JP2609131B2 - Processing unit for fish division - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to the treatment of fish, and more particularly to an improved method and apparatus for treating a lying fish split, wherein a highly concentrated water jet knife passes through the fish split, As this passes, computer generated position information obtained from video images such as a video camera is used, and a support matrix, such as multiple knife blade beams, may support the fish split during high concentration water jet cutting. The present invention relates to a method and an apparatus for processing a fish dividing unit.

2. Description of the Related Art A beam system can have a sufficiently small cross section normal to the line of sight, and this beam system does not hinder the imaging of the fish division. Every other dark beam support can be used with little reflection or no light, making it "invisible" to the video camera.

In processing fish such as tuna, it is common to freeze sea catch fish and treat the catch fish on land. This usually involves manually cutting the abdomen of the fish and removing the internal organs. The visceral cavity is washed with water and inspected for tuna damage. The tuna is then cooked batchwise in a pre-cooking operation.

The traditional method of manual tuna processing is JM
Further details are provided in U.S. Pat. No. 3,594,191 to Lapeyri. This patent discloses cutting the tuna into horizontal divisions at intervals, and then dividing the edible loin to separate cans.
JM Rapeyri, US Pat. No. 3,593,370, entitled "Tuna Disintegration Method", describes a method of treating tuna splits that have been traversed during freezing. This method of disassembling the frozen tuna included a method in which the whole fish was subdivided into a plurality of cross sections, and further divided into frozen sections. The junction of the splits was usually along a line parallel to the longitudinal axis of the fish and the skeletal structure of the fish. Each lateral fish split was covered with skin, and the split with the skin was machined to separate the waste from the loin.
On the other hand, the latter loin was at least partially frozen.

JM Rapeyri, U.S. Pat. No. 3,800,363, entitled "Tuna Dismantling Method and System" describes an automatic dismantling method and system for separating edible loins of lateral tuna slices obtained by dividing frozen tuna. Says. Each lateral slice of the main loin bearing portion of the frozen tuna was examined for an electrical signal indication of the boundary between the edible loin portion and the abutting scallop portion. The control signal was derived from the electrical signal used to cut and cut the edible loin correctly along the detected boundaries. The photosensor array scanner was arranged to receive light from a light source provided on the surface of the tuna slice. The electrical signal was obtained by changing the intensity of the sensor array by changing the amount of reflection on the slice surface to be examined. The electric signal is processed by a threshold circuit. The threshold circuit provided a higher threshold than the signal estimated from the lighter edible loin, or a lower threshold than the signal estimated from the relatively dark pit. Converting the output signal of the scanner into a control signal for the cutting device,
An attempt was made to obtain a cutting control signal by means of a special purpose electronic controller or a computer having a suitable program. The electronic output signal was a control operation of the cutting tool. The cutting device for cutting the loin along a predetermined boundary was a high pressure water jet cutting machine. This cutting machine is typically about 30,000-75,000
Operated at a pressure of psi, and the water jet cutter was typically mounted on a moving head.

U.S. Patent Nos. 3,594,191 and 3,593,370 and 3,800,
The contents of each publication of 363 are adopted here.

One of the problems not found in the above-mentioned Rapeyri patent is the problem of supporting a horizontal or horizontal fish split when processing with a high speed, high pressure water jet cutting device. Waterjet knives typically use very high speed jets of pressurized water or similar fluids, which jets can reach water pressures up to 75,000 psi. When the waterjet cutting device is on the horizontal fish split, it is necessary to support the fish split against the powerful forces of the waterjet knife. At the same time, it is necessary to accurately hold the horizontal fish division. This minimizes errors and waste. In short, the horizontal fish split must be accurately and firmly supported during the cutting operation.

Another challenge is that after the water jet has passed through the fish split while removing a very small portion of the fish during the cutting process, a portion of the water jet travels downstream of the fish split. If nothing is controlled, the cutting material and high-speed water will flow too much downstream of the target and become dangerously splattered.

A further challenge in the processing of fish is with regard to the video images to be obtained from the fish splitter. The knife is
It must be moved precisely to cut the edible loin of fish except for waste and unwanted parts. Video images can be used, but only the fish splits need to appear in the image. Images other than the fish splitting section cause confusion and errors.
In order to prevent false images from being applied to the waterjet knife, the fish split must be photographed by a video camera, and the support for the fish split does not interfere with the image produced. When using a waterjet knife, a high speed, high pressure waterjet passes through the fish split. The waterjet knife should desirably pass very quickly through the fish split and the downstream side of the fish split should always be unobstructed.
In the free state where the fish split may be moved against a knife that does not operate correctly during processing and / or damages the edible loin of the fish split, water is reflected from the jet stream and the water splits Will not hit the department. The support mechanism for the fish split must be accurate and bumpy, preferably capable of moving between the camera position and the water jet position.

