JPH0777713B2 - Large fish automatic cutting method and automatic cutting device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cutting method and apparatus for cutting large fish such as tuna into a rectangular parallelepiped.

[0002]

2. Description of the Related Art Frozen tuna usually becomes a product (saku) through the following cutting process. (1) Separate the head and tail from the torso and cut into quarters in the length direction. (2) The above-mentioned quarter cut body is cut into a plurality of pieces in the transverse direction. (3) The fan-shaped cut body cut in the above (2) is cut lengthwise and widthwise to cut out a product having a substantially rectangular parallelepiped shape.

Conventionally, the cutting in each of the above-mentioned steps is performed by a worker in a line work using a band saw, but it is dangerous and requires a lot of labor, and even one worker who has little experience If it is present, there is a problem that the flow will not be smooth and the yield will be significantly reduced.

Therefore, the applicant of the present invention previously attached the second swivel arm to the free end of the horizontally swivelable first swivel arm so that the swivel can be swiveled horizontally, and the tip of the second swivel arm. , A pair of clamps are rotatably mounted in three planes orthogonal to each other, and a frozen tuna that has been sliced in advance is clamped by the clamps, and both swivel arms and clamps are swung and rotated. We have developed a device that allows you to freely change the position of the sliced frozen tuna and cut it with a band saw (Japanese Patent Application No. 3-30698).

[0005]

According to the above cutting device, a large fish can be cut safely and efficiently regardless of experience. However, in order to cut out the product, it is necessary for the worker to determine the shape and position of the meat and the middle bones, blood joints, etc., which is time-consuming and time-consuming. In addition, it is difficult to keep the volume (weight) and shape of the product within a predetermined range, and there is a complaint that the product is likely to be uneven.

[0006] The present invention efficiently and efficiently prepares products from large fish within a predetermined range of volume and shape without the need for the operator to determine the shape and position of meat and medium bones and blood joints.
An object of the present invention is to provide an automatic cutting method and an automatic cutting device for large fish that can be cut out with good yield .

[0007]

[Means for Solving the Problems]
In order toAutomatic cutting method for large fish according to claim 1 of the present invention
A large fish with a thickness approximately equal to the length of the intended product
A round-slicing process in which a slicer is used to slice into slices
Of sliced slicesTwo back to backCut endThe video
A picture taken with a camera to acquire images in the infrared region from red.
From the image acquisition process and the video acquired in the video acquisition processmeat
The shape and position ofDepending on the image processing device
Figure outIn the cutting information collecting process and the cutting information collecting process
Based on the obtained cutting information and preset cutting conditions
hand, Make a rectangular parallelepiped of approximately the same length as the thickness of the sliced body
The standard shape of the product and the predetermined shape
The volume is almost the same and the number of products is
The cutting pattern of a large product is processed by the processing coordinate calculation device.
And a cutout pattern determining step of calculating and determining
Based on the cutting pattern determined in the pattern determination process
handA control device controls the operation of the cutting machine to
Cut the opening into a nearly rectangular shape and make it approximately the same as the thickness of the sliced body
A product cutting process for cutting a product of a length
And

Product cutting pattern by machining coordinate calculation device
In the process of determining the chain, first, the first vertical line
Separate the two cuts of the round slice along the spine separately
The width of the allowable deformation frame of the product, and then the first line
The second and subsequent lines are defined horizontally from the
Divide into blocks, and after creating blocks,
Separate the two cuts for each block from the blood side.
It is preferable to set it individually.

The outermost block left over by the widthwise stripping
For the black area, consider vertical cutting of the product in the thickness direction, and
It is desirable to adopt the one that increases.

Defects in the shape occur around the periphery of the sliced body.
The rank of the defective product is added according to the weight and location of the defect.
It is preferable to determine by the work coordinate calculation device.

Also, the large fish of the present invention according to claim 5
The dynamic cutting device is designed to support large fish such as tuna with a clipper.
The first cutting machine that cuts and cuts is sandwiched between the left and right side surfaces of the sliced body.
A support device that supports the sliced body in a reversible manner by sandwiching it with a mounting mechanism.
And back-to-back two of the sliced body supported by the supporting device.
To capture the image from red to infrared region .
Video camera and the video captured by the video camera
Medium bone and Luo meat, and image processing to determine the shape and position of such Chiai
And the cutting information obtained by the image processing device
Based on the specified cutting conditions, it is almost the same as the thickness of the sliced body.
The standard shape of the product is a predetermined length of rectangular parallelepiped
The volume of the reference shape is approximately within the predetermined allowable deformation frame.
Product putter that is the same and has the maximum number of products
Is determined by calculating the
To determine the rank of defective products that cause defects in the shape
The coordinate calculator and the sliced body are clamped with a clamp and cut with a band saw.
A second cutter for cutting out the products from the cross was sliced body, said second
Sorting devices and, on sorting the products cut by the cutting machine
It is arranged near the second cutting machine and is used as a clamp for the second cutting machine.
The sandwiched plate is sandwiched between the sandwiched plates and sandwiched by the second cutting machine.
A change-over assisting device for changing over to a kimono and the above-mentioned processing coordinates
Based on the cut pattern and rank determined by the arithmetic unit <br/> has a structure in which and a control unit that controls operation of the second cutting unit and the sorting unit.

