JP2014007982A - Method and device for detecting bony part of bone-in meat - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate erroneous cut-off of a bony part and to prevent quality degradation of a meat part after deboning, by allowing, in a deboning process of a bone-in meat, the bony part in the bone-in meat to be detected in order to avoid the cut-off of the bony part.SOLUTION: Provided is a bone-in part detection device 30 that includes a CCD camera 32, white illumination lightings 36a, 36b and blue illumination lightings 38a, 38b, arranged opposite to an animal carcass W, W. A method for detecting bony part of a bone-in meat comprises: irradiating sections n of the carcass W, Wwith blue light to cause a bone-in part to be excited to emit light; imaging the sections n of which the meat parts are excited to emit light only with red and green lights having long wavelengths after shielding visible light whose wavelength is shorter than that of blue light; imaging the sections n with the visible light with no particular wavelength being shielded; and from the taken images, detecting a bottom end t of rib regions R and a shoulder external line x as reference points and calculating positions of ribs r4 from the reference points.

Description

  The present invention relates to a method and an apparatus for detecting a bone part from carcasses of livestock carcasses such as cattle, pigs, sheep, or the like, or meat with a large amount of bone.

  FIG. 7 is an explanatory view showing a large division line of a pig carcass. For demolition of livestock carcasses such as cattle, pigs, sheep, etc., first, primary demolition processing such as cutting of head, front ankle i 1 and rear ankle c 1 and internal extraction is performed in a warm atmosphere. Next, the livestock carcass is also suspended from the gambler (crotch) via the side ankle, and the middle of the spine is divided into two from the back side to the left and right. The carcass divided into two is called carcass. After that, it is roughly divided into Ude / Kata part i (anterior body), Loin / Rose part B (medium body) and Thigh part (rear body).

  In the large division process of livestock carcasses, automatic machine technology has been developed, but the mainstream is to use a round blade or a band saw. However, in the method using these cutting devices, the cutting position cannot be adjusted according to the position of the bone or the shape of the carcass, so that it is possible to avoid cutting the ribs when dividing the forebody and the intermediate body. It was difficult. In addition, when the operator performs it manually, there is a problem in safety. Furthermore, there is a problem that the cutting operation according to the individual difference of the livestock carcass cannot be performed, the bone is cut unnecessarily, bone waste is generated, and a smooth cut surface cannot be formed. Moreover, when a round blade is used, meat waste and bone waste are generated, and the quality of the meat part after cutting is reduced.

  Patent Document 1 discloses a carcass splitting device equipped with a cutting blade having a special shape. This cutting blade is attached to a rotating shaft, the blade body has a wedge shape extending from the cutting edge to the outer peripheral side and the inner peripheral side, the first cutting blade is formed on the outer peripheral side, and the second cutting blade is formed on the inner peripheral side Has been. And with respect to the carcass suspended through the thigh side ankle, the cutting blade is rotated in a horizontal plane, the meat portion is cut with the first cutting blade, and the bone portion is cut with the second cutting blade. ing. In addition, a cylindrical cam is provided around the rotation axis of the cutting blade, and a cam follower integrated with the cutting blade comes into contact with the upper surface provided with a difference in height of the cylindrical cam, and according to the curved state of the ribs of the livestock carcass, The cutting blade is moved up and down so that the cutting blade passes through the gap between the ribs.

JP-A-2-31639

  There are differences in the size and shape of the carcass. In order to adjust the position of the cutting line in accordance with this solid difference in the apparatus disclosed in Patent Document 1, it is necessary to replace each carcass with a cylindrical cam having a different shape. Such work is practically difficult because the work efficiency of the large division process is extremely reduced. Therefore, the ribs of the carcass are cut with the cutting blade, and there still remains a problem that the quality of the meat part after cutting is generated due to the generation of bone waste.

  Recently, in order to reduce the labor of workers and increase the processing efficiency, automation by a deboning processing machine has been advanced. However, the faster the processing speed is, the more bone bones are erroneously cut, and in some cases, the operation is interrupted.

