JP3523310B2 - Automatic cutting device for fish meat - Google Patents
Automatic cutting device for fish meatInfo
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- JP3523310B2 JP3523310B2 JP33032393A JP33032393A JP3523310B2 JP 3523310 B2 JP3523310 B2 JP 3523310B2 JP 33032393 A JP33032393 A JP 33032393A JP 33032393 A JP33032393 A JP 33032393A JP 3523310 B2 JP3523310 B2 JP 3523310B2
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- Japan
- Prior art keywords
- fish meat
- fish
- data
- calculated
- cutting device
- Prior art date
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Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えば魚の半身から
一定重量の切身を切り出すべく、切身を光学的に走査し
た画像を画像処理し、その切断位置を自動的に算出する
ようにした魚肉類の自動切断装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to fish meat in which an image obtained by optically scanning a fillet is image-processed and the cutting position is automatically calculated in order to cut a fillet of a certain weight from a fish half-body. Automatic cutting device.
【０００２】[0002]
【従来の技術】従来、魚の半身から一定重量の切身を切
り出す作業は、人手により行なわれているのが普通であ
る。つまり、切断位置を目視で決め、包丁を用いて人手
で切断するものである。しかし、切身を正確に作成する
には長年の経験が必要になるだけでなく、この種の作業
は連続して行なうとかなりの重労働となることから、そ
の自動化が強く望まれていた。そこで、魚の皮側表面
を、レーザスリット光により光学的に走査してその表面
データから体積を算出し、一定体積の切身位置を自動的
に算出する方法が提案されている（特開昭６３−２１６
６９５号公報：提案方式ともいう）。2. Description of the Related Art Conventionally, the work of cutting a piece of fish with a certain weight from the half of a fish is usually performed manually. That is, the cutting position is visually determined, and the cutting is performed manually using a kitchen knife. However, not only is it necessary to have many years of experience to accurately make fillets, but since this kind of work becomes a considerable amount of hard work, it is strongly desired to automate it. Therefore, a method has been proposed in which the surface of the fish skin side is optically scanned with a laser slit light, the volume is calculated from the surface data, and the fillet position of a fixed volume is automatically calculated (JP-A-63-63). 216
No. 695 gazette: It is also called a proposed method).
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記提
案方式では魚の皮側のみの走査により切身の体積を算出
するとともに、腹巣部分や魚の反りなどによる体積の補
正を、一定のパターンを持つ予め定められたテーブルを
利用して行なうものであるため、魚の個体差やまな板等
の調理台におかれる状態などにより、切身体積の算出に
誤差を生じるという問題がある。したがって、この発明
の課題は魚肉類の個体差や調理台におかれる状態などの
影響を受けない正確な切断を可能にし、一定品質の切身
を得られるようにすることにある。However, in the above-mentioned proposed method, the volume of the fillet is calculated by scanning only the skin side of the fish, and the volume correction due to the abdominal nest portion or the warp of the fish is determined in advance with a certain pattern. Since it is performed using the prepared table, there is a problem in that there is an error in the calculation of the fillet volume due to individual differences in fish and the state of being placed on a cooking table such as a cutting board. Therefore, an object of the present invention is to enable accurate cutting that is not affected by individual differences in fish meat or the state of being placed on a cooking table, and to obtain fillets of constant quality.
【０００４】[0004]
【課題を解決するための手段】かかる課題を解決するた
め、この発明では、魚肉類ブロックを光学的に走査した
画像を画像処理し、その各々がほぼ一定体積の切身とな
るよう、切断位置を自動的に算出して魚肉類ブロックの
切断を行なう魚肉類の自動切断装置において、前記魚肉
類ブロックの第１面（表面）と第２面（裏面）を、レー
ザスリット光により一定ピッチでそれぞれ走査して得た
画像データから表面と裏面の各高さを算出し、その表面
側の高さデータから算出した体積と、裏面側の高さデー
タから算出した体積との差から魚肉類ブロックの真の体
積を算出し、これを一定値ずつの切身となるように切断
することを特徴としている。In order to solve such a problem, in the present invention, an image obtained by optically scanning a fish meat block is subjected to image processing, and the cutting positions are set so that each of them becomes a fillet having a substantially constant volume. In an automatic fish meat cutting device that automatically calculates and cuts a fish meat block, the first surface (front surface) and the second surface (back surface) of the fish meat block are each scanned at a constant pitch by laser slit light. The heights of the front surface and the back surface are calculated from the image data obtained in this way, and the true value of the fish meat block is calculated from the difference between the volume calculated from the height data on the front surface side and the volume calculated from the height data on the back surface side. It is characterized in that the volume of each is calculated and this is cut into pieces each having a certain value.
