JP6080403B2 - Carcass splitting method and apparatus - Google Patents

Description

  The present invention relates to a method and an apparatus for dividing a carcass obtained by dividing a carcass of cattle, pigs, sheep, etc. into left and right parts along the spine into three parts, an anterior body, a middle body and a rear body.

  FIG. 27 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. 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, automation technology using a machine has been developed, but division using a round blade or a band saw is the mainstream. 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.

  In view of the problems of the prior art, the present invention avoids cutting of bone parts such as ribs corresponding to the difference in the carcass in a large division process of carcass, and eliminates the use of rotating round blades and band saws as much as possible. By forming a smooth cut surface, it aims at suppressing generation | occurrence | production of bone waste and meat waste, and preventing the quality reduction of the meat part after a cutting | disconnection.

In order to achieve this object, the carcass splitting method of the present invention includes a carcass of a livestock carcass that is split into two left and right along the spine, and is suspended by a suspension device through the side ankles. And a carcass division method for dividing the carcass into posterior ribs, wherein the spine portion between the fourth and fifth ribs or between the fifth and sixth ribs counted from the head side is defined as a second cutting point, The horizontal line that passes between the ribs from the cutting point toward the sternum and intersects the sternum part from the rib tip and the horizontal line that extends from the second cutting point to the dorsal contour is defined as the anterior midrib cutting line, and the anterior midcutting line A first cutting point is a point at which the sternal part intersects, and a pre-medium body dividing step of cutting the precursor from the intermediate body along the anterior middle body cutting line from the first cutting point toward the second cutting point; A third cutting point should be set at the frontmost joint of the thigh, and the hipbone should be avoided on the intermediate body side. It is made of a rear skeleton dividing step in which cutting from the rear precursor medium precursor along Nakago skeleton cutting line passing through the third cutting point.

In the anterior middle rib division step, the spine portion between the fourth and fifth ribs or the fifth and sixth ribs counted from the head side is set as the second cutting point, and the space between the ribs from the second cutting point is determined. By setting the midline cutting line before passing, cutting of the ribs can be eliminated and generation of bone waste can be eliminated. Moreover, a smooth cut surface can be formed, generation | occurrence | production of meat scraps can be suppressed, and the quality fall of the meat part after cutting can be prevented.

  In addition, when the middle posterior body is divided, the cutting point can be easily specified by setting the distalmost joint portion of the spine as the third cutting point. In addition, by setting a middle posterior cutting line that passes through the third cutting point, it is possible to avoid cutting of the hipbone and to minimize cutting of the bone. In addition, by positioning the front and middle heel cutting lines for each carcass, even if there is a difference in the carcass, or when there is an error in the height when suspended from the gamble, Cutting of the hipbone can be avoided and the generation of bone waste can be minimized. Therefore, quality deterioration of the meat part after cutting can be suppressed.

In the method of the present invention, the front and middle body dividing step includes a first cutting step of cutting the sternum part and the spine part with a rotating round blade, and a knife-like cutting blade attached to the articulated arm after the first cutting step. And a second cutting step for cutting the remaining meat portion along the front center rib cutting line . In this way, the rotating round blade is used only for cutting the bone part, and the knife-like cutting blade is used for cutting the meat part, so that the cut surface of the meat part is smooth and the generation of meat scraps is minimized. Can be suppressed. Thereby, quality deterioration of the meat part after cutting can be suppressed.

  In the front / rear body splitting step, blue visible light (hereinafter referred to as “blue light”) is irradiated onto the carcass cut surface to excite and emit the rib region, cut visible light of short wavelength below blue, and from red A first imaging step in which only green long-wavelength visible light (hereinafter referred to as “long-wavelength light”) is incident on the imaging device and the rib region is imaged by the imaging device, and visible light of a specific wavelength is not removed. From a second imaging step of irradiating a carcass cut surface with white visible light (hereinafter referred to as “white light”) and imaging the carcass cut surface with an imaging device, and images captured in the first imaging step and the second imaging step The carcass detection step for detecting the rib area and the height of the rib, and the rib located at the bottom of the rib area is temporarily set as the second rib from the head side, and the Nth rib is detected from the second rib Temporary setting step and past measured value , Using the lower end of the rib region as a reference, the (N-1) th rib and N as a reference based on the first threshold value indicating the boundary between the (N-1) th rib and the Nth rib and the height of the Kata A threshold value setting step for obtaining a second threshold value indicating a boundary of the th rib and a third threshold value indicating a boundary between the Nth rib and the (N + 1) th rib with reference to the lower end of the rib region; When the N-th rib detected in the setting step is located below the average value of the first threshold value and the second threshold value, a first correction step that regards the rib immediately above the N-th rib as the N-th rib And when the Nth rib detected in the temporary setting step is located above the third threshold, the second correction step in which the rib immediately below the Nth rib is the Nth rib, Compare the height difference between the center of the rib region of the divided carcass and the first threshold, It may be performed and a selection step of employing the detection results of the rib obtained with the smaller carcass.

  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.

  By irradiating the rib area with blue light, the meat and fat attached to the rib are excited and emitted. When this is imaged only with long-wavelength light, only the rib area is colored green, and an image can be obtained in which the outline of each rib can be clearly identified. Next, when imaging is performed by applying white light to the cut surface, it is possible to obtain an image in which the outline of the carcass and the outline of the spine portion are clear. By using these images, the Nth rib from the head side can be accurately detected.

  The Nth refers to the fourth or fifth. When positioning the second cutting point at the spine part between the fourth rib and the fifth rib from the head side or the spine part between the fifth rib and the sixth rib, It is necessary to specify the fourth or fifth rib from the side. In the images obtained in the first imaging step and the second imaging step, the lowest rib in the rib area is often the second rib than the rib closest to the head side, so the lowest rib in the rib area. Temporarily set the rib as the second rib from the head side. From this, the Nth rib is detected upward.

  Next, the Nth rib and position are compared with the positions of the first threshold value, the second threshold value, and the third threshold value obtained from the past measurement values, and corrections to the temporary setting are made. Finally, out of the carcasses divided into left and right, the detection result with the smaller height difference between the center of the rib region and the first threshold value is adopted as positive so as to minimize the error. ing. In the first imaging step, the rib region can be clearly imaged, and in the second imaging step, the spine portion and the Kata height (the position of the shoulder portion on the outline of the cut surface) can be clearly imaged. The rib area and the Kata height can be accurately detected from the image thus captured. Then, by correcting the position of the temporarily set rib using the first threshold value, the second threshold value, and the third threshold value that are set based on the accurately detected rib area and the Kata height, the head side To accurately determine the position of the Nth rib.