  In view of the problems of the prior art, in the present invention, in the step of dividing the meat with bones such as carcass, in order to avoid cutting the bone part such as ribs, the bone part in the boned meat can be detected, An object of the present invention is to prevent erroneous cutting of bone parts, prevent deterioration of the quality of the meat part after deboning, and prevent decrease in efficiency of deboning process.

  In order to achieve such an object, the bone part detecting method for bone-in meat of the present invention uses blue visible light (hereinafter referred to as “blue light”) to irradiate the cut surface of the bone-in meat with blue light that excites the meat part. In the light irradiation step, the cut surface on which the meat part is excited and emitted cuts the short wavelength light of blue light or less, and incorporates only visible light having a long wavelength from red to green (hereinafter referred to as “long wavelength light”). A first imaging step for imaging, a first detection step for detecting the contour of the bone part from the first image obtained in the first imaging step, and white visible light (hereinafter referred to as “the specific wavelength light is not removed from the cut surface). White light ”), and a second imaging step of imaging the cut surface without limiting the incident light of visible light having a specific wavelength, and the second image obtained in the second imaging step is Second detection step for detecting outline of outline or main part , It consists of a shell or the main site of cleavage plane detected by the second detection step, a bone site detecting step to determine the position of the bone site from the relative positions of the contour of the bone site detected by the first detection step.

  The present inventors have found that when the cut surface of the bone-in meat is irradiated with blue light, the meat part emits light. This is thought to be due to the action of fat contained in the meat part. As a result, the boundary between the meat part and the bone part that is not excited to emit light becomes clear. If the cut surface in this state is imaged by taking in only long-wavelength light from red to green, it can be imaged in a color tone from red to green, and the outline of the bone part can be clearly identified.

  Visible rays are red (wavelength 620 to 780 nm), orange (590 to 620 nm), yellow (570 to 590 nm), green (495 to 570 nm), blue (450 to 495 nm), and purple (same). 380-450 nm) visible light. In the first imaging step, blue visible light having a wavelength of 450 nm to 495 nm is used. Moreover, in imaging, it is good to image with the visible light of the short wavelength visible light shorter than this wavelength and the visible light of the long wavelength (wavelength 495-780 nm) from red to green which cut | disconnected an ultraviolet-ray on the upper limit.

  On the other hand, the outline of the cut surface or the outline of the main part is detected from an image captured in a state where white light is irradiated. When imaging is performed by applying white light to the cut surface, an image with a clear outline of the cut surface or outline of the main part can be obtained. The position of the bone part can be accurately detected from the outline of the cut surface or the outline of the main part and the relative position of the bone part. Thus, since the position of the bone part can be accurately grasped, cutting of the bone part can be avoided during the deboning process, and the generation of bone waste can be minimized. Therefore, quality deterioration of the meat part after cutting can be prevented.

  In the method of the present invention, measurement data obtained by measuring the relative position between the contour of the detected cut surface or the outline of the main part and the bone part are collected in advance, and the position of the bone part obtained in the bone part detection step is corrected from this measurement data. It is good to do. As a result, the position of the bone part can be obtained more accurately.

  When the present invention is applied to the case of detecting the position of a specific rib on the cut surface of the carcass including the rib region among the carcasses obtained by dividing the livestock carcass into two parts, the outline of the cut surface or the outline of the main part is defined as the rib region It is good to set to the height of a lower end or the height of a Kata located on the outline of a cut surface. And it is good to collect beforehand the measurement data about the height difference between the rib to be detected and the outline of the cut surface or the outline of the main part, and correct the position of the rib detected in the bone part detection step from this measurement data . Thereby, even in the case of meat with bone having a complicated bone shape such as a rib, the position of the rib to be detected can be accurately specified.