[0012]

Operation: The video camera is cut into slices by the first cutting machine.
Two back-to-back slices supported by a support device
Take a picture of the cut end to obtain a red to infrared image,
The image processing device can
Determine the shape and position of the flesh and mid-bone, and blood clot. Processing seat
The mark computing device is a device that uses the cutting information obtained by the image processing device.
Based on the preset cutting conditions,
If a given rectangular parallelepiped of almost the same length is used as the standard shape of the product,
Both the body within the predetermined allowable deformation frame from the reference shape
Cutting out products with almost the same product and the maximum number of products
The pattern is calculated and determined, and the peripheral part of the sliced body
Determine the rank of defective products that cause shape defects in
It The control device is the cutting device determined by the machining coordinate calculation device.
Second cutting machine and sorting device based on pattern and rank
Control the operation of. In addition, the changeover assistance device is the second disconnection.
The ring-shaped body sandwiched by the machine clamps is clamped by the clamp plate and
2 Change to the cutting tool of the cutting machine . Therefore, regular
In addition to improving the product yield, it is not necessary for the worker to see the cut end of the sliced body to know the shape and position of the meat or the mid-bone and perform the cutting operation.

Product cutting pattern by machining coordinate calculation device
First, the first vertical line is
Determined separately along the spine for two cuts in the cut
Then, if the width of the allowable deformation frame of the product is the first line above
The second and subsequent lines are set beside each other and the sliced body is divided into multiple blocks.
Divide into locks and after creating blocks, multiple horizontal lines
Separate the two cuts for each block from the blood side
With the configuration specified in, the volume is almost within the allowable deformation frame.
The cutting pattern that maximizes the number of identical products
Can be determined simply and quickly.

Further , the outermost portion left over in the widthwise stripping
The block area is manufactured by considering vertical cutting in the thickness direction of the product.
If the configuration that uses the largest number of products is adopted, the shape
The number of missing products that caused defects is reduced,
Will increase.

Furthermore, the shape is formed in the peripheral portion of the sliced body.
The rank and weight of the defective product
When the processing coordinate calculation device is used to determine
Shows the degree of shape loss and the position of each product after cutting the product.
Look after the product compared to when determining its rank
It is easy to manage, and the rank can be determined more accurately.
You can

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The attached drawings show an embodiment of an automatic cutting apparatus for large fish according to the present invention. As shown in FIG. 1, the automatic cutting device includes a first cutting device 1, a take-out device 2, a supporting device 3, an artificial vision device 4, a control device 5, a carrying device 6, a second cutting device 7, and a sorting device. 8 and mainly.

The first cutting machine 1 cuts large fish (generally frozen fish) W such as tuna into round slices, and is shown in FIGS.
As shown in FIG. 3, a support mechanism 11 and a cutting mechanism 12 are provided. Explaining the support mechanism 11, a movable base 14 is slidably attached to the front-rear direction guide bars 13, 13. The movable table 14 has lateral guide bars 15 and 15, and the cylinder 16 allows the guide bars 13 and 13 to move forward and backward.
Is moved in the front-back direction (direction perpendicular to the paper surface in FIG. 2). The lateral guide bars 15 and 15 have movable plates 17 and
18 and 19 are slidably attached.

The movable plate 17 is provided with a fixed clipper 21 and a movable clipper 23 that is moved downward by the cylinder 22 to sandwich the large fish W between the fixed clipper 21. In addition, the other movable plates 18 and 19 have movable clippers 24, 25, and 2 attached thereto.
6, 27 are provided so as to be vertically movable along the guide rods 28, 29. The lower movable clip 24, 26 is the cylinder 3
The movable clippers 25, 27 connected to the piston rods 0, 31 and the upper movable clippers 25, 27 are connected to the main bodies of the cylinders 30, 31. Move up and down and approach each other,
Insert the large fish W. The movable clippers 24, 25, 26,
Numeral 27 merely presses down the large fish W falling on the floor and the lateral vibration, and is actually supported by the sandwiched large fish W.