  In the method of the present invention, the middle and rear body dividing step includes an imaging step of imaging the cut surface of the carcass, a detection step of detecting a third cutting point from the captured image, and a middle and rear heel cutting passing through the detected third cutting point. It is good to consist of a cutting step which cuts a middle frame from a back frame along a line. This makes it possible to fully automate the cutting of the intermediate cadaver, and by performing the above-mentioned processing steps for each carcass, the setting of the cutting line for the middle and lower heels is performed accurately as intended for carcasses of different sizes and weights. be able to. Thereby, generation | occurrence | production of meat waste can be suppressed to the minimum.

  The detection step includes a first step of detecting a joint portion of the spine from image information of the captured image, a second step of detecting an inflection point of the contour of the spine from the captured image, and closest to the inflection point. It is good to consist of the 3rd step which chooses the joint part of a spine and makes the position of this joint part the 3rd cutting point. The present inventors have found that the thigh-side most advanced joint is in the vicinity of the inflection point where the contour of the spine curves. Using this knowledge, it was found that by selecting the joint part closest to the inflection point among the joint parts of the spine detected from the photographed image, the thigh side most advanced joint part can be accurately detected.

Further, the carcass splitting device of the present invention that can be directly used for carrying out the method of the present invention includes a suspension device that suspends the carcass of a livestock carcass that has been split into left and right along the spine via the side ankles, A carcass splitting device comprising a cutting device for splitting a carcass suspended by a suspension device into an anterior body, an intermediate body, and a rear body, a front intermediate body dividing part for dividing the front body and the intermediate body, The middle and rear chassis divisions that divide the chassis and the rear chassis, and the carcasses suspended by the suspension device pass through the front and middle chassis divisions and the middle and rear chassis divisions, and the front and middle chassis divisions and the middle and rear chassis divisions. Based on the cutting device taught from the cutting portion teaching device, the conveying device for temporarily stopping, the cutting portion teaching device that teaches the cutting portion of the carcass at the front and rear skeleton dividing portions, and the cutting portion teaching device. And a controller for controlling the operation of the cutting blade. Is the second cut point between the 4th and 5th ribs or the 5th and 6th ribs counted from the head side, and the space between the ribs from the second cut point toward the sternum side. A horizontal line that intersects the sternum from the rib tip and a horizontal line that extends from the second cutting point to the dorsal contour is defined as the anterior middle skeleton cutting line, and the point at which the anterior middle skeleton cutting line intersects the sternum part is the first cutting point. The precursor is cut from the middle rod along the anterior middle rod cutting line from the first cutting point to the second cutting point, and the third cutting point is set at the most distal joint of the spinal thigh. Control is made so as to cut the intermediate body from the rear body along the middle rear part cutting line passing through the third cutting point while avoiding the bone on the intermediate body side.

In the device according to the present invention, the operation of the cutting blade of the cutting device is controlled by the controller, and the carcass is cut along the front center rib cutting line and the middle rear rod cutting line. The spine part between the 4th and 5th ribs or the 5th and 6th ribs counted from the head side is taken as the second cutting point, and the front middle rib cutting line passing between the ribs from this second cutting point is By setting, it is possible to eliminate cutting of the ribs and generation of bone waste. Moreover, a smooth cut surface can be formed, generation | occurrence | production of meat scraps can be suppressed, and the quality fall of the meat part after cutting can be prevented.

In addition, when the middle posterior body is divided, the cutting edge of the spinal thigh is used as the third cutting point, so that the setting of the posterior cutting line of the middle posterior can be facilitated and the cutting of the hipbone can be avoided. Cutting can be minimized. Also, by setting the front and middle heel cutting lines for each carcass by the controller, cutting of ribs and hipbones can be avoided even if there is a difference in the carcass, and hanging down to gambler Even if there is an error in the height of time, the generation of bone waste can be minimized. Therefore, quality deterioration of the meat part after cutting can be suppressed.

Further, in the front / rear frame dividing section of the device of the present invention, the cutting device is composed of a first cutting device provided with a rotating round blade and a second cutting device provided with an articulated arm equipped with a knife-like cutting blade. is, after cutting the sternum distal end portion and spine sites rotary circular blade, along the skeleton cutting line in front of the remaining meat portion configured to cut with a knife-shaped cutting blade. In this way, the rotary round blade is used only for cutting the bone part, and the cut part of the meat part is made smooth by using a knife-like cutting blade for cutting the meat part, and the generation of meat scraps is minimized. Can be suppressed. Thereby, quality deterioration of the meat part after cutting can be suppressed.

  In the front / rear housing dividing unit of the present invention device, the cutting site teaching device is equipped with a laser pointer that irradiates a laser beam toward the cutting site, and the laser pointer is mounted, and the laser pointer can be moved to an arbitrary position in the two-dimensional direction. It is preferable that the position information of the drawer when the laser beam irradiates the first cutting point and the second cutting point is input to the controller. This makes it possible to set the cutting point accurately by a simple operation in which the operator operates the laser pointer and applies laser light to the first cutting point and the second cutting point.

  In the front / rear body dividing unit of the device of the present invention, the cutting site teaching device displays an imaging device that captures the cut surface of the carcass, and an image captured by the imaging device, and the first cutting point and the second by the touch panel function. It is good to comprise with the display apparatus which inputs the positional information on a cutting point into a controller. As a result, the operator can set the cutting point only by touching the first cutting point and the second cutting point on the image displayed on the display device. Therefore, the operator's work can be further reduced.

  In the front / rear body dividing unit of the device of the present invention, the cutting site teaching device includes an imaging device that images the cut surface of the carcass, a blue light irradiation lamp that irradiates the rib region of the carcass cut surface with blue light, and a carcass cut surface. A white light irradiation lamp that irradiates white light, and a long-pass filter that is provided in the imaging device, cuts short-wavelength light below blue light, and enters long-wavelength light above green light into the imaging device, The controller irradiates the rib area with the blue light and inputs only the long wavelength light from red to green, and the image picked up by irradiating the carcass cut surface with white light, It is preferable to include an image processing device that detects the height and a calculation unit that obtains the Nth rib from the head side based on the detected rib area and the height of the Kata.

  The Nth refers to the fourth or fifth. With the above configuration, the fourth or fifth rib from the head side can be accurately detected. Therefore, the second cutting point can be positioned at the spine portion between the fourth and fifth ribs or the spine portion between the fifth and sixth ribs. In addition, this makes it possible to fully automate the cutting process in the front / rear housing division.