【０００５】上記発明においては、前記魚肉類ブロック
の表面と裏面の走査を、同じタイミングで実行すること
ができ、前記表面データと裏面データの魚肉類ブロック
先端を示す各エッジをそれぞれ抽出して、表面と裏面の
位置合わせを行なうことにより、表面と裏面の走査を互
いに異なるタイミングで実行することができる。In the above invention, the scanning of the front surface and the back surface of the fish meat block can be executed at the same timing, and each edge indicating the tip of the fish meat block of the front surface data and the back surface data is extracted, By aligning the front surface and the back surface, the front surface and the back surface can be scanned at different timings.
【０００６】[0006]
【作用】光源と撮像装置（カメラ）の組を用意して、魚
肉類の例えば表面と裏面を別々に走査し、表面データと
裏面データの位置合わせをした後、表面データより算出
される体積から、裏面データより算出される体積を差し
引くことによって真の体積を求め、正確さを期するよう
にする。なお、表面と裏面の走査を同じタイミングで実
行することもできる。A set of a light source and an image pickup device (camera) is prepared, for example, the front surface and the back surface of fish are separately scanned, and the front surface data and the back surface data are aligned, and then the volume calculated from the front surface data is used. , The true volume is obtained by subtracting the volume calculated from the back surface data to ensure accuracy. The front surface and the back surface may be scanned at the same timing.
【０００７】[0007]
【実施例】図１はこの発明の実施例を示す全体構成図
で、ここでも魚の切身を処理する場合につき説明する。
なお、肉についてもこれと同様に処理し得ることは勿論
である。同図において、１は魚の切身、２はまな板、３
はベルトコンベア、４Ａ，４Ｂは例えばレーザスリット
光源、５Ａ，５Ｂは撮像装置としてのＣＣＤカメラ、６
は包丁、７は画像処理装置、８はシーケンサで、これは
皮側表面と腹巣側表面を異なるタイミングで走査する例
である。なお、皮側と腹巣側の走査は別々でなく同時に
実行するようにしても良いことは言うまでもない。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. Here, the case of processing fish fillets will be described.
Of course, meat can be processed in the same manner. In the figure, 1 is a fish fillet, 2 is a cutting board, and 3 is
Is a belt conveyor, 4A and 4B are laser slit light sources, 5A and 5B are CCD cameras as image pickup devices, and 6
Is a kitchen knife, 7 is an image processing device, and 8 is a sequencer. This is an example of scanning the skin side surface and the abdominal cavity side surface at different timings. Needless to say, the scans on the skin side and the abdominal cavity side may be performed simultaneously instead of separately.
【０００８】すなわち、ステーション０でまな板２にセ
ットされた魚の半身１は、ベルトコンベア３によりステ
ーション１へ搬送される。ステーション１（光源４Ａと
カメラ５Ａ）では例えば魚の腹巣側表面を走査し、ステ
ーション２（光源４Ｂとカメラ５Ｂ）では例えば魚の皮
側表面を走査する。皮側表面データと腹巣側表面データ
が採取されると、画像処理装置７により切断位置の計算
が行なわれ、次のステーション３では、シーケンサ８が
算出されたデータ（包丁旋回角度θ，包丁傾動角度φ，
包丁位置ｕ）に応じて制御することにより、一定重量毎
に切出しが行なわれる。That is, the fish half 1 set on the cutting board 2 at the station 0 is conveyed to the station 1 by the belt conveyor 3. Station 1 (light source 4A and camera 5A) scans, for example, the abdominal surface of a fish, and station 2 (light source 4B and camera 5B) scans, for example, the surface of a fish skin. When the skin-side surface data and the abdominal-side surface data are collected, the cutting position is calculated by the image processing device 7, and in the next station 3, the sequencer 8 calculates the calculated data (knife turning angle θ, knife tilting angle). φ,
By controlling according to the knife position u), the cutting is performed for each constant weight.