A motor 33 and a cylinder 34 are provided on the movable plate 17. The motor 33 is provided with a pinion 35 on its output shaft, and the pinion 35 is meshed with a rack 36 fixed to the movable table 14. The movable plate 17 is the motor 3
Rotation of the pinion 35 by 3 causes lateral guide bar 15,
It is moved left and right in FIG. 2 along 15. The cylinder 34 has its piston rod connected to the movable plate 18, and moves the movable plate 18 left and right with respect to the movable plate 17. A cylinder 37 is provided on the movable plate 19 with its piston rod connected to the movable base 14. The movable plate 19 is moved left and right by the cylinder 37 along the lateral guide bars 15, 15.

The cutting mechanism 12 includes four pulleys 38 (in FIG. 2, 1 pulley) arranged at the corners of the quadrangle and arranged in the vertical plane.
Only the individual is shown. ) Is wound with an endless band saw 39, and a large-sized fish W is cut into slices by moving the band saw 39 by rotation of a pulley 38 by a drive motor (not shown).

The take-out device 2 receives the wheel slice Wa cut by the first cutting machine 1 from the movable clippers 26, 27 and delivers it to the next supporting device 3, and the wheel clip Wa is moved by the movable clippers 26, 27. The receiving function received from 27, the swiveling function of horizontally swiveling the received sliced body Wa to the supporting device 3, and the swiveling body Wa being rotated 90 degrees up and down to make the cut surface up or down, the supporting device 3 It has the function of turning up and down.

The support device 3, as shown in FIGS. 5 and 6,
A pinching mechanism 42 for pinching the sliced body Wa on the upper end of the column 41.
Equipped with. The sandwiching mechanism 42 supports the sliced body Wa by sandwiching the left and right side surfaces of the sliced body Wa, and a horizontal shaft 43.
It can be turned upside down (reversed) about a vertical axis and can be turned left and right around a vertical shaft 44. The horizontal shaft 43 and the vertical shaft 44 are individually rotated by a servomotor or the like. The supporting device 3 receives the sliced body Wa from the extracting device 2 and supports it under the video camera 46 of the artificial vision device 4,
It is also passed to the carrier device 6.

The artificial vision device 4 comprises a video camera 46 and an image processing device 47, as shown in FIG. The video camera 46 separately photographs the two cuts of the sliced body Wa, and the image processing device 47 causes the image processing device 47 to capture images A1 and A2 of the two cuts of the sliced body Wa (FIG. 8).
From the above, the shape and position of the normal meat a, the middle bone b, the blood c, etc. are determined. In addition, the code | symbol d is a spine, e is a fin, f is a belly, g is a skin.

Here, the detection of the shape and the position of the meat a, the middle bone b, the blood c, etc. by the artificial vision device 4 will be described in detail. If the large fish W is a frozen fish, it is usually a sliced body W
Since frost adheres to the cut edge of a, the images A1 and A2 in the red to infrared regions, which are hardly affected by frost, are recorded by the video camera 46.
To get. In order to make the contrast between the sliced body Wa and the background h clear, the background h is black. The brightness of each part of the images A1 and A2 obtained as a result of this is medium bone b> normal flesh a> blood c = background h.

As shown in FIG. 9, one image is divided into 512 × 488 pixels in total, 512 × 488 pixels in total, and stored in the frame memory. Each pixel is, for example, 0 according to the brightness thereof, like the numbers in the squares in FIG.
(Dark) to 255 (bright).

The characteristic coordinates are represented by points or a series of points. The meat a, the middle bones b, etc. are recognized by the following procedure. That is, a histogram of the brightness level of the entire image is created. This histogram has two large peaks Ya and Yh as shown in FIG. The bright mountain Ya is the normal meat a, and the dark mountain Yh is the background h. A binary image is created using the valley Ta between the two peaks Ya and Yh as a threshold value. As a result, the normal meat a appears as a bright area in the binary image as shown in FIG. The boundary between the dark background h and the light meat a is acquired as the outline Ra of the sliced body Wa. Since the blood clot appears as a dark area in the contour Ra, the contour Rc of this area is acquired as a blood clot.

After that, a histogram of the brightness level is created inside the contour Ra. This histogram has three peaks Yb, Ya and Yc as shown in FIG. The mid-bone b, which could not be captured so far, emerges as the area is narrowed. In FIG. 12, the brightest mountain Yb is the middle bone b, the middle mountain Ya is normal meat a, and the darkest mountain Yc is blood. A binary image is created using the valley Tb between two adjacent peaks Yb and Ya as a threshold value. As a result, the inner bones b appear as bright areas in the binary image, as shown in FIG. The boundary of this area is acquired as the contour Rb of the middle bone b. Then, the center of the region of the middle bone b is set as the center of the sliced body Wa.

The cut-off position f ₁ (FIG. 14) of the belly f is manually input. Fin e may not appear at the cut end. Therefore, the cut-off position e ₁ (FIG. 14) of the fin e is determined by the data obtained by measuring in advance for each fish species and weight.