  In the middle posterior body division unit of the present invention device, the cutting site teaching device includes an imaging device that images the cut surface of the carcass, and the spinal thigh-side joint part from the image information of the image captured by the imaging device. It is good to comprise with the image processing apparatus to detect. As described above, since the side most advanced joint can be automatically detected also by the image processing apparatus, the operator does not need to lend a hand and can be completely automated. Therefore, it becomes easy to set a cutting point for each carcass.

  According to the present invention, since it is possible to set an anterior-medium rib cutting line that passes between specific ribs and an intermediate-posterior rib cutting line that avoids cutting of the hipbone, it is possible to eliminate rib cutting and generation of bone waste. it can. Moreover, a smooth cut surface can be formed, generation | occurrence | production of meat scraps can be suppressed, and the quality fall of the meat part after cutting can be prevented. In addition, since the front and middle heel cutting lines can be set for each carcass, even if there is a difference in the carcass, cutting of the ribs and hips can be avoided and the generation of bone waste is minimized. Can do. Therefore, quality deterioration of the meat part after cutting can be suppressed. The large division process of carcass can be automated by machines with little manual labor, and the processing capacity can be improved.

1 is an overall front view of a carcass splitting apparatus according to a first embodiment in which the present invention is applied to a pig carcass. It is explanatory drawing which shows the cutting point of a pig carcass with the said carcass division apparatus. It is a block diagram of the control apparatus of the said carcass division apparatus. It is a flowchart which shows the operation procedure of the front middle frame division part of the said carcass division apparatus. It is a side view which shows the clamp apparatus of the said front middle frame division part. It is an AA arrow line view in FIG. It is a BB arrow line view in FIG. It is a side view which shows the cutting process of the said front middle frame division part. It is CC arrow line view in FIG. It is a flowchart which shows the operation procedure of the middle and rear body division part of the said carcass division apparatus. It is a flowchart which shows the image processing process of the said center rear case division | segmentation part. It is a front view which shows the imaging process of the said middle rear case division | segmentation part. It is a side view which shows the image pick-up process of the said center rear case division | segmentation part. FIG. 14 is a DD arrow view in FIG. 13. It is an EE arrow line view in FIG. It is a side view which shows the cutting process of the said center rear case division | segmentation part. It is a FF arrow line view in FIG. It is explanatory drawing which shows the image image-processed at the said image processing process. It is a side view which shows the imaging process of the front middle case division part which concerns on 2nd Embodiment of this invention. It is a front view which shows the imaging process of the front middle frame division part which concerns on 2nd Embodiment. It is a flowchart which shows the operation procedure of the carcass division apparatus which concerns on 2nd Embodiment. It is a top view which shows the imaging process of the front middle frame division part which concerns on 3rd Embodiment of this invention. It is a block diagram of the control apparatus of the carcass division apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the operation procedure of the carcass division apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the image processing procedure of the carcass division | segmentation apparatus which concerns on 3rd Embodiment. It is explanatory drawing which shows the synthesized image of the carcass cut surface produced in 3rd 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.

(Embodiment 1)
A first embodiment in which the present invention is applied to a large division of pig carcass will be described with reference to FIGS. Figure 1 is an overall configuration diagram of a carcass splitting apparatus 10 of the present embodiment, FIG. 2 shows a pair of right and left carcasses W _R and W _L cut line b of, c, u, and v. In FIG. 1, in the carcass splitting device 10, a front / medium body split part A and a middle / rear body split part B are arranged in series with respect to a rail 12 forming a carcass conveyance path. The rails 12 are arranged in the horizontal direction so as to penetrate through the upper areas in the compartments of the front / rear housing division part A and the middle / rear housing division part B. Both pig carcasses subjected to the primary dismantling treatment are suspended on one gambler 14 via the side ankles. In that state, the middle of the spine is divided into two parts from the back to the left and right.

A trolley 16 that slides on the rail 12 is attached to the upper end of the gambler 14. After the gambler 14 is stopped for a certain period of time, the gambler 14 is intermittently advanced by being pushed by the pusher 15 in the direction of the arrow a by a certain distance. As a result, the pair of left and right carcasses W _R and W _L are first transported to the front middle housing division A, where they are stopped for a certain period of time and the front housing C is separated. The separated front casing C falls on the conveyor 39 and is carried out. Carcass W _R of precursor C was _separated, W _L is conveyed to Nakago precursor dividing unit B, the middle precursor D in Nakago precursor dividing unit B are separated. The separated intermediate casing D falls on the conveyor 66 and is carried out. The remaining rear casing E is transported to the subsequent process as it is.

The front middle case division A is provided with a drafter 18 having a laser pointer 20 on the front side (front side in FIG. 1). The drafter 18 is slidably supported on a guide bar 22 arranged in the vertical direction. A laser pointer 20 is slidably mounted on the drafter 18, and the laser pointer 20 can be moved to an arbitrary position on a two-dimensional plane and can be irradiated with laser light toward the carcasses W _R and W _L. ing. Therefore, the laser light emitted from the laser pointer 20 can be adjusted to any position of the carcasses W _R and W _L.

Support bars 24 and 26 are provided in the horizontal direction on the front side of the front middle frame division A. A support bar 28 is installed vertically between the support bars 24 and 26, and a cutting device 30 is attached to the support bar 28. The cutting device 30 includes a rotating round blade 32 having a blade surface arranged in a horizontal direction, and the rotating round blade 32 can be advanced and retracted with respect to the carcasses W _R and W _L by an air cylinder 30a (see FIG. 8). The cutting device 30 is slidable on the support bar 28, and the support bar 28 is slidable on the support bars 24 and 26. Therefore, the rotary round blade 32 is placed at any position of the carcasses W _R and W _L. It can be placed.

  A 6-axis articulated arm 38 is provided on the back side (the back side in FIG. 1) of the front middle frame division A. As shown in FIG. 8, a split knife 38a is attached to the tip of the six-axis articulated arm 38, and the split knife 38a can be moved in any direction and in any position. Therefore, the desired part of the carcass can be cut in the desired direction.

In addition, a clamp device is provided that presses and fixes the carcasses W _R and W _L when the cutting body 30 is cut by the cutting device 30. As shown in FIG. 5, the clamp device has a front heel clamp 34 and a middle heel clamp 36 provided on the front side of the carcass conveyance path, and the front heel clamp 34 on the back side of the carcass conveyance path at substantially the same height. The front hook clamp 35 is provided, and the middle hook clamp 37 is provided at substantially the same height as the middle hook clamp 36.