【０００９】以下、この発明による一定重量の切身を作
成するための、体積計算原理について説明する。図２は
魚の表面をレーザスリット光により走査する方法を説明
するための説明図であり、図３に図２のような方法で得
た魚の表面データの１例を示す。すなわち、レーザスリ
ット光源４とカメラ５の位置は、図２（イ）に示すよう
に走査する魚の表面に対して４５度の位置にセットされ
るものとして説明する。ただし、４５度という値は計算
を簡単にするためのもので、この値にこだわらないのは
言うまでもない。Hereinafter, the principle of volume calculation for making a fillet having a constant weight according to the present invention will be described. FIG. 2 is an explanatory diagram for explaining a method of scanning the surface of the fish with laser slit light, and FIG. 3 shows an example of the surface data of the fish obtained by the method as shown in FIG. That is, the positions of the laser slit light source 4 and the camera 5 will be described as being set at a position of 45 degrees with respect to the surface of the fish to be scanned as shown in FIG. However, it goes without saying that the value of 45 degrees is for simplifying the calculation and is not limited to this value.
【００１０】まず、図示されないリニアセンサ等の手段
にて魚の先端を検知した後、その先端よりレーザスリッ
ト光を当てつつ一定のピッチ（例えば、図２（ロ）のよ
うに５ｍｍ間隔）で走査し、データを収集する。このと
き、画像データの横方向のピッチも一定であり、例えば
図３のように１ｍｍとする。このようにして得られた画
像データを画像処理装置７によって処理し、魚表面の座
標位置データとしたものを、ここではスリット画像デー
タＺ（Ｕ，Ｖ）と呼ぶことにする。First, after detecting the tip of the fish by means such as a linear sensor (not shown), laser slit light is projected from the tip and scanning is performed at a constant pitch (for example, 5 mm intervals as shown in FIG. 2B). , Collect data. At this time, the horizontal pitch of the image data is also constant, and is 1 mm as shown in FIG. 3, for example. The image data obtained in this way is processed by the image processing device 7 and used as coordinate position data on the fish surface, which will be referred to as slit image data Z (U, V) here.
【００１１】次に、このスリット画像データＺ（Ｕ，
Ｖ）から、魚の切身表面の真の高さ位置を示すデータ
（高さデータと呼ぶ）を求める手段について説明する。
図４より、次式が成立する。
ｔａｎρ＝Ｚ／Ｄ
Ｊ＝Ｚｃｏｓρ
ｃｏｓ（４５°−ρ）＝Ｊ／ＨNext, the slit image data Z (U,
A method of obtaining data (referred to as height data) indicating the true height position of the fish fillet surface from V) will be described.
From FIG. 4, the following equation is established. tan ρ = Z / D J = Z cos ρ cos (45 ° −ρ) = J / H
【００１２】したがって、高さデータＨ（Ｕ，Ｖ）は、 Ｈ（Ｕ，Ｖ）＝Ｚｃｏｓρ／ｃｏｓ（４５°−ρ） ＝Ｚｃｏｓρ／（ｃｏｓ４５°ｃｏｓρ−ｓｉｎ４５°ｓｉｎρ） ＝√２Ｚ／（１＋ｔａｎρ） ＝√２／（１／Ｚ＋１／Ｄ） ……（１） となる。Therefore, the height data H (U, V) is H (U, V) = Zcosρ / cos (45 ° −ρ) = Zcosρ / (cos45 ° cosρ-sin45 ° sinρ) = √2Z / (1 + tanρ) = √2 / (1 / Z + 1 / D) …… (1) Becomes
【００１３】ここで、魚を切断する包丁の旋回角度を
θ、傾動角度をφ、位置座標をｕとする。ここで、図５
のように（ｕ，ｖ）座標系を旋回角度θだけ回転した座
標系を（ｘ，ｙ）とすると、
ｕ＝ｘｃｏｓθ−ｙｓｉｎθ
ｖ＝ｘｓｉｎθ＋ｙｃｏｓθ
……（２）
の如く座標変換される。したがって、高さデータＨ
（Ｕ，Ｖ）は、Ｈ（ｘ，ｙ）に変換されることになる。Here, the turning angle of the knife for cutting the fish is θ, the tilt angle is φ, and the position coordinate is u. Here, FIG.