A processing coordinate calculation device 9 is connected to the artificial vision device 4. The processing coordinate calculator 9 (FIG. 7) calculates and determines the cutout pattern of the product M (FIG. 15) based on the cutting information given from the artificial vision device and the preset cutting conditions. The cutting conditions include the shape and weight of the product M. The reference shape of the product M is, for example, a rectangular parallelepiped as shown in FIG. The shape of the fish is complicated and the sliced body W
It continuously changes from one end of a to the other end. Therefore, if only the product M having the standard shape is taken while avoiding the bone, the skin, and the blood mixture, many odd parts are generated in the vicinity of the bone, the skin, and the blood mixture, and the ratio of the complete product M becomes low.

Therefore, a permissible deformation frame is provided. For the deformation of the product M, the product end faces M1 and M2 of both cut ends of the sliced body Wa
Is displaced in the width wi direction of the product M, product end faces M1, M
2 is a displacement in the thickness direction, a deformation in which the width wi of the product M is gradually reduced (or increased), a deformation in which the thickness of the product M is gradually reduced (or increased), and a combination including two or more of the above deformations. There is deformation, etc., but the degree of deformation is specified as appropriate. It is also possible to cut out only the standard shape product M without recognizing any deformation. In any case, the volume (weight) of product M
Is constant.

The length l of the product M corresponds to the thickness of the sliced body Wa, but in the case of the product M in which the product end faces M1 and M2 are deformed so as to be displaced in the thickness t direction, it is apparent. The length l is larger than the thickness of the sliced body Wa.

An example of determining the product cutout pattern by the processing coordinate calculating unit 9 will be explained.
First, as shown in FIG. 16, a vertical slice Ly1, Ly2, Ly3 that is parallel to the spine d is formed on the sliced body Wa with the width wi of the product M.
The spine d is divided into blocks by. The first vertical line Ly1 is determined along the spine d separately for the upper and lower surfaces (one cut surface is the upper surface and the other is the lower surface). First line Ly
Since 1 needs to be parallel on the upper and lower surfaces, a line having an average inclination of the upper and lower surfaces is determined on the normal meat a side of the upper and lower surfaces. At this time, the deviation between the first lines Ly1 and Ly1 on the upper and lower surfaces is kept within the limit. In the case of the standard shape product M, no deviation occurs.

The second line Ly after the first line Ly1
The second and third lines Ly3 ... Are basically determined at equal intervals from the first line Ly1. At this time, the interval is adjusted within the range of the allowable deformation frame so that the largest number of blocks can be taken.

After the blocks are created, the product M is prepared for each block.
To take. The first horizontal line Lx1 is taken on the blood c side. The first line Lx1 is determined at right angles to the block lines Ly1, Ly2 ... At this time, since the block lines Ly1, Ly2, ... Are parallel to each other on the upper and lower surfaces,
The parallelism of the first lines Lx1 and Lx1 is maintained. The deviation between the first lines Lx1 and Lx1 on the upper and lower surfaces is set within the allowable deformation frame.

The second line Lx after the first line Lx1
The second and third lines Lx3 ... Are defined within the range of the allowable deformation frame as shown in FIG. 17 so that the largest number of products M can be obtained. As for the area left over in the widthwise direction in the widthwise direction, verticalization in the thickness t direction is examined, and the one having the largest number of products M is adopted. FIG. 18 shows an example of final determination of product cutout patterns.

The skin g is taken along the contour Ra. The product M which can be taken in the peripheral portion with respect to the designated shape has a shape defect. The processing coordinate calculation device 9 determines the rank of the product M according to the weight and the part of the defect. The image processing device 47
The machining coordinate calculation device 9 and the machining coordinate calculation device 9 perform the above-described processing and calculation according to the programs stored in the main memory of each other.

The control device 5 receives the output signal from the processing coordinate calculation device 9, operates the second cutting machine 7 based on the product cutting pattern determined by the processing coordinate calculation device 9, and removes the product M from the wheel slice Wa. Along with cutting out, sorting device 8
The move, kicking sorting the product M to the rank defined by the machining coordinate calculation unit 9. The carrying device 6 receives the sliced body Wa from the supporting device 3 and carries it to the second cutting machine 7.

As described above, the second cutting machine 7 cuts out the product M from the sliced body Wa, and an example of the detailed structure thereof is shown in FIGS. 19 and 20. The second cutting machine 7 includes a support mechanism 48 and a cutting mechanism 49. Support mechanism 48
Is a support base 51, a first turning arm 52, a first turning drive device 53, a second turning arm 54, a second turning drive device 55, a turning member 56, and a third turning drive device. 5
7, the elevation member 58, the elevation drive device 59, the fixing device 60, and the tilt drive device 61 are main components, and the cutting mechanism 49 is mainly the endless band saw 50.

