 2016-11-09 2018-05-17 Scott Automation & Robotics Pty Ltd Système et procédé de traitement de carcasse
WO2020190153A1 (fr) * 2019-03-15 2020-09-24 Robotic Technologies Limited Système d'imagerie radiographique, procédé et obturateur
US11497221B2 (en) 2019-07-19 2022-11-15 Walmart Apollo, Llc Systems and methods for managing meat cut quality
CN113514482A (zh) 2021-05-07 2021-10-19 清华大学 静态ct检测设备
CN118294473A (zh) * 2022-12-28 2024-07-05 同方威视技术股份有限公司 适用于空腔类物体的检测装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5585603A (en) * 1993-12-23 1996-12-17 Design Systems, Inc. Method and system for weighing objects using X-rays
US20030008608A1 (en) * 2001-07-05 2003-01-09 Scalia Barbara J. Apparatus and method for removing bones from a disassembled animal carcass
US20050067570A1 (en) * 2003-09-05 2005-03-31 Retterath James E. System for automated detection of embedded objects
DE102004047773A1 (de) * 2004-09-27 2006-04-06 Horst Eger Verfahren zur Bestimmung physiologischer Grössen eines Schlachttierkörpers

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5334084A (en) * 1991-09-04 1994-08-02 Texas Beef Group Method and apparatus for automatically trimming fatty tissue from animal carcasses
US5205779A (en) 1991-09-04 1993-04-27 Texas Beef Group Method and apparatus for automatically segmenting animal carcasses
GB9325037D0 (en) * 1993-12-07 1994-02-02 Newman Paul B D A grading and quality control system for meat cuts
GB9525446D0 (en) 1995-12-13 1996-02-14 Sun Valley Poultry Improvements relating to de-boning poultry
US6563904B2 (en) * 2000-12-01 2003-05-13 Fmc Technologies, Inc. Apparatus and method for detecting and removing undesirable material from workpieces
NL1019566C2 (nl) * 2001-12-14 2003-06-17 Univ Delft Tech Slachtlijn voor vee.
US20060154587A1 (en) * 2002-10-21 2006-07-13 Norfo A/S Apparatus for portion cutting of food products or similar items
JP4126027B2 (ja) * 2004-04-16 2008-07-30 食肉生産技術研究組合 脊柱除去方法および脊柱除去装置
ATE408346T1 (de) * 2004-05-11 2008-10-15 Schill Maja Masch Vorrichtung zum entfernen der rippen aus einem stück eines schlachttieres
DE102004045293A1 (de) * 2004-09-16 2006-04-06 Banss Schlacht- und Fördertechnik GmbH Verfahren und Anordnung zum Zerlegen einer Schlachttierkörperhälfte

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5585603A (en) * 1993-12-23 1996-12-17 Design Systems, Inc. Method and system for weighing objects using X-rays
US20030008608A1 (en) * 2001-07-05 2003-01-09 Scalia Barbara J. Apparatus and method for removing bones from a disassembled animal carcass
US20050067570A1 (en) * 2003-09-05 2005-03-31 Retterath James E. System for automated detection of embedded objects
DE102004047773A1 (de) * 2004-09-27 2006-04-06 Horst Eger Verfahren zur Bestimmung physiologischer Grössen eines Schlachttierkörpers

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2008010732A1 *

Also Published As

Publication number Publication date
EP2048958A4 (fr) 2012-08-08
AU2007275966A1 (en) 2008-01-24
WO2008010732A1 (fr) 2008-01-24
DK2946667T3 (en) 2018-04-30
NZ548648A (en) 2008-10-31
AU2007275966B2 (en) 2013-07-04
EP2946667A1 (fr) 2015-11-25
EP2946667B1 (fr) 2018-01-31

Similar Documents

Publication Publication Date Title
EP2946667B1 (fr) Appareil d'imagerie à rayons x pour la détermination d'une trajectoire de coupe d'une carcasse et procédé correspondant
EP1887874B1 (fr) Procede et usage d'une base de données permettant de determiner automatiquement les caracteristiques de qualite d'une carcasse sur une chaine d'abattage
US11266156B2 (en) Portioning/trimming of rib primal cuts
US6104966A (en) Primal tracking
EP3977048B1 (fr) Détermination du profil d'épaisseur de produits à travailler
EP2353395A1 (fr) Appareil de traitement des aliments pour détecter et découper les tissus des articles alimentaires
US7850512B2 (en) Method for determining physiological parameters of a slaughtered animal body
US12016344B2 (en) Trimming work products to optimize pressing
EP2027770A2 (fr) Procédé et appareil pour l'évaluation automatique de l'état du bétail
WO1992005703A1 (fr) Methode et dispositif servant a couper des produits alimentaires
EP1174034A1 (fr) Procédé pour tailler des flancs de porc
AU2019208245B2 (en) Image acquisition for meat grading
ES2145728T3 (es) Procedimiento para la evaluacion de mitades de animales de matanza por un procesamiento optico de imagen.
de Medeiros Esper et al. 3D model based adaptive cutting system for the meat factory cell: overcoming natural variability
JP2020183876A (ja) 特徴点認識システムおよびワーク処理システム
JP7405412B2 (ja) 三次元計測システム、三次元計測装置、三次元計測方法、及び三次元計測プログラム
DK202000212A1 (en) Automatic determination of the presence and subsequent removal of bones in meat products
US20230180770A1 (en) Method and plant for inspecting an animal carcass
Li et al. A new approach to detect the cutting positions for a robotic beef carcass scribing system

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20090220

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK RS

A4 Supplementary search report drawn up and despatched

Effective date: 20111205

RIC1 Information provided on ipc code assigned before grant

Ipc: G01N 23/00 20060101ALI20111129BHEP

Ipc: G01N 23/04 20060101ALI20111129BHEP

Ipc: A22C 18/00 20060101ALI20111129BHEP

Ipc: G01N 33/12 20060101ALI20111129BHEP

Ipc: A22B 5/00 20060101ALI20111129BHEP

Ipc: A22C 17/00 20060101ALI20111129BHEP

Ipc: A22B 7/00 20060101AFI20111129BHEP

DAX Request for extension of the european patent (deleted)
RA4 Supplementary search report drawn up and despatched (corrected)

Effective date: 20120704

RIC1 Information provided on ipc code assigned before grant

Ipc: G01N 33/12 20060101ALI20120629BHEP

Ipc: A22B 7/00 20060101AFI20120629BHEP

Ipc: G01N 23/00 20060101ALI20120629BHEP

Ipc: A22C 18/00 20060101ALI20120629BHEP

Ipc: G01N 23/04 20060101ALI20120629BHEP

Ipc: A22C 17/00 20060101ALI20120629BHEP

Ipc: A22B 5/00 20060101ALI20120629BHEP

17Q First examination report despatched

Effective date: 20140116

APBK Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNE

APBN Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2E

APBR Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3E

APAF Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

APBT Appeal procedure closed

Free format text: ORIGINAL CODE: EPIDOSNNOA9E

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20171204