Further, the bone part detecting device for bone-in meat of the present invention that can be directly used for carrying out the method of the present invention,
An imaging device that images the cut surface of the meat with bone, a blue light irradiation lamp that irradiates the cut surface with blue light,
A white light irradiating lamp that irradiates the cut surface with white light, and a detachable device that is detachably attached to the imaging device, cuts short wavelength light below blue light, and enters only long wavelength light above green light into the imaging device. A long-pass filter that irradiates the cut surface with blue light, detects the outline of the bone part from the first image obtained by capturing only the long-wavelength light equal to or greater than green light into the imaging device, and applies white light to the cut surface. The image processing means for detecting the outline of the cutting surface or the outline of the main part from the second image obtained by irradiating and imaging the cutting surface without limiting the incident light of the specific wavelength light, and the cutting surface detected by the image processing means Calculating means for obtaining the position of the bone part from the relative position of the outline of the main part or the outline of the bone part and the outline of the bone part detected by the image processing means.

  With the above configuration, the outline of the bone part can be clearly identified from the first image, and the outline of the cut surface or the outline of the main part can be detected from the second image. The position of the bone part can be accurately detected from the relative position between the outline of the cut surface or the outline of the main part and the bone part. Therefore, during the deboning process, cutting of the bone part can be avoided and generation of bone waste can be minimized, so that quality deterioration of the meat part after cutting can be prevented.

  In the apparatus of the present invention, the image processing means creates a composite image obtained by combining the first image and the second image, and the calculation means calculates the outline of the cut surface or the main part on the composite image. And the relative position of the bone part. Thereby, the relative position of the bone part with respect to the outline of the cut surface or the outline of the main part can be easily and accurately obtained.

  According to the present invention, since the bone part of the boned meat can be accurately detected using the image obtained by irradiating the blue light and the image obtained by irradiating the white light, Sometimes, the cutting of the bone part can be avoided, and therefore generation of bone waste can be prevented. Therefore, it is possible to prevent the quality of the meat part from being deboned. Further, the detection of the bone part can be automated by the machine, the processing ability can be improved, and the meat with bone is detected for each meat with bone, so that the detection error due to the difference in meat with bone can be eliminated.

It is a front view of the detection device concerning one embodiment which applied the present invention to the large division process of pig carcass carcass. It is sectional drawing which follows the AA line in FIG. It is a block diagram which shows the control system of the said embodiment. It is a flowchart which shows the operation procedure of the said embodiment. It is a flowchart of the image processing process of the embodiment. It is explanatory drawing which shows the synthesized image produced in the said embodiment. It is explanatory drawing which shows the large division line of a pig carcass.

  Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the component parts described in this embodiment are not intended to limit the scope of the present invention to that unless otherwise specified.

An embodiment of the present invention will be described with reference to FIGS. In FIG. 1, a conveying device 10 that conveys a pair of left and right carcasses W _R and W _L includes a rail 12 provided in a horizontal direction, a trolley 14 that slides on the rail 12, and a gamble ( In addition, it is composed of 16). The gambler 16 is intermittently stepped by being pushed by the pusher 18 by a certain distance. The pig carcass is divided into two parts left and right in a state where it is suspended from the gambler 16 via the left and right peach side ankles in the previous step.

The carcasses W _R and W _L divided into two on the left and right sides are a large division process of the post process, and are suspended from the gamble 16 and along the cutting lines c1 and c2, respectively, the precursor A, the intermediate body B, and the rear The housing C is divided into three. The bone part detection device 30 of the present embodiment detects the position of the fourth rib from the head side in order to position the cutting line c1 between the fourth and fifth ribs from the head side.

As shown in FIGS. 1 and 2, the carcasses W _R and W _L are sandwiched and fixed from both sides by an upper clamp 20, a lower clamp 22 and a rear clamp 24 provided on the rear side. The back clamp 24 has two arc-shaped presser plates 24a that press the carcass from the back.