Support bars 40 and 42 are provided in the horizontal direction on the front side of the carcass conveyance path, and the support bar 44 is installed between the support bars 40 and 42 in the middle and rear frame dividing section B. A cutting device 46 is attached to the support bar 44. The cutting device 46 includes a rotary round blade 48 whose blade surface is disposed in the horizontal direction, and the rotary round blade 48 can be advanced and retracted with respect to the carcasses W _R and W _L by an air cylinder 46a (see FIG. 17). The cutting device 46 is slidable on the support bar 44, and the support bar 44 is configured to be slidable on the support bars 40 and 42. Therefore, the rotating round blade 48 can be disposed at any position of the carcasses W _R and W _L.

A support bar 50 is arranged in the horizontal direction in the middle rear housing division B, and spans between the frames 52 and 54 on both sides. A photographing light 58 is attached to the center of the support bar 50, and CCD cameras 56 a and 56 b are attached to both sides of the photographing lamp 58. The support bars 42 and 54 are provided with an operation panel 60, and the lower frame 62 is provided with an image display unit 64 having a touch panel function for displaying images after being imaged and processed by the CCD cameras 56a and 56b. It has been. Further, as a clamping device for fixing the carcasses W _R and W _L , a middle collar clamp 59 is provided on the front side of the carcass conveyance path, and a middle collar clamp 41 and a rear collar back support 43 (see FIG. 13 to 17).

FIG. 2 shows a skeleton of the carcasses W _R and W _L and a left front center cutting line b, a left center rear hound cutting line c, and a right front center cutting that roughly divide the carcass into a front body C, a middle body D, and a rear body E A line u and a right middle hail cutting line v are shown. The skeleton of the pig carcass consists of the spine s, ribs r, spinous processes m, hipbones j and sternum k. In front of precursor division section A, precursor C and Chumukurotai D and left in the skeleton section line b of separating includes a left first cutting point d is located in the sternum k carcass W _L, left first cutting point d The left second cutting point of the spine s between the ribs r that are above and below the height of the left first cutting point d in the horizontal direction (between the fourth and fifth ribs or between the fifth and sixth ribs) Go through e. Building frame cut lines u in the right front is vertically to the height of the carcass W _R spine s right second cutting point f (right first cutting point g in the transverse direction of the right first cutting point g located sternum k It passes through the existing cutting point between ribs r) and the first right cutting point g.

  Further, in the middle posterior body dividing part B, the left middle posterior cutting line c separating the middle cadaver D and the posterior cadaver E passes through the left third cutting point h of the distal most joint part of the spine s, The right middle rear heel cutting line v passes through the right third cutting point i. When the intermediate rod D and the rear rod E are separated, the rotary round blade 48 is moved obliquely downward from the front side toward the back side to avoid cutting of the hipbone j (see FIG. 16).

  FIG. 3 shows a control device of the carcass splitting device 10. In FIG. 3, the controller 70 includes a CPU 72, an image processing device 76, an image display unit 64, and an image memory 74. The CPU 72 controls the operation of the pusher 15, the driving device of the clamp device, the CCD cameras 56a and 56b, and the photographing light 58. Further, the positional information of the cutting points d, e, f and g obtained by the laser pointer 20 and the images photographed by the CCD cameras 56a and 56b and subjected to the image processing by the image processing device 76 are input to the CPU 72, and the image memory 74. The image is displayed on the image display unit 64. The CPU 72 controls the operations of the cutting devices 30 and 46 based on the positional information of the cutting points d, e, f, and g and the positional information of the cutting points h and i obtained from the image information subjected to image processing.

Next, a cutting process for cutting the front casing C at the front middle casing division A will be described. FIG. 4 shows an operation procedure by the controller 70. One Gyanbureru 14 by pair of right and left carcasses W _R and W _L suspended stops are carried during pre-precursor dividing unit A (S10). As shown in FIGS. 5 to 7, the front-side forehead clamp 34 and the middle-side hook clamp 36, and the rear-side front-side hook clamp 35 and the middle-side hook clamp 37 approach the carcass side, and the carcasses W _R , W from both sides _L is pressed and fixed (S12). The forehead clamps 34 and 35 hold the forehead body C from both sides of the carcass. The intermediate collar clamps 36 and 37 hold the intermediate body D from both sides of the carcass.

  These clamps are configured to be able to advance and retreat with respect to the carcass conveyance path, and the forehead clamps 34 and 35 are movable in the vertical direction. The front rod clamp 34 has one bar arranged in the horizontal direction, and the middle rod clamp 36 has two bars arranged in the horizontal direction. As shown in FIG. 6, the forehead clamp 37 includes two arc-shaped presser plates 37a in the carcass conveyance direction, and surrounds the carcass with the presser plates 37a. As shown in FIG. 7, the forehead clamp 35 includes two arc-shaped presser plates 35a having a curvature radius larger than that of the presser plate 37a.

  Next, the operator operates the lid 18 and irradiates the laser beam with the laser pointer 20 in the order of the cutting points d, e, f, and g. Each time the laser beam is applied to each cutting point, the position information of each cutting point is transmitted to the controller 70 by pressing the push button 20a dedicated to each cutting point (S14).

  As shown in FIG. 8, the cutting device 30 provided on the front side of the carcass conveyance path is configured to be advanced and retracted with respect to the carcass by an air cylinder 30a. The 6-axis articulated arm 38 provided on the back side of the carcass conveyance path is provided with a split knife 38a at the tip, and the controller 70 can move the split knife 38a to an arbitrary position, and the direction of the split knife 38a can be changed. Can be directed in any direction.

  Based on the position information of the cutting point, the controller 70 moves the rotary round blade 32 of the cutting device 30 in the order of the cutting points d, e, f, and g to cut the sternum tip part and the spine part (S16). The movement trajectory of the rotating round blade 32 at this time is indicated by a line l in FIG. That is, the rotary round blade 32 cuts the sternum or spine, and then retracts, then moves in the carcass transport direction (arrow a direction), and follows the movement trajectory that advances toward the carcass at the next cutting position. .

Next, the six-axis articulated arm 38 is operated by the controller 70 and moved along the left front center cutting line b in the order of the cutting points d, e, f, and g to cut the meat parts of the carcasses W _R and W _L. (S18). By this two-stage cutting operation, the carcass W _R , W _L precursor body C is separated from the intermediate body D. The separated front casing C falls on the conveyor 39 and is conveyed by the conveyor 39. Then, the clamp 34 to 37 is separated from the carcass (S20), then Gyanbureru 14 is pushed in the arrow a direction by the pusher 15, carcass _W R, _{W L} is moved Nakago skeleton division section B (S22).