The support base 51 is attached to a pedestal, and vertically supports a first vertical shaft 62 by a bearing 63 so as to be rotatable in the circumferential direction. A first swivel arm 52 made of a pipe is fixed to the upper end of the first vertical shaft 62. The first turning drive device 53 is composed of a servomotor, and its output shaft is connected to the first vertical shaft 62 and is housed inside the support base 51.
The first swivel arm 52 is swung left and right about the first vertical axis 62.

At the free end of the first turning arm 52, a second vertical shaft 64 is supported by a bearing 65 so as to be rotatable in the circumferential direction. A second swivel arm 54 made of a pipe is horizontally fixed to the upper end of the second vertical shaft 64, and the output shaft of a second swivel drive device 55 composed of a servomotor is connected to the lower end thereof. The second turning drive device 55 includes the first turning arm 52.
Is fixed to the second vertical arm 6 and
Turn left and right around 4.

Further, the second turning arm 54 has a free end which supports a third vertical shaft 66 by a bearing 67 so as to be rotatable in the circumferential direction. The turning member 56 is fixed to the upper end of the third vertical shaft 66, and the output shaft of the third turning drive device 57 composed of a servomotor is connected to the lower end. The third turning drive device 57 is fixed to the second turning arm 54,
The turning member 56 is turned left and right about the third vertical axis 66.

The turning member 56 supports a horizontal shaft 68 and a bearing 69.
It is supported horizontally and is rotatable in the circumferential direction. The horizontal shaft 68 has its axial direction orthogonal to the axial direction of the third vertical shaft 66. The elevation member 58 is fixed to one end of the horizontal shaft 68, and the output shaft of the elevation drive device 59 including a servomotor is connected to the other end. The elevation drive device 59 is fixed to the swivel member 56, and raises and lowers the elevation member 58 back and forth around a horizontal axis 68.

Further, the elevation member 58 supports a rotating shaft 70 by a bearing 71 so as to be rotatable in the circumferential direction. The axis of the rotary shaft 70 is orthogonal to the axis of the horizontal shaft 68. The fixing device 60 is attached to one end of the rotary shaft 70, and the output shaft of a tilt drive device 61 including a servomotor is connected to the other end. The tilting drive device 61 is fixed to the elevation member 58, and tilts the fixing device 60 left and right around the rotation shaft 70.

The fixing device 60 is attached to the rotating shaft 70, and moves the pair of upper and lower clamps 72, 72 individually by the fixing cylinders 73, 73 to fix the sliced body Wa.

The band saw 50 is wound around four pulleys 74 (only two of which are shown in FIG. 19) arranged in a square in one vertical plane, and is driven by a drive motor 75. The sliced body Wa is cut. Each drive device 53, 55, 57, 59, 61 of this cutting machine 7 is a control device 5.
Is connected to the control unit 5 and its operation is controlled by a command signal from the control device 5 to move the sliced body Wa and change the posture of the sliced body Wa. In the cutting machine 7 of FIG. 1, one support mechanism 48 is provided on each of the rising side and the falling side of one band saw 50 of one cutting mechanism 49.

A sorting device 8 is provided near the second cutting machine 7. The detailed structure of the sorting device 8 is shown in FIGS. The sorting device 8 mainly includes a fixed shooter 80, a sorting turning shooter 81, and a sorting drive motor 82 such as a servo motor. The fixed shooter 80 receives the product M cut off by the band saw 50 of the cutting machine 7 and slides off from the lower end to the sorting turning shooter 81, and is fixed to the arm 84 horizontally rotatably attached to the support rod 83. ing. Fixed shooter 8
0 is provided with a slit 80a through which the band saw 50 passes, and the product M is cut directly above the fixed shooter 80.

The sorting swivel shooter 81 includes a support rod 83.
The arm 85 is attached to the tip of the arm 85 so as to be pivotable right and left by a pivot 86. An output shaft 88 of a speed reducer 87 attached to the sorting drive motor 82 is connected to the pivot shaft 86 with a joint 89. Drive motor for sorting 82
Operates in response to a command signal from the control device 5, and attaches the sorting turning shooter 81 to the rank positions Z1, Z2, ... Z6 of the product M cut out by the cutting machine 7. Limit switches 90a, 90f are provided around the joint 89 in correspondence with the respective rank positions Z1-Z6, and the dogs 91a, 90f (90b, 90d, 90d
91b, 91d are not shown in the figure. ), The turning shooter 81 outputs a confirmation signal indicating the command rank position.