Assuming that the coordinate system obtained by rotating the (u, v) coordinate system by the turning angle θ is (x, y), the coordinate conversion is performed as follows: u = xcosθ−ysinθ v = xsinθ + ycosθ (2) Therefore, the height data H
(U, V) will be converted to H (x, y).
【００１４】ここで、図６に示すように、皮側の或る位
置の高さデータをｈｕ（ｘ，ｙ）とし、或るｙの位置で
ｈｕ（ｘ，ｙ）＞ｘｔａｎφとなる点をｐｕ、そのとき
のｘ座標をｘｕとすると、包丁切断位置より下の部分
（刃下部）の切身の面積Ｄ2 （ｙ）は、次式のようにな
る。
Here, as shown in FIG. 6, the height data at a certain position on the skin side is hu (x, y), and at a certain y position, hu (x, y)> xtanφ Assuming that pu and the x coordinate at that time are xu, the area D 2 (y) of the fillet in the portion below the knife cutting position (the lower part of the blade) is given by the following equation.
【００１５】また、包丁切断位置より上の部分（刃上
部）の切身の面積Ｄ1 （ｙ）は、
となる。The area D 1 (y) of the fillet above the knife cutting position (upper part of the blade) is Becomes
【００１６】同様に、腹巣側については図７に示すよう
に、
Similarly, on the abdominal side, as shown in FIG.
【００１７】 [0017]
【００１８】 となる。[0018] Becomes
【００１９】したがって、刃上部の面積Ｄｕ（ｙ）は、 Ｄｕ（ｙ）＝Ｄ1 （ｙ）−Ｄ3 （ｙ） ……（８） となり、刃下部の面積Ｄｄ（ｙ）は、 Ｄｄ（ｙ）＝Ｄ2 （ｙ）−Ｄ4 （ｙ）−Ｄ5 （ｙ） ……（９） となる。Therefore, the area Du (y) of the upper part of the blade is Du (y) = D 1 (y) -D 3 (y) (8), and the area Dd (y) of the lower part of the blade is Dd ( y) = D 2 (y) −D 4 (y) −D 5 (y) (9)
【００２０】したがって、図８に示すように、切身の面
積部分を分けると、
となる。Therefore, as shown in FIG. 8, when the area of the fillet is divided, Becomes
【００２１】したがって、或る切身位置の面積Ｓ（ｙ）
は、
Ｓ（ｙ）＝Ｄd2（ｙ）＋Ｄ1-2 （ｙ） ……（１１）
と表わされる。以上のことから、或る切身の体積は魚の
比重が一定であるという条件の下で、
となる。Therefore, the area S (y) of a certain fillet position
Is expressed as S (y) = D d2 (y) + D 1-2 (y) (11). From the above, under the condition that the specific gravity of the fish is constant in the volume of a certain fillet, Becomes
【００２２】なお、皮側と腹巣側を、レーザスリット光
により別々のタイミングで走査する場合は、例えば図９
に点線と実線で示すように、通常は皮側データと腹巣側
データに位置ずれを生じるので、予め補正をしておくこ
とが望ましい。すなわち、魚の先端を基準にして皮側エ
ッジ４点ａ，ｂ，ｃ，ｄを抽出し、腹巣側エッジの４点
ａ’，ｂ’，ｃ’，ｄ’を求め、これらが互いに一致す
るようにデータを平行移動をさせるなどの手当てが必要
となる。When the skin side and the abdominal cavity side are scanned by the laser slit light at different timings, for example, FIG.