SUMMARY OF THE INVENTION The present invention solves these problems by making it simple, plain, accurate and robust. SUMMARY OF THE INVENTION The present invention provides an optical imaging device direction for use in processing a horizontal fish splitter. This optical imaging device includes a support frame and a video camera for imaging the horizontal fish splitter to be processed. Including. This video camera is directed to a horizontal fish dividing section along a line of sight selected in advance. The support of the fish split supports the horizontal fish split substantially throughout the support and has a sufficiently small surface normal to the line of sight. for that reason,
No support appears in the video image of the fish splitter. The pressure fluid flow of the water jet knife can be moved relative to the lateral fish split to cut the fish split. The water jet knife is arranged so as to pass through both the fish splitting section and the support matrix. While methods of supporting lateral fish splits include other techniques such as pins and nail beds or vacuum suction cups, the support matrix of one preferred embodiment provides multiple spaced beams. Including. Each beam intersects a fish split that is substantially processed laterally. The fish segment to be processed is located between the image camera and the beam during processing. The beams are preferably not parallel and the fish split does not slide or move during the waterjetting. Each blade is preferably made of stainless steel and has a pointed edge and a relatively thin thickness. However, each blade is of sufficient depth to be rigid, hard and resistant to prolonged repeated jets of a water jet knife. The fluid jet knife is preferably a water jet knife. The device further includes a dissipative container located downstream of the fish split. This container dissipates the pressurized fluid stream coming from the knife and any included cuts of the fish split. The dissipative container is preferably a rectangular container having a bottom with side walls, open at the top, and containing a plurality of ball bearings (typically stainless steel). The ball bearing is supported in a container downstream of the transverse fish split. In a preferred embodiment, the bottom of the dissipative container also prevents water from accumulating,
Includes suction drain. The screen is provided to observe the light image produced by the imaging means before and during the cutting of the fish split by the knife.

For a better understanding of the present invention, reference is made to the following detailed description of the preferred embodiments, taken in conjunction with the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT FIGS. 1 to 4 schematically show a preferred embodiment of the device of the present invention, which device is schematically indicated by the numeral 10. FIG.

The device 10 includes a frame 11 having a plurality of support legs 12 mounted to a lower base 13. The storage process 14 of the superstructure reaches above the base 13 and houses the video camera 15. When the video camera 15 is pointed at a fish splitting section (also called a fish splitting section) along a predetermined line of sight, the video camera 15 is used to create a video image of the horizontal fish splitting section to be processed. Will be Upper light array 16 and lower light array
A plurality of light illuminators, including 17, are adjustably provided within the enclosure 14. The light illuminator controls the light intensity, particularly for illuminating the fish split, to obtain a video image of the fish split. A dark pivotally mounted door can be used to keep room light out of the bottom of enclosure 14 and to provide a background that is not visible to the camera. The door is pivotally mounted for easy cleaning. The door is represented by the imaginary line in FIG. Computer
Reference numeral 18 has a computer program, for example, for providing a video image of the fish splitting section to a cutting device described later. Thereby, the edible loin portion of the fish dividing portion is separated from the blood meat, the internal organs and the spine of the fish dividing portion. Necessary communication line
19 connects the video camera 15, the water jet cutting device 42 and the computer 18. In FIG. 1, an imaginary line 20 indicates the line of sight between the camera 15 and the fish segment to be processed.