FIG. 10 shows an operation procedure by the controller 70 in the middle rear case dividing unit B, and FIG. 11 shows an operation procedure of the image processing step (S38). The carcass that has moved to the middle and rear body dividing section B is temporarily stopped there (S30). As shown in FIGS. 12 to 15, the middle rear housing division part B is provided with a middle collar clamp 59 for pressing the middle housing D on the front side, and the middle collar clamp 41 and the rear housing for pressing the middle housing D on the back side. A rear bag back support 43 for holding E is provided. When the carcasses W _R and W _L are stopped, the clamps 59, 41 and 43 approach the carcass from both sides and clamp the carcasses (S32).

The front side intermediate clamp 59 is composed of two bars arranged in the horizontal direction. The back side middle clamp 41 includes two arc-shaped presser plates 41a that press the carcass from the back side. Hindquarters back support 43, the opposite ends of the support bar disposed horizontally, skeleton escape prevention guide 43a and 43b are attached after projecting carcass side, so as to surround carcass W _R, the W _L from both sides . This prevents the rear housing E from falling off.

Then, the photographic light 58 and the CCD camera 56a, 56b were placed in position, carcass _W R shooting lights 58, _{W L} irradiates the, CCD camera 56a, the cutting surface n of the carcass at 56b _{W L} to shoot in the order of _{W R} from. The captured image is stored in the image memory 74 (S34 / S36). The cut surface n of the carcass is disposed obliquely with respect to the front surface while being fixed by the clamping device. Therefore, the CCD cameras 56a and 56b are arranged on both sides of the carcasses W _R and W _L so that the lenses face the cut surfaces n of both carcasses, and the lenses face the cut surfaces n of the carcasses W _R and W _L , respectively. It has been. The CCD cameras 56a and 56b are provided with cover for preventing flesh adhesion 57a and 57b, and the cover for preventing flesh adhesion is kept closed so that the flesh does not adhere to the lens except during photographing.

  The images photographed by the CCD cameras 56a and 56b are subjected to image processing by the image processing device 76 (S38). The image after image processing is sent to the CPU 72, stored in the image memory 74, and displayed on the image display unit 64. (S40). The left third cutting point h and the right third cutting point i are detected from this image, the lens covers 57a and 57b of the CCD cameras 56a and 56b are closed (S42), and then the left middle rear passing through the left third cutting point h. The intermediate rod D is cut along the right middle rear heel cut line v passing through the heel cut line c and the right third cut point i (S44). 16 and 17 show a state in which the intermediate casing D is cut by the rotating round blade 48 of the cutting device 46. FIG.

  Hereinafter, the processing procedure of the image processing step (S38) will be described with reference to FIG. FIG. 18 shows a processing screen of the cut surface n that has been subjected to image processing and displayed on the image display unit 64. In order to reliably obtain the contour of the spine s on the image, the fact that there is a step in the contour of the spine s can be used to irradiate white light from the lower side of the carcass with the photographing light 58 and shadow the contour of the spine s. I did it. As the photographing light 58, LED lighting having high directivity and high reactivity is used, and this is made possible. Next, an average luminance difference or the like for each RGB component of the image is obtained, the contour of the spine s is extracted (S380), and an inflection point o of the contour of the spine s is obtained (S382).

Next, the joint part p near the inflection point o is extracted by the same method (S384). When the joint part p can be extracted, a horizontal line q is drawn from the joint part p to the contour, and the intersection of the horizontal line q and the contour is defined as a cutting point h (i) (S386). When the joint part p could not be extracted, the inflection point o was set as the cutting point h (i) (S388). Of the two-dimensional coordinates of the cutting points i and h of the left and right carcasses W _R and W _L thus obtained, the vertical coordinate (Y coordinate) is compared (S390), and when the difference Δt is equal to or less than the threshold value, the cutting point h ( i) is determined to be correct (S394). When the difference Δt exceeds the threshold value, the cutting point h (i) is determined to be an error, and switching to touch panel teaching is performed. That is, the operator indicates the cutting point on the image displayed on the image display unit 64 and teaches the cutting point h (i) (S392). Based on this teaching information, the cutting device 46 operates to cut the intermediate casing D.

16 and 17, the cutting device 46 is configured to be movable forward and backward with respect to the carcass conveyance path by an air cylinder 46a. At this time, the rotating round blade 48 of the cutting device 46 is configured to enter obliquely downward from the front side toward the back side in order to avoid cutting the hipbone j. Further, the rotating round blade 48 is configured to be rotatable about a rotation shaft 46c by an air cylinder 46b. With this construction, the rotary circular blade 48, after cutting the Chumukuro body D carcass W _L, once retracted, then changes its direction to the carcass W _R side, Chumukuro body carcass W _R approaches the carcass W _R After cutting D, it is possible to perform a backward movement operation.

In FIG. 10, after the image processing (S48), the image processed image and the coordinates of the third cutting point h (i) are displayed on the image display unit 64 (S40). Next, the lens covers 57a and 57b of the CCD cameras 56a and 56b are closed (S42), and the cutting device 46 is operated to cut the intermediate casing D along the cutting line c (S44). Next, the clamp device operates to release the fixing of the rear housing E (S46). Next, the carcass W _R , W _L's carcass E is carried out from the middle rear carcass division B to the subsequent process (S48).

  According to the present embodiment, in the front middle rib division part A, the left and right first cutting points d and g of the sternum region and the rib r that exists above and below the left and right first cutting points in the lateral direction of the left and right first cutting points. The left and right second cutting points e and f of the spine portion located between are set as cutting points, and in the middle posterior body splitting section B, the left and right third cutting points h and i of the spinal stern side most distal joint part are set. By using as a cutting point, it becomes easy to recognize and set the cutting point. In addition, by cutting the carcass along the left front middle rib cutting line b, the left middle rear rib cutting line c, the right front rib cutting line u and the right middle rear rib cutting line v passing through these cutting points, the rib r and Cutting of the hipbone j can be avoided and generation of bone waste can be minimized. Therefore, quality deterioration of the meat part after cutting can be suppressed.

  Furthermore, since the left and right first cutting points b and g, the left and right second cutting points e and f, and the left and right third cutting points h and i are detected again for each carcass, there is a solid difference in the size and shape of the carcass. Even if there is an error or there is an error in the height direction at the time of hanging on the gamble, the cutting accuracy can be maintained high, and there is no possibility of cutting the rib r or the hipbone j. The same applies to the difference in solids between the left and right carcasses that are simultaneously cut by the same gambler 14 and the suspension height error.

  In addition, by using the rotary round blade 32 only in the sternum tip part and the spine part in the front middle body division part A and using the division knife 38a for cutting the meat part, a smooth cut surface can be formed in the meat part. , The generation of meat waste and bone waste can be minimized. Thereby, deterioration of the meat part after cutting can be suppressed. Further, the cutting points d, e, f, and g can be positioned by a simple operation in which the operator simply operates the laser pointer 20 provided on the drafter 18 in the front middle frame dividing section A.