Further, near the cutting machine 7, there is provided a changeover assisting device 95 shown in FIG. Auxiliary holding device 9
5 receives the half-cut slice Wa from the clamps 72 , 72 of the support mechanism 48 and clamps 72 , 72
The wheel slice Wa is held so that it can be easily cut, and the fixed seat 96 and the clamping plate 98 that is moved by the cylinder 97 to sandwich the wheel slice Wa in the fixed seat 96.
With. In addition, the same position of the sliced body Wa is clamped by the clamp 7
If it continues to be clamped by 2, 72 for a long time, the clamp 72,
The frozen end slice Wa is partially melted by the endothermic action of 72.
The frozen sliced body Wa
Can be prevented from partially melting.

Next, the operation of the large fish automatic cutting device configured as described above will be described with reference to FIG. The large fish W is horizontally supported by the support mechanism 11 of the first cutting machine 1 and is sliced by the cutting mechanism 12 in a thickness equal to the length l of the product M scheduled. The sliced body Wa cut by the cutting machine 1 is passed to the support device 3 by the take-out device 2. The support device 3 that has received the sliced body Wa horizontally brings the sliced body Wa under the video camera 46 of the artificial vision device 4. The artificial vision device 4 shoots the upper cut with the video camera 46 to obtain the image A1. When this photographing is completed, the supporting device 3 reverses the sliced body Wa and makes the cut end that was underneath so far upward. The artificial vision device 4 again captures the upper cut with the video camera 46 to obtain the image A2 (step S1 in FIG. 25). The signals of images A1 and A2 are A
The data is D / D converted and stored in the frame memory of the image processing device 47 (step S2).

The image data on the frame memory is processed by the image processing program placed on the main memory, and the characteristic coordinates of the outer shape, blood joint, mid-bone, etc. of the sliced body Wa are calculated (step S3). This feature coordinate data is
It is transferred to the processing coordinate calculation device 9 (step S4).

When the data is sent to the machining coordinate computing device 9, the machining coordinate computing device 9 processes the data by the machining coordinate computing program placed on the main memory to calculate the machining coordinates (step S5). From the processing coordinates,
The control data of the mechanical device such as the second cutting machine 7 is created (step S6). The control data of the mechanical device is transferred to the control device 5 (step S7).

While the machining coordinate calculation device 9 processes the characteristic coordinate data and creates the control data, the sliced object Wa, which has been photographed, is passed from the supporting device 3 to the conveying device 6,
It is carried by the carrier device 6 to the second cutting machine 7. Second cutting machine 7
Receives and supports the sliced body Wa of the transport device 6 by the fixing device 60 of the support mechanism 48. All of these operations are performed by a command signal from the control device 5.

When the sliced body Wa is carried into the second cutting machine 7, the control device 5 controls the operation of the mechanical device such as the cutting machine 7 based on the control data, and cuts out the product M (step S8). , Product M is sorted by rank.

[0054]

As described above, according to the first aspect of the invention,
The automatic cutting method of shaped fish is a round-slicing process in which a large-sized fish is sliced with a cutting machine at a thickness approximately equal to the planned product length,
Two back-to-back slices that were sliced in the sliced process
Shadow to the infrared region from red to shooting in One cuts the video camera
Image acquisition process of acquiring the image of
From the obtained image , the shape and position of the flesh and mid-bone
Based on the cutting information collecting step for indexing by the image processing device, the cutting information obtained in the cutting information collecting step and the preset cutting conditions, the thickness of the sliced body is approximately the same as the thickness.
Use a predetermined rectangular parallelepiped as the reference shape of the product and
From the shape, the volume is almost the same within the predetermined allowable deformation frame.
And process the cutting pattern of the product with the maximum number of products
Cutting pattern decision calculated by the coordinate calculation device
Cutout and cutout determined in the cutout pattern determination step
The controller controls the operation of the cutting machine based on the pattern ,
Since it is configured to include a product cutting step of cutting the cut end of the sliced body into a substantially rectangular shape and cutting out a product having a length substantially the same as the thickness of the sliced body, the worker has two methods of back-to-back of the sliced body. It is not necessary to know the shape and position of the meat, the middle bones, etc. by looking at the cut edge every time the product is cut out, which saves labor and cuts the product automatically without any danger. In addition , the sliced body is frozen and cut
Even if there is frost on the
The video of the area is acquired and back-to-back without being affected by frost.
Accurately divide the shape and position of the meat
Since it can be pushed out, you can make two cuts back to back
The shape and position of the middle bones, spine, blood, etc.
Even if there is something like that,
You can avoid it and cut the slice accurately, and it is a genuine product.
The yield can be improved.