The fish division unit 30 to be processed includes the second position including the first position.
And moved to a second position laterally away from the line of sight 20. The first position is below the video camera 15 and along the line of sight 20 (FIG. 1). The fish split can be processed using a water jet knife (FIG. 2). This is explained more fully below. 1
A set of runways in the form of separated rails 21 and 22 is provided on a base 13. The moving carriage 23 is preferably provided with wheels or sliding rails 21,2.
Mounted on two. The carriage 23 includes spaced longitudinal main carriage beams 24,25 and a plurality of thin lateral knife edge beams 26. The transverse knife edge beam is preferably non-parallel and has a narrow S-curve shape (FIGS. 2 and 3) so that the fish split does not slide or change position during the cutting operation. Further, the horizontal rods 27 and 28 are provided to strengthen the structure of the carriage 23 in the horizontal direction. In the embodiment shown, the carriage 23 includes a plurality of wheels 29, and the carriage 23 is mounted on the rail 2 as shown in FIGS. 1, 2 and 4.
It is possible to move over the first and second positions 22 to a first position along the line of sight 20 below the camera 15 and a second position separated from the first position. The horizontal fish division to be processed is indicated by the numeral 30 in the figure. The fish division 30 includes an upper surface 31 and a lower surface 32. The fish dividing unit 30 normally has four edible loin portions 33, and separates the dark blood flesh portion 34 and the spine portion 35 from the edible loin portion 33.

The movement of the carriage 23 on the rails 21, 22 can be guided using a guide bar 36 and a fluid-powered sleeve 37. The support 38 is provided for the guide bar 36. A simple pneumatic piston and cylinder device is
Can be used to operate the carriage 23 on 1,22. Alternatively, the carriage 23 can be manually moved by using the grip sleeve 37 to move the carriage 23 between the ends of the rails 21 and 22 having the stops 38. For example, the stop 38 is provided at an end of the guide bar 36. By this stop, the position of the carriage 23 at the camera 15 and the line of sight 20 is determined in the same manner as the position of the carriage at the water jet knife.

The container 40 is located at a cutting position or a processing position below the horizontal fish division 30, which position is indicated by a solid line in FIG. The container 40 has a plurality of ball bearings 41
(Typically made of stainless steel). Then, as shown in FIG. 4, the water jet stream 50 passing through the fish dividing section 30 is dissipated into a plurality of small streams 52,
This prevents the danger of the jet stream 50 accidentally returning or splashing. The water jet knife device includes a base 45, shown at 42 in FIG. The base 45 supports a water jet 48 having a lower nozzle 49 by a pair of robot arm divisions 46 and 47. Thin high-pressure flow of water 50
Is discharged through the nozzle 49. Water jet robot 42
Is a cutting mechanism available in commerce. In this embodiment, when the water jet moves with respect to the horizontal fish division, the horizontal fish division is immovable. However, when the fish split is accurately moved under the waterjet knife, it may also be possible to hold the waterjet knife firmly in the set position.
Relative motion between the water jet knife and the fish split is required.

In operation, the carriage 23 is first moved below the camera 15 and below the line of sight 20 in the position of FIG. Then, the fish splitting unit 30 is observed by the camera 15 that forms an image. This image shows a dark flesh 34 (see Fig. 3) and a light loin.
33, which also includes a darker visceral cavity 39. further,
Although the spine 35 is not typically seen, the position of the spine can be determined. The computer could be used to precisely control the associated movement between the waterjet knife and the dark flesh 34, spine 35, and internal organs 39, also referred to as internal organs. This leaves the portion of the edible loin 33 for packaging. The skin (not shown) could be removed by a water jet knife or by manual treatment prior to or following the cutting by a water jet knife.

The foregoing description of the invention has been illustrated and described. Various modifications in size, shape and material are possible as well as detailed parts of the structure shown, without departing from the spirit of the invention.

[Brief description of the drawings]

FIG. 1 is a side elevational view showing a preferred embodiment of the apparatus of the present invention, FIG. 2 is a perspective view showing a part of the preferred embodiment of the apparatus of the present invention, and FIG. 3 is a preferred embodiment of the apparatus of the present invention. FIG. 4 is a plan view showing a part of the embodiment, and FIG. 4 is an elevational view having a cross section showing a part of a preferred apparatus of the present invention along line 4-4 in FIG. 10 ... Device 11 ... Frame 12 ... Support leg 13 ... Base 14 ... Superstructure storage device 15 ... Video camera 16,17 ... Light arrangement 19 ... Communication line 20 ... Imaginary line 21,22 … Rail 23… Moving carriage 24, 25… Main carriage beam 26… Knife edge beam 27, 28… Horizontal rod 29… Wheel 30… Fish body division 31… Upper surface 32… Lower surface 33… Edible roasting section 36 Guide bar 37 Fluid power sleeve 38 Support 40 Container 42 Water jet cutting device 45 Base 46, 47 Robot arm dividing section 48 Water jet 49 Nozzle 50: Water jet flow

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Mark E. Sutton, United States 70065 Louisiana, Kenney, Verde Street 70 (72) Inventor Joseph F. Skammer, Jr. United States 70005 Louisiana, Methiri, Nasseri Avenue 1152

