NZ753703B2

NZ753703B2 - A carcass processing system and method

Info

Publication number: NZ753703B2
Application number: NZ753703A
Authority: NZ
Inventors: Clyde Campbell
Original assignee: Scott Automation & Robotics Pty Limited
Priority date: 2016-11-09
Filing date: 2016-12-23
Publication date: 2021-05-27

Abstract

carcass cutting system including a belt positioned below a conveyor such as to stabilise a carcass during imaging and/or cutting operations. An offset section of