Product cutting pattern by machining coordinate calculation device
First, the first vertical line is
Determined separately along the spine for two cuts in the cut
Then, if the width of the allowable deformation frame of the product is the first line above
The second and subsequent lines are set beside each other and the sliced body is divided into multiple blocks.
Divide into locks and after creating blocks, multiple horizontal lines
Separate the two cuts for each block from the blood side
With the configuration specified in, the volume is almost within the allowable deformation frame.
The cutting pattern that maximizes the number of identical products
Can be determined simply and quickly.

Also, the outermost portion left over in the widthwise stripping
The block area is manufactured by considering vertical cutting in the thickness direction of the product .
If the configuration that uses the largest number of products is adopted, the shape
The number of missing products that caused defects is reduced,
Will increase.

Furthermore , the shape at the periphery of the sliced body
The rank and weight of the defective product
When the processing coordinate calculation device is used to determine
Shows the degree of shape loss and the position of each product after cutting the product.
Look after the product compared to when determining its rank
It is easy to manage, and the rank can be determined more accurately.
You can

Further, an automatic cutting device for large fish according to claim 5
The table is cut into pieces by supporting large fish such as tuna with a clip.
The 1st cutting machine and the left and right side surfaces of the sliced body
A support device for reversibly supporting the sliced body by sandwiching it, and the supporting device.
Two back-to-back cuts of a sliced body supported by a holding device
Video of shooting the mouth and capturing footage from the red to the infrared region
A camera and an image processing apparatus for determining the shape and position of meat and bones, blood joints, etc. from images captured by the video camera
And the cutting information obtained by the image processing device is preset.
Based on the cutting conditions, the length is almost the same as the thickness of the sliced body.
The specified rectangular parallelepiped of is used as the reference shape of the product and
Volume is almost the same within the permissible deformation frame that is predetermined from the shape
And the product cutting pattern that maximizes the number of products
Calculated and determined and the shape in the periphery of the sliced body
Process coordinates that determine the rank of a defective product that causes a defect in the
Calculation device and, sliced body pinched by a second cutter for cutting out the products from the cut with the band saw wheel <br/> cutting body, said second cutter in the cut out product sorting sorting device with clamping members to And the second
It is placed near the cutting machine and is clamped by the clamp of the second cutting machine.
The cut sliced body is sandwiched by a sandwich plate and used as a sandwich tool for the second cutting machine.
A changeover assisting device for changing the changeover and the above-mentioned processing coordinate calculation device
It said first based on cut pattern and rank determined in location
Since there is a configuration in which and a control device for controlling the operation of the second cutting unit and the sorting device, on which it is possible to obtain the same effect as the above cutting method, by Mochikaeru the slice member by Jigae aid The product can be cut out efficiently, and moreover, the same position of the sliced body can be
By continuing to clamp for a long time with a clamp that has an endothermic effect
Partial melting of the resulting frozen sliced body can be prevented by the changeover by the changeover assisting device.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of an automatic cutting device for large fish according to the present invention.

FIG. 2 is a front view of a first cutting machine.

FIG. 3 is likewise a plan view.

FIG. 4 is likewise a side view.

FIG. 5 is a front view showing the relationship between the support device and the video camera.

FIG. 6 is likewise a plan view.

FIG. 7 is a block diagram of an artificial vision device, a processing coordinate calculation device, and a control device.

FIG. 8 is a diagram showing images of two cut edges taken by a video camera.

FIG. 9 is a diagram showing an example of a luminance distribution of each pixel of a video camera.

10 is a frequency distribution diagram of luminance levels in the image of FIG.

FIG. 11 is a diagram of a binary image in which a valley between the background and the meat in FIG. 10 is used as a threshold value.

FIG. 12 is a frequency distribution diagram of luminance levels within a meat contour.

FIG. 13 is a diagram of a binary image in which the valley between the meat and the middle bone in FIG. 12 is used as a threshold value.

FIG. 14 is an explanatory view of the cut-off positions of the belly and the fin.

FIG. 15 is an external view showing an example of a reference shape of a product.

FIG. 16 is a diagram showing an example of determining a vertical division line by the processing coordinate calculation device.

FIG. 17 is a stereoscopic view showing an example of determining a horizontal division line by the processing coordinate calculation device.

FIG. 18 is a diagram showing an example of determining a product cutout pattern by the processing coordinate calculation device.

FIG. 19 is a front view of a second cutting machine with a part cut away.

FIG. 20 is a plan view of a fixing device portion in which a part of the second cutting machine is broken.

FIG. 21 is a front view showing an example of a sorting device.

FIG. 22 is a plan view of the same.

FIG. 23 is a cross-sectional view of a pivot portion of a sorting turning shooter.

FIG. 24 is a front view of the changeover assistance device.

FIG. 25 is a flowchart of image processing.