Further, in the middle rear frame dividing section B, the left and right third cutting points h and i can be automatically detected by the image processing device 76, so that the left and right third cutting points h and i can be detected without the help of an operator. Can be fully automated. In this image processing step, the contour of the spine s is extracted, the inflection point o of the contour of the spine s is obtained, the joint portion closest to the inflection point o is selected, and the left and right carcasses W _R and W _L are further selected. The vertical coordinates (Y coordinates) of the cutting points i and h are compared, and when the difference Δt is equal to or less than the threshold value, the cutting points h and i are determined to be correct. It can be detected accurately. When the left and right third cutting points h and i cannot be detected by image processing, the operator teaches the left and right third cutting points h and i in the image displayed on the image display unit 64. There is no risk of interrupting the cutting operation.

Moreover, the cut surface n of the carcass is disposed obliquely with respect to the front surface in a state of being fixed by the clamp device. On the other hand, in the mid-posterior body dividing section B, the lenses of the CCD cameras 56a, 56b are arranged on both sides of the carcasses W _R , W _L so that the lenses of the carcasses 58 face each other, and the lenses are respectively carcass W _R. since toward the cutting surface n of W _L, it can be clearly photographed cutting plane n. Further, in the middle posterior body dividing section B, utilizing the fact that there is a step in the contour of the spine, white light is irradiated from below the carcass by the photographing lamp 58 so that a shadow is formed on the contour of the spine s. Since the LED lamp having high directivity and good reactivity was used as the photographing lamp 58, the contour of the spine s could be obtained on the image with certainty.

(Embodiment 2)
Next, a second embodiment of the method and apparatus of the present invention will be described with reference to FIGS. This embodiment is applied to the large division process of pig carcass as in the first embodiment. 19 and 20 show the front middle case division A of the present embodiment. In this embodiment, a CCD camera 80, a photographing light 82, and a touch panel type image display unit 84 are provided instead of the draft 18 and the laser pointer 20. The CCD camera 80 and the photographing light 82 are arranged at the same height as the precursor C in the center of the carcasses W _R and W _L. The other configuration of the front / rear frame dividing unit A is the same as that of the first embodiment, and the configuration of the middle / rear frame dividing unit B is the same as that of the first embodiment.

With reference to FIG. 21, the control procedure of the front middle frame dividing unit A will be described. The carcasses W _R and W _L are carried into the front middle frame division A and stopped (S50). Next, the carcasses W _R and W _L are fixed by the clamping device (S52). Next, the cut surfaces of the carcasses W _R and W _L are photographed by the CCD camera 80, and the photographed images are stored in the image memory 74 (S54) and displayed on the image display unit 84 (S56). The operator touches the cutting points d, e, f, and g on the image displayed on the image display unit 84, and the positional information of the cutting points d, e, f, and g is input to the controller 70 (S58).

Next, the lens covers 57a and 57b of the CCD camera 80 are closed (S60), and the subsequent cutting process is the same as that of the first embodiment shown in FIG. After separating the front casing C, the clamping device is released (S66), and the rear casing E of the carcasses W _R , W _L is carried out to the subsequent process (S68). According to the present embodiment, since the detection of the cutting points d, e, f, and g is a touch panel type, the labor of the operator can be reduced compared to the first embodiment.

(Embodiment 3)
Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 22 shows the front middle case division A. A CCD camera 90 is provided at a position facing the carcasses W _R and W _L fixed by a clamp or the like in the front middle frame dividing section A. A long pass filter 92 is provided on the front surface of the CCD camera 90, and an attachment / detachment cylinder 92 a that makes the long pass filter 92 detachable from the CCD camera 90 is provided. In addition, a pair of white illumination lights (LED illumination) 94a and 94b for irradiating white light is provided near the CCD camera 90. The white illumination lights 94a and 94b are directed in directions that intersect each other. That is, directed to carcass W _R as white illumination light 94a illuminates a cutting surface n of the carcass W _R, illumination light 94b is directed to carcass W _L to illuminate the cut surface n of the carcass W _L .

Further, carcass _W R, a pair of blue illumination light that irradiates blue light at the position facing to _{W L} (LED lighting) 96a and 96b are provided. The blue illumination light 96a irradiates the cut surface n of the carcass WR, and the blue illumination light 96b irradiates the cut surface n of the carcass WL.

  FIG. 23 shows a control system of this embodiment. The controller 100 receives an image captured by the CPU 102 and the CCD camera 90 provided in the front / rear housing division unit A, and processes a precursor image processing device 104 that processes the image, and an image processed by the precursor image processing device 104. And the precursor image display unit 108 on which the first cutting point d (g), the second cutting point e (f), and the like are displayed, the precursor image memory 112 in which these are stored, and the cutting at the middle rear case dividing unit B A hindback image processing device 106 used in the process, a backside image display unit 110, and a backside image memory 114 are provided. The hindlimb image processing apparatus 106 has the same configuration as the image processing apparatus 76 in FIG. 3, the hindback image display unit 110 has the same configuration as the image display unit 64 in FIG. The image memory 74 has the same configuration. The controller 100 controls the driving of the clamp device and the pusher 15 and also controls the attachment / detachment cylinder 92a of the long pass filter 92.

Next, the cutting process of this embodiment will be described with reference to FIGS. In FIG. 24, the pair of left and right carcasses W _R , W _L are carried into the front middle case division part A and stopped (S70). When the carcasses W _R and W _L are stopped, the carcasses W _R and W _L are pressed and fixed from both sides by the front-side precursor clamp 34, the medium driving clamp 36 and the back-side precursor clamp 35 and the medium driving clamp 37 (S72). Next, the blue illumination lights 96a and 96b are used to irradiate the rib regions of the carcasses W _R and W _L with blue light having a wavelength of 470 nm, and attach a long pass filter 92 that cuts light having a wavelength of 495 nm or less to the CCD camera 90. (S74).

By irradiating the rib region with blue light, fat and meat portions around each rib can be excited and emitted. The rib region in this state is imaged by the CCD camera 90 through the long pass filter 92. Only the long wavelength light from green to red is transmitted from the long pass filter 92, and the image captured by the CCD camera 90 is an image in which the rib region is colored green. This image B is stored in the precursor image memory 112 (S76). Next, the blue illumination lights 96a and 96b are turned off, the long pass filter 92 is removed from the CCD camera 90 (S78), and the white illumination lights 94a and 94b are irradiated to the cut surfaces n of the carcasses W _R and W _L (S80). In this state, the cut surface n is imaged by the CCD camera 90, and the captured image W is stored in the precursor image memory 112 (S82).