Next, the components of the bone part detection device 30 will be described. A CCD camera 32 is provided at a position facing the carcasses W _R and W _L , and a long pass filter 34 is provided in front of the lens of the CCD camera 32. The long pass filter 34 is detachable from the CCD camera 32 by a detachable cylinder 34a. A pair of white illumination lights (LED illumination) 36a and 36b for irradiating white light on both sides of the CCD camera 32 are provided. The white illumination lights 36a and 36b are arranged obliquely in a direction intersecting with each other. That is, directed to carcass W _L as white illumination light 36a illuminates a cutting surface n of the carcass W _L, the illumination light 36b is directed to carcass W _R to illuminate the cut surface n of the carcass W _R .

Also, white illumination light 36a, at a lower position than 36b, and carcass _W R, a pair of blue illumination light that irradiates blue light at the position facing to _{W L} (LED lighting) 38a and 38b are provided. Blue illumination light 38a is irradiated with the cut surface n of the carcass W _R, blue illumination light 38b is arranged to illuminate the cut surface n of the carcass W _L.

  FIG. 3 shows the control system of this embodiment. The controller 40 receives an image captured by the CPU 42, the CCD camera 32, processes the image, an image processing unit 44 that processes the image, an image display unit 46 that displays the image processed by the image processing unit 44, and image processing An image memory 48 in which an image processed by the device 44 is stored, and a calculation unit 50 that obtains the position of the fourth rib r4 from the head side from the image processed by the image processing device 44 are provided. The controller 40 controls driving of the upper and lower clamps 18, 20 and the rear clamp 22 and the detachable cylinder 34 a of the long pass filter 34.

Next, an operation procedure of the bone site detecting device 30 will be described with reference to FIGS. In FIG. 4, a pair of left and right carcasses W _R and W _L are carried into the front surface of each device of the bone site detecting device 30 and stopped (S10). Carcass _W R, When _{W L} is stopped, carcasses from both sides on the lower clamp 20, 22 and rear clamp 24 _W R, sandwiched _{W L} securing (S12). Next, the blue illumination lights 38a and 38b are irradiated with blue light having a wavelength of 470 nm to the rib regions of the carcasses W _R and W _L , and a long-pass filter 34 that cuts visible light and ultraviolet rays with a short wavelength of 495 nm or less and a CCD is provided. The camera 32 is attached (S14).

By irradiating the rib region with blue light, fat and meat portions around the rib group can be excited and emitted. The rib region in this state is imaged by the CCD camera 32 through the long pass filter 34. Only the long wavelength light in the green to red wavelength region (wavelength 495 to 780 nm) is transmitted from the long pass filter 34, and the image captured by the CCD camera 32 is an image in which the rib region is colored green. The image B is stored in the image memory 48 (S16). Next, the blue illumination lights 38a and 38b are turned off, the long pass filter 34 is removed from the CCD camera 32 (S18), and the white illumination lights 36a and 36b are applied to the cut surfaces n of the carcasses W _R and W _L (S20). In this state, the cut surface n is imaged by the CCD camera 32, and the captured image W is stored in the image memory 48 (S22).

Next, the processing step (S24) of the image B and the image W stored in the image memory 48 will be described with reference to FIGS. The image processing step S24 is a processing step for detecting the fourth rib r4 from the head side. First, the composite image C is created from the image W and the image B by the image processing device 44 (S240). FIG. 6 shows the composite image C. The composite image C is obtained by extracting the rib region R from the image B and extracting the other regions from the image W and combining them. The rib region R is colored green. Further, white light is irradiated obliquely from the white illumination light 38a carcass W _R, since the irradiated obliquely carcasses W _L from the white illumination light 38b, shadows u is formed obliquely along the contour of the spine s The outline of the spine s is clearly raised.

In FIG. 5, the position of the contour line x of the carcass W _R and W _L from the composite image C is detected (S242), and the position of the lower end t of the rib region R is detected from the image B (S242). Further, the rib region R is extracted from the composite image C, and the rib region lower end t is detected (S244). The lowermost rib that can be recognized in the rib area R shown in the composite image C is often the second rib from the head side. Therefore, the radius r2 that is visible at the bottom of the radius region R is temporarily set to be the second radius from the head side (S246).