[Explanation of symbols]

1 1st cutting machine 3 Support device 4 Artificial vision device 5 Control device 7 2nd cutting machine 8 Sorting device 9 Processing coordinate calculation device 21,23,24,25,26,27 Clamp 42 Clamping mechanism 46 Video camera 47 image Processing device 72 Clamping tool 95 Changeover assisting device 98 Clamping plate a Meat b Middle bone c Blood joint d Spine A1, A2 Image M Product W Large fish Wa Wa sliced body

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Tsutomu Kawai 1-9-3 Kamatahonmachi, Ota-ku, Tokyo Incorporated Niigata Iron Works Machinery Division Chikusan Center (72) Inventor Yasuo Kakinuma Kasumigaseki, Chiyoda-ku, Tokyo 1-4-1 Niigata Iron Works Machinery Division, Chikusan Center (72) Inventor Shigenori Yokota 27 Shinisogo-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Niigata Iron Works Yokohama Development Center (72) Inventor Toshi Oyama 161-1, Shimazaki-cho, Shimizu-shi, Shizuoka, Toyo Refrigeration Co., Ltd. (72) Inventor Toshio Hirose 4-27-23, Meieki, Nakamura-ku, Nagoya, Aichi Prefecture (56) References Flat 3-43192 (JP, A) Japanese Patent Public Flat 2-46708 (JP, B2)

Claims (5)

[Claims] 1. A two- incision process of a large-sized fish sliced in a slicer with a thickness approximately equal to the intended product length, and a back-to-back sliced sliced slice in the sliced slice process. With a video camera to capture images in the red to infrared range
The video acquisition process to be acquired and the video acquired in the video acquisition process
Image processing of shape and position such as meat and middle bones, blood mixture etc. from video
Based on the cutting information collecting step for indexing by the device , and the cutting information obtained in the cutting information collecting step and preset cutting conditions, a predetermined straight line having substantially the same length as the thickness of the sliced body is formed.
Use the cube as the reference shape of the product and
The product has almost the same volume within the allowable deformation frame specified for
Machining coordinate calculation of the cutting pattern of the product with the maximum number
Cutting pattern determination process that is calculated and determined by the device
And the cutting pattern determined in the cutting pattern determination step
The control device controls the operation of the cutting machine on the basis of the cutting speed, cuts the cut end of the sliced body into a substantially rectangular shape, and cuts out a product having a length substantially equal to the thickness of the sliced body. A feature of automatic cutting of large fish. 2. A cutting-out pattern of a product by a processing coordinate calculating device.
In the turn determination process, first, the first vertical line
Separate the two cuts of the round slice along the spine separately
The width of the allowable deformation frame of the product, and then the first line
The second and subsequent lines are defined horizontally from the
Divide into blocks, and after creating blocks,
Separate the two cuts for each block from the blood side.
Large fish method for automatic cutting of claim 1, wherein the specified people on. 3. The outermost block that is left over by the widthwise stripping.
In the area of products, considering the vertical cutting of the product in the thickness direction,
The method of claim 2, wherein the largest number is adopted.
The automatic cutting method for large fish described . 4. A shape defect is formed in the peripheral portion of the sliced body.
The rank of defective products caused depends on the weight and location of the defect.
3. The machining coordinate calculation device determines the coordinate.
Alternatively, the method for automatically cutting large fish described in 3 above . 5. A large fish such as tuna is supported by a clip and supported by a wheel.
The first cutting machine that cuts and cuts is sandwiched between the left and right side surfaces of the sliced body.
A support device that supports the sliced body in a reversible manner by sandwiching it with a mounting mechanism.
And back-to-back two of the sliced body supported by the supporting device.
To capture the image from red to infrared region.
Video camera and the video captured by the video camera
Medium bone and Luo meat, and image processing to determine the shape and position of such Chiai
And the cutting information obtained by the image processing device
Based on the specified cutting conditions, it is almost the same as the thickness of the sliced body.
The standard shape of the product is a predetermined length of rectangular parallelepiped
The volume of the reference shape is approximately within the predetermined allowable deformation frame.
Product putter that is the same and has the maximum number of products
Is determined by calculating the
To determine the rank of defective products that cause defects in the shape
The coordinate calculator and the sliced body are clamped with a clamp and cut with a band saw.
A second cutter for cutting out the products from the cross was sliced body, said second
Sorting devices and, on sorting the products cut by the cutting machine
It is arranged near the second cutting machine and is used as a clamp for the second cutting machine.
The sandwiched plate is sandwiched between the sandwiched plates and sandwiched by the second cutting machine.
A change-over assisting device for changing over to a kimono and the above-mentioned processing coordinates
Large fish automatic cutting device, characterized by comprising on the basis of the cut pattern and rank determined by the arithmetic unit and <br/> the second cutting machine and a control device that controls operation of the sorting device.