Next, the processing step (S84) of the image B and the image W stored in the precursor image memory 108 will be described with reference to FIG. FIG. 26 shows a combined image obtained by combining the image B and the image W. The composite image is obtained by taking the rib region R from the image B and taking the other regions from the image W and combining them. The rib region R is colored green. Further, white light is irradiated obliquely carcasses W _R from white illumination light 94a, since the irradiated obliquely carcasses W _L from the white illumination light 94b, a shadow y formed along the contour of the spine s, which Thus, the outline of the spine s is clearly highlighted.

The image processing step 84 is a processing step for detecting the fourth rib from the head side, and this procedure will be described with reference to FIG. In FIG. 25, the positions of the spine of the carcasses W _R and W _L and the outline line x of the kata (shoulder) are detected from the image W (S840), and the position of the lower end t of the rib region R is detected from the image B (S840). S842). Further, the rib region R is extracted from the composite image (S844).

  The lowest rib that can be recognized in the rib region R shown in the composite image is often the second rib from the head side. Therefore, the lowest rib r2 in the rib region R is provisionally set to be the second rib from the head side (S846). Next, the rib two above the rib r2 is detected as the fourth rib r4 (S848). Here, three threshold values are set. One threshold value A1 is a threshold value indicating the boundary between the third rib r3 from the bottom and the fourth rib r4 from the bottom with the lower end t of the rib region as a reference. The second threshold value A2 is a threshold value that indicates the boundary between the third rib r3 and the fourth rib r4 from the bottom with reference to the outer shape line x. The third threshold value B1 is a threshold value that indicates the boundary between the fourth rib r4 and the fifth rib r5 with reference to the rib region lower end t. The threshold value A1 and the threshold value B1 are obtained from a linear function having the rib region lower end t as an independent variable based on the measured value of the rib region lower end t collected in the past measurement. The threshold value A2 is obtained from a linear function having the outer shape line x as an independent variable from the measured values of the outer shape line x collected in the past measurement.

  Next, the height of the rib r4 is compared with the thresholds A1 and A2 (S850), and when the rib r4 is below the threshold A1 and the threshold A2, the rib on one of the ribs r4 is regarded as the fourth rib. (S852). When the radius r4 is between the threshold A1 and the threshold A2, the radius r4 is compared with the threshold value Am (= (A1 + A2) / 2) between the threshold A1 and the threshold A2 (S853), and the radius r4 is below the threshold Am. If it is, the rib on one of the ribs r4 is regarded as the fourth rib (S854).

Further, the radius r4 is compared with the height of the threshold value B1 (S856), and when the radius r4 is above the threshold value B1, the rib one above the radius r4 is regarded as the fourth (S858). Next, 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 (S860). 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) ( S862). Thus, the first cutting points d and g are points where the horizontal line extending from the tip of the upper side of the rib identified as the fourth from the bottom intersects the sternum k (S864). Further, the points where the upper side of the ribs recognized as the fourth and the spine s intersect are defined as second cutting points e and f (S866). The coordinates of the first cutting points d and g and the second cutting points e and f thus detected are sent to the six-axis articulated arm 38 (S868).

Next, returning to FIG. 24, the coordinates of the images B and W, the composite image C, the first cutting points d and g, and the second cutting points e and f are displayed on the precursor image display unit 106 (S88). Then, the cutting device 30 cuts the sternum part and the spine part (S90), and further cuts the meat part by the 6-axis articulated arm 38 to cut the precursor C from the carcasses W _R and W _L ( S92). Thereafter, the work clamp by the clamps 34 to 37 is released (S94), and the carcasses W _R and W _L are carried out to the middle rear case division part B (S96).

According to the present embodiment, the rib regions 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 rib region R can be clearly imaged and white light is emitted. By irradiating, the outline of the carcass and the outline of the spine s can be clearly imaged. Using the threshold values A1, A2, and B1 that set distances from the measured values collected in the past, using the lower end t of the rib region and the outer shape line x detected from these images as references, The second rib can be detected accurately. Since the first cut points d and g, the second cut points e and f, and the front middle rib cutting lines b and u are set based on the ribs thus detected, cutting of the ribs r can be avoided and generation of bone waste can be avoided. Can be eliminated. Therefore, the quality deterioration of the meat part after cutting can be prevented.

Further, since the white light illuminated from the white illumination lights 94a and 94b is obliquely applied to the cut surfaces n of the carcasses W _R and W _L , a shadow y can be formed on the outline of the spine s. Therefore, the outline of the spine s can be clearly displayed on the image, and the rib position can be accurately detected using the outline of the spine s as a base point. Further, since the rib r4 is detected for each carcass according to the above procedure, the post-detection due to the carcass fixation difference can be eliminated. Furthermore, according to the present embodiment, the deboning process including the setting of the cutting line in the front middle body dividing section A can be fully automated by setting the front middle body cutting lines b and u.

  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 Carcass split device 12 Rail 14 Gambling 15 Pusher 16 Trolley 18 Drafter 20 Laser pointer 20a Push button 22 Guy bar 24, 26, 28, 40, 42, 44, 50 Support bar 30, 46 Cutting device 30a, 46a, 46b Air cylinder 32 , 48 Rotating round blades 34, 35 Front heel clamps 35a, 37a, 41a Presser plates 36, 37, 41, 59 Intermediate heel clamp 38 6-axis articulated arm 38a Split knife 39, 66 Conveyor 43 Rear heel back support 46c Rotating shaft 52, 54 Frames 56a, 56b, 80, 90 CCD camera 58, 82 Shooting light 57a, 57b Lens cover 60 Operation panel 62 Lower frame 64, 84 Image display unit 70, 100 Controllers 72, 102 CPU
74 Image memory 76 Image processing device 92 Long pass filter 92a Detachable cylinder 94a, 94b White illumination light 96a, 96b Blue illumination light 104 Precursor image processing device 106 Rear image processing device 108 Precursor image display unit 110 Rear image image display unit 112 Precursor image Memory 114 Rear collar image memory A Front middle body division part A1, A2, B1 Threshold B Middle rear body division part C Front body D Medium body G Rib center of gravity E Rear body R Rib area W _R , W _L Carcass a Transport direction b Left front Middle heel cut line c Left middle posterior cut line d Left first cut point g Right first cut point e Left second cut point f Right second cut point h Left third cut point i Right third cut point j Hipbone k sternum m spinous process o inflection point p spine joint q straight line r rib s spine t lower rib area lower end u right anterior middle heel cutting line v right middle posterior cutting line x Kata outline line y shadow