  Next, the second rib above the rib r2 is detected as the fourth rib r4 (S248). Here, three threshold values are used. One threshold value A1 is a threshold value indicating the distance between the rib lower end t and the boundary between the third rib r3 from the bottom and the fourth rib r4 from the bottom. The second threshold value A2 is a threshold value indicating the distance between the outer shape line x and the boundary between the third rib r3 and the fourth rib r4 from the bottom. The third threshold value B1 is a threshold value that indicates the distance between the rib region lower end t and the boundary between the fourth rib r4 and the fifth rib r5.

  The threshold A1 and the threshold B1 are obtained from a linear function having the position of the rib region lower end t as an independent variable based on the measurement results performed in the past. The threshold value A2 is obtained from a linear function having the position of the outer shape line x as an independent variable from past measurement values of the outer shape line x. These threshold values are stored in the image memory 48 in advance.

  Next, the calculation unit 50 performs calculations from S250 to S264 to identify the rib r4. First, the height of the temporarily set rib r4 is compared with the threshold values A1 and A2 (S250). When the rib r4 is below the threshold value A1 and the threshold value A2, the rib on the first rib r4 is the fourth rib. (S252). When the rib r4 is between the threshold A1 and the threshold A2, the rib r4 is compared with the threshold value Am (= (A1 + A2) / 2) between the threshold A1 and the threshold A2 (S253), and the rib r4 is below the threshold Am. If it is, the rib on one of the ribs r4 is regarded as the fourth rib (S254).

Next, the height of the radius r4 and the threshold value B1 are compared (S256), and when the radius r4 is above the threshold value B1, the radius one above the radius r4 is regarded as the fourth (S258). Further, the height position of the rib center of gravity G of the carcasses W _R and W _L is compared with the height position of the threshold A1 (S260). The rib center of gravity G is the center of the rib region R, and of the carcasses W _R , W _L , the detection result of the rib of the carcass whose distance in the height direction between the rib center of gravity G and the threshold value A1 is closer (positive) ( S262). In this way, the upper side of the rib recognized as the fourth from the bottom, the horizontal line extending from the tip of the castle side to the ventral side, and the horizontal line extending from the point where the upper side and the spine s intersect to the back side are set as a cutting line c1 (S864). .

  Next, returning to FIG. 4, the coordinates of the composite image C and the cutting line c1 are displayed on the image display unit 46 (S28), and the coordinates of the cutting line c1 are sent to the cutting apparatus used in the subsequent large division step ( S30). In the large division step, the precursor A and the intermediate rod B are separated along the cutting line c1 by the cutting device.

According to the present embodiment, the ribs of the carcasses W _R and W _L are irradiated with blue light, and the fat and meat around the ribs are excited to emit light, so that the ribs can be clearly imaged and irradiated with white light. This enables clear imaging of the carcass contour and the contour of the spine. The fourth rib r4 from the head side can be accurately obtained by using the threshold values A1, A2 and B1 set based on the lower end t of the rib area and the reference height of the outer shape line x detected from these images. Therefore, since the cutting line c1 can be accurately set between the rib r4 and the rib r5, the cutting of the rib r can be avoided and the generation of bone waste can be eliminated. Therefore, it is possible to prevent the quality of the meat part after cutting from being degraded.

Moreover, since the white light illuminated from the white illumination lights 36a and 36b is obliquely applied to the cut surfaces n of the carcasses W _R and W _L , a shadow can be formed on the contour u of the spine s. Therefore, the outline of the spine s can be clearly imaged, and the position of the spine s can be accurately identified. Moreover, since the rib area | region lower end t and the Kata outline line x are detected for every carcass and the cutting line c1 is set by using these as a reference point, cutting according to the fixed difference of the carcass becomes possible.