As indicated by a dotted line and a solid line, the skin side data and the abdominal cavity side data are usually displaced, so it is desirable to make a correction in advance. That is, four points a, b, c, d on the skin side edge are extracted with reference to the tip of the fish, and four points a ', b', c ', d'on the edge on the abdominal cavity side are obtained, and these points match each other. Therefore, it is necessary to take measures such as translating the data.
【００２３】[0023]
【発明の効果】この発明によれば、表面データだけでな
く裏面データをも収集してこれらの差をとるようにした
ので、魚肉類の個体差やまな板（調理台）に置かれる状
態などで影響を受けない正確な重量を求めることがで
き、品質が一定の切身を得ることが可能となる利点が得
られる。According to the present invention, not only the front surface data but also the back surface data is collected so as to obtain these differences, so that it is possible to obtain the individual differences of fish meat and the state of being placed on a cutting board (cooktop). It is possible to obtain an accurate weight that is not affected, and it is possible to obtain a fillet having a constant quality.
【図１】この発明の実施例を示す構成図である。FIG. 1 is a configuration diagram showing an embodiment of the present invention.
【図２】スリット光を用いた走査方法を説明するための
説明図である。FIG. 2 is an explanatory diagram for explaining a scanning method using slit light.
【図３】横方向の画像データ例を説明するための説明図
である。FIG. 3 is an explanatory diagram for explaining an example of image data in a horizontal direction.
【図４】高さデータ抽出のための角度データを説明する
ための説明図である。FIG. 4 is an explanatory diagram for explaining angle data for height data extraction.
【図５】（ｕ，ｖ）座標系と（ｘ，ｙ）座標系を説明す
るための説明図である。FIG. 5 is an explanatory diagram for explaining a (u, v) coordinate system and an (x, y) coordinate system.
【図６】皮側切身面の面積を説明するための説明図であ
る。FIG. 6 is an explanatory diagram for explaining an area of a skin-side fillet surface.
【図７】腹巣側切身面の面積を説明するための説明図で
ある。FIG. 7 is an explanatory diagram for explaining an area of a fillet surface on the abdominal cavity side.
【図８】皮側と腹巣側の面積の関係を説明するための説
明図である。FIG. 8 is an explanatory diagram for explaining the relationship between the areas on the skin side and the abdominal cavity side.
【図９】皮側データと腹巣側データの位置合わせを説明
するための説明図である。FIG. 9 is an explanatory diagram for explaining alignment of skin-side data and abdominal cavity-side data.
１…魚の切身、２…まな板、３…コンベア、４，４Ａ，
４Ｂ…レーザスリット光源、５，５Ａ，５Ｂ…ＣＣＤカ
メラ、６…包丁、７…画像処理装置、８…シーケンサ。1 ... Fish fillet, 2 ... Cutting board, 3 ... Conveyor, 4, 4A,
4B ... Laser slit light source, 5, 5A, 5B ... CCD camera, 6 ... Kitchen knife, 7 ... Image processing device, 8 ... Sequencer.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 日浦 禎 神奈川県川崎市川崎区田辺新田１番１号 富士電機株式会社内 (56)参考文献 特開 平１−132333（ＪＰ，Ａ) 実開 昭63−45189（ＪＰ，Ｕ) 特表 平３−505813（ＪＰ，Ａ) 特表 平８−504679（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) A22C 25/18 A22C 25/20 A22C 17/00 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sada Hiura 1-1 Tanabe Nitta, Kawasaki-ku, Kawasaki-shi, Kanagawa Fuji Electric Co., Ltd. (56) Reference JP-A-1-132333 (JP, A) Actual Kai 63-45189 (JP, U) Tokumei Hyo 3-505813 (JP, A) Tokumei Hyo 8-504679 (JP, A) (58) Fields investigated (Int.Cl. 7 , DB name) A22C 25 / 18 A22C 25/20 A22C 17/00
Claims (3)
を画像処理し、その各々がほぼ一定体積の切身となるよ
う、切断位置を自動的に算出して魚肉類ブロックの切断
を行なう魚肉類の自動切断装置において、 前記魚肉類ブロックの第１面（表面）と第２面（裏面）
を、レーザスリット光により一定ピッチでそれぞれ走査
して得た画像データから表面と裏面の各高さを算出し、
その表面側の高さデータから算出した体積と、裏面側の
高さデータから算出した体積との差から魚肉類ブロック
の真の体積を算出し、これを一定値ずつの切身となるよ
うに切断することを特徴とする魚肉類の自動切断装置。1. A fish meat which is obtained by image-processing an image obtained by optically scanning a fish meat block and automatically calculating cutting positions so that each of them has a slice of a substantially constant volume. In the automatic cutting device, the first surface (front surface) and the second surface (back surface) of the fish meat block
Is calculated from the image data obtained by scanning the laser slit light at a constant pitch, and the heights of the front surface and the back surface are calculated.