Claims (17)

(57) [Claims] 1. A processing device for processing a horizontal fish split using an optical image to determine a loin portion and a blood meat portion of the fish split, comprising: a. A support frame; b. The fish split on the support means to provide a video light image of the horizontal fish split to be processed when directed at the fish split along a preselected line of sight. Imaging means spaced apart from the support means for viewing; c. Fish split support means invisible in the video light image to support the lateral fish split substantially over the area during imaging. D. Fluid jet knife means for cutting the fish division by the pressurized fluid flow when the fluid jet knife passes through the fish division and the support means; and e. Support means while the high pressure fluid flow passes. Said fish split support means having means for receiving a high pressure fluid flow from a fluid jet knife means to allow a fluid flow to freely pass through the support means without substantially changing the position of the fish split. And f. Means for controlling the relative movement of the fluid jet knife with respect to the horizontal fish split. 2. The processing apparatus according to claim 1, wherein the support means includes a plurality of spaced beams, each beam substantially transversely intersecting the fish split to be processed. 3. The processing apparatus according to claim 2, wherein the fish dividing unit is located between the image processing means and the beam during processing. 4. The processing apparatus according to claim 2, wherein the plurality of beams are not parallel. 5. The processing apparatus according to claim 1, wherein the fluid jet knife means is a water jet knife. 6. The process according to claim 5, further comprising dissipating means disposed downstream of the fish splitting portion as viewed from the knife to dissipate the pressurized fluid flow and the cut portion of the mixed fish splitting portion. apparatus. 7. A processing apparatus according to claim 6, wherein the dissipating means comprises, at least in part, a plurality of individually ball bearings supported in a receptacle downstream of the lateral fish split. . 8. The processing apparatus according to claim 1, wherein the image means includes means for observing a light image created by the image means before and during cutting the fish division by the knife means. 9. A processing device for processing a horizontal fish split using an optical image to determine the loin and blood of the fish split, comprising: a. A support frame; The video light image of the horizontal fish splitting section to be processed when the runway provided on the frame and c. Imaging means for making; d. Movable on a runway between the image position and a cutting position for supporting a substantially horizontal fish split over the area;
A fish splitting support means having a structure that does not appear in the video light image including the fish splitting section; and e. For cutting the fish splitting section by a pressurized fluid flow when the fish jet knife passes through the fish splitting section and the supporting means. A fluid jet knife means which is normally in the cutting position of the f. So that the fluid flow is free to pass through the support means without substantially changing the position of the fish split with respect to the support means during the passage of the fluid stream. Said fish splitting support means comprising means for receiving a pressurized fluid flow from the fluid knife jet means; g. Means for controlling the relative movement of the fluid jet knife with respect to the lateral fish splitting; A processing device provided with. 10. The processing apparatus according to claim 9, wherein the support means comprises a plurality of spaced beams, each beam substantially transversely intersecting the fish segment to be processed. 11. The processing apparatus according to claim 10, wherein the fish dividing unit is located between the image means and the beam during processing. 12. The processing apparatus of claim 10, wherein the track is a set of spaced rails. 13. A dissipating means which is disposed adjacent to the cutting position and downstream of the fish splitting portion as viewed from the knife for dissipating the cut portion of the fish splitting portion mixed with the pressurized fluid flow. A processing device according to claim 1. 14. The dissipating means includes, at least in part, a plurality of ball bearings supported by a vacuum container downstream of the transverse fish split as viewed from the cutting position adjacent to the water jet knife. 14. The processing apparatus according to 13. 15. The processing apparatus according to claim 9, wherein the carriage has wheels. 16. A processing device for processing a horizontal fish split using an optical image to determine the loin and blood of the fish split, comprising: a. A support frame; b. Image means for providing a video light image of the horizontal fish split to be processed when directed at the fish split along the selected line of sight; c. Fish split support means that are invisible in the video light image so as not to interfere with the acquisition of the image, and are substantially to be processed to support the horizontal fish split over the area of the support means. A fish split support means comprising a number of spaced supports extending over the area of the split; d. A stream of pressurized fluid as the fluid jet knife passes through the fish split and the support means. A fluid jet knife means for cutting the part, e. Transverse processing apparatus including means for controlling the relative movement of the fluid jet knife, a relative fish division of. 17. The processing apparatus according to claim 16, wherein the fish dividing unit is located between the image processing means and the support during processing.