  According to the present invention, in the large division process of the carcass, the cutting of the bone part can be reduced to the minimum, the generation of bone waste can be reduced, the quality deterioration of the meat part after cutting can be suppressed, and the solid of the carcass Cutting according to the difference is possible.

DESCRIPTION OF SYMBOLS 10 Conveying device 12 Rail 14 Trolley 16 Gambling 18 Pusher 20 Upper clamp 22 Lower clamp 24 Back clamp 30 Bone part detection device 32 CCD camera 34 Long pass filter 34a Detachable cylinder 36a, 36b White illumination light 38a, 38b Blue illumination light 40 Controller 42 CPU
44 image processing device 46 image display unit 48 image memory 50 arithmetic units A1, A2, B1 threshold G rib center of gravity R rib area W _R , W _L carcass n cutting plane s spine t rib area lower end u shadow x shape outline line

Claims (6)

A blue light irradiation step for irradiating the cut surface of the boned meat with blue visible light to excite and emit the meat part;
A first imaging step in which the cut surface on which the meat part is excited and emitted cuts visible light and ultraviolet light having a short wavelength of blue or less, and takes only visible light having a long wavelength from red to green;
A first detection step of detecting a contour of a bone part from the first image obtained in the first imaging step;
A second imaging step of irradiating the cut surface with white visible light that does not remove visible light of a specific wavelength and imaging the cut surface without restricting the incidence of visible light of a specific wavelength;
A second detection step of detecting an outline of the cut surface or an outline of a main part from the second image obtained in the second imaging step;
A bone part detecting step for obtaining the position of the bone part from the relative position between the contour of the cut surface detected in the second detection step or the outline of the main part and the contour of the bone part detected in the first detection step. A method for detecting a bone part of meat with bone.   The method of claim 1, wherein the wavelength of the blue visible light is 450 to 495 nm, and the wavelength of the visible light having a long wavelength from red to green is 495 to 780 nm.   The boned meat according to claim 1, further comprising a correction step of collecting measurement data obtained by measuring the relative position in advance and correcting the position of the bone part obtained in the bone part detection step from the measurement data. Bone detection method. The cut surface of the boned meat is a cut surface of a carcass including a rib region of carcasses obtained by dividing a carcass carcass into two parts, and the bone part is a rib in the rib region, and an outline or main part of the cut surface The contour of the part is the height of the lower end of the rib region or the height of the Kata that is on the outline of the cut surface,
The correction step collects in advance measurement data relating to the height difference between the rib and the contour of the cut surface or the contour of the main part, and corrects the position of the rib obtained in the bone part detection step from the measurement data The bone site | part detection method of the meat with a bone of Claim 3 characterized by the above-mentioned. An imaging device for imaging the cut surface of the meat with bone;
A blue light irradiation lamp for irradiating the cut surface with blue visible light;
A white light irradiation lamp that irradiates the cut surface with white visible light that does not remove visible light of a specific wavelength; and
A long-pass filter that is detachably provided in the imaging device, cuts visible light having a short wavelength of blue or less, and enters only visible light having a long wavelength of green or more into the imaging device;
The cut surface is irradiated with blue visible light, only the visible light having a longer wavelength than green is taken into the imaging device, and the outline of the bone part is detected from the first image, and the cut surface has a specific wavelength. An image for detecting the outline of the cut surface or the outline of the main part from the second image obtained by irradiating the white visible light without removing the visible light and capturing the cut surface without restricting the incident light of the visible light having the specific wavelength. Processing means;
Computation means for obtaining the position of the bone part from the relative position of the outline or main part of the cut surface detected by the image processing means and the bone part detected by the image processing means. An apparatus for detecting bone parts of meat with bone.   The image processing means creates a composite image obtained by synthesizing the first image and the second image, and the calculation means calculates the outline of the bone part and the cut surface on the composite image or 6. The bone part detecting apparatus for bone with meat according to claim 5, wherein a relative position with respect to a contour of the main part is obtained.

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