The true volume of the fish meat block is calculated from the difference between the volume calculated from the height data on the front side and the volume calculated from the height data on the back side, and this is cut into pieces of fixed value. An automatic cutting device for fish meat.
を、同じタイミングで実行することを特徴とする請求項
１に記載の魚肉類の自動切断装置。2. The automatic cutting device for fish meat according to claim 1, wherein the scanning of the front surface and the back surface of the fish meat block is executed at the same timing.
ロック先端を示す各エッジをそれぞれ抽出して、表面と
裏面の位置合わせを行なうことにより、表面と裏面の走
査を互いに異なるタイミングで実行可能にしてなること
を特徴とする請求項１に記載の魚肉類の自動切断装置。3. The front and back surfaces can be scanned at different timings by extracting each edge indicating the tip of the fish meat block of the front and back data and aligning the front and back surfaces. The automatic cutting device for fish meat according to claim 1, wherein
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33032393A JP3523310B2 (en) | 1993-12-27 | 1993-12-27 | Automatic cutting device for fish meat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33032393A JP3523310B2 (en) | 1993-12-27 | 1993-12-27 | Automatic cutting device for fish meat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07184534A JPH07184534A (en) | 1995-07-25 |
| JP3523310B2 true JP3523310B2 (en) | 2004-04-26 |
Family
ID=18231347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33032393A Expired - Lifetime JP3523310B2 (en) | 1993-12-27 | 1993-12-27 | Automatic cutting device for fish meat |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3523310B2 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3452990B2 (en) * | 1994-10-11 | 2003-10-06 | 株式会社ニッコー | Cutting equipment |
| DK1782929T3 (en) * | 1999-04-20 | 2013-04-15 | Formax Inc | Automatic product profiling device |
| US6882434B1 (en) | 1999-04-20 | 2005-04-19 | Formax, Inc. | Automated product profiling apparatus and product slicing system using same |
| JP2002125581A (en) * | 2000-10-30 | 2002-05-08 | Nekusuko:Kk | Automatic quantitatively cutting apparatus |
| JP5348518B2 (en) * | 2007-02-23 | 2013-11-20 | 吉泉産業株式会社 | Material slicing method and slicing apparatus |
| DK2494307T3 (en) | 2009-10-27 | 2019-03-25 | Formax Inc | AUTOMATIC PRODUCT PROFILING DEVICE AND CUTTING SYSTEM FOR USE OF THE SAME |
| DE102009059855A1 (en) | 2009-12-21 | 2011-06-22 | Weber Maschinenbau GmbH, 35236 | scanning |
| DE102010049310A1 (en) | 2010-10-22 | 2012-04-26 | Weber Maschinenbau Gmbh Breidenbach | Scanning device and method for determining the contour of an object |
| JP5530024B1 (en) * | 2013-12-05 | 2014-06-25 | 株式会社極洋 | Production method of epidermis transpiration fresh fish |
| PE20171693A1 (en) * | 2015-03-23 | 2017-11-27 | Nienstedt Gmbh | PRODUCTION METHOD OF TUNA PIECES |
| US10721947B2 (en) * | 2016-07-29 | 2020-07-28 | John Bean Technologies Corporation | Apparatus for acquiring and analysing product-specific data for products of the food processing industry as well as a system comprising such an apparatus and a method for processing products of the food processing industry |
-
1993
- 1993-12-27 JP JP33032393A patent/JP3523310B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07184534A (en) | 1995-07-25 |
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