Claims (6)

A carcass splitting method for splitting a carcass of a livestock carcass that has been split into two left and right along the spine into a forehead, a middle heel, and a back heel in a state of being suspended by a suspension device through the side ankles,
The spine region between the 4th and 5th ribs or the 5th and 6th ribs counted from the head side
Is the second cutting point, and the horizontal line passing between the ribs from the second cutting point toward the sternum and intersecting the sternum part from the distal end of the rib and the horizontal line from the second cutting point to the dorsal contour is the cutting line In addition, the point at which the front middle body cutting line intersects the sternum site is taken as the first cutting point, and the precursor is cut from the middle body along the front middle body cutting line from the first cutting point to the second cutting point. Before and middle frame dividing process,
A third cutting point is set at the most distal joint portion of the spinal thigh, and the intermediate body is cut from the posterior body along the middle posterior cutting line passing through the third cutting point while avoiding the acetabulum on the intermediate body side. It consists of a middle and rear case division process,
The previous middle housing dividing step
A first cutting step of cutting the sternum part and the spine part with a rotating round blade; and after the first cutting step, the remaining meat part is removed from the front midrib by a knife-like cutting blade attached to an articulated arm. A second cutting step for cutting along the cutting line,
The carcass division method characterized in that the front and middle heel cutting lines and the middle and rear heel cutting lines are positioned for each carcass. In the previous middle housing dividing step,
Irradiate the cut surface of the carcass with blue visible light to excite and emit light in the rib area, cut visible light with a short wavelength below blue, and enter only visible light with a long wavelength from red to green into the imaging device. A first imaging step of imaging an area with the imaging device;
A second imaging step of irradiating the carcass cut surface with white visible light that does not remove visible light of a specific wavelength and imaging the carcass cut surface with an imaging device;
A carcass detection step for detecting a rib region and a Kata height from the images imaged in the first imaging step and the second imaging step;
A provisional setting step of temporarily setting a rib located at the bottom of the rib region as a second rib from the head side, and detecting an Nth rib from the second rib;
From the measured values in the past, the lower end of the rib region is used as a reference, the first threshold indicating the boundary between the (N-1) th rib and the Nth rib, and the height of the Kata as a reference, (N-1) A threshold value for obtaining a second threshold value indicating the boundary between the Nth rib and the Nth rib, and a third threshold value indicating the boundary between the Nth rib and the (N + 1) th rib with reference to the lower end of the rib region Configuration steps;
When the Nth rib detected in the temporary setting step is located below the average value of the first threshold value and the second threshold value, the first rib that regards the rib immediately above the Nth rib as the Nth rib Correction steps;
When the N-th rib detected in the provisional setting step is positioned above a third threshold, a second correction step in which the rib immediately below the N-th rib is the N-th rib;
A selection step of comparing a difference in height between the center of the carcass rib region divided into two parts on the left and right and the first threshold value, and adopting a rib detection result obtained with the carcass having the smaller difference; The carcass division method according to claim 1, wherein the carcass division method is performed. The middle and rear housing dividing step
An imaging step for imaging the cut surface of the carcass, a detection step for detecting the third cutting point from the captured image, and a middle rod from the rear rod along the middle hind heel cutting line passing through the detected third cutting point. A cutting step for cutting, and
The detection step includes a first step of detecting a joint portion of the spine from image information of the captured image, a second step of detecting an inflection point of the contour of the spine from the captured image, and closest to the inflection point. The carcass division method according to claim 1, further comprising a third step of selecting a joint portion of the spine and setting the position of the joint portion as the third cutting point. Suspension device for suspending carcass of livestock carcass divided into left and right along the spine via the side ankles, and a cutting device for dividing the carcass suspended by the suspension device into anterior body, intermediate body and rear body A carcass splitting device comprising:
A front middle body dividing part for dividing the front body and the middle body, a middle rear body part for dividing the middle body and the rear body, and the carcasses suspended by the suspension device are divided into the front middle body part and the middle rear body. A conveying device that passes through the dividing unit and is temporarily stopped at the front middle frame dividing unit and the middle rear frame dividing unit, and a cutting site teaching device that teaches the cutting site of the carcass at the front middle frame dividing unit and the middle rear frame dividing unit; A controller for controlling the operation of the cutting blade of the cutting device based on the cutting site taught from the cutting site teaching device;
The controller uses a spine portion between the fourth and fifth ribs or between the fifth and sixth ribs counted from the head side as a second cutting point, and the ribs from the second cutting point toward the sternum side A horizontal line passing through the ribs from the distal end of the rib to the sternum region and a horizontal line extending from the second cutting point to the dorsal contour are defined as an anterior middle cadaver cutting line, and a point where the anterior middle cadaver cutting line intersects the sternum region is the first. Cut the precursor from the middle rod along the anterior middle rod cutting line from the first cutting point to the second cutting point, and set the third cutting point at the most distal joint of the spinal thigh , Controlling to cut the cadaver from the posterior rod along the posterior rib cutting line passing through the third cutting point while avoiding the hipbone toward the mesenter
In the front middle casing division part, the cutting device is composed of a first cutting device having a rotating round blade and a second cutting device having an articulated arm to which a knife-like cutting blade is attached,
After cutting the sternum part and the spine part with the rotary round blade, the remaining meat part is cut with the knife-like cutting blade along the front middle body cutting line. Splitting device.   In the front-medium-body division unit, the cutting site teaching device includes a laser pointer that irradiates a laser beam toward the cutting site, and a slider that is attached to the laser pointer and that can move the laser pointer to an arbitrary position in the two-dimensional direction. 5. The carcass division according to claim 4, wherein the position information of the drafter when the laser beam irradiates the first cutting point and the second cutting point is input to the controller. apparatus. In the front mid-body splitting unit, the cutting site teaching device includes an imaging device that images the carcass cut surface, a blue light irradiation lamp that irradiates the rib region of the carcass cut surface with blue visible light, and a carcass cut surface. A white light illuminating lamp that irradiates white visible light that does not exclude visible light of a specific wavelength, and provided in the imaging device, cuts visible light having a short wavelength of blue or less, and only visible light having a long wavelength of green or more. A long-pass filter for entering the imaging device,
The controller irradiates the rib region with blue visible light, irradiates the carcass cut surface with an image captured with only red to green long-wavelength visible light, and white visible light that does not exclude visible light with a specific wavelength. An image processing apparatus that detects a rib area and a height of a rib from a captured image, and an arithmetic unit that obtains the Nth rib from the head side from the detected rib area and the height of the rib. The carcass dividing apparatus according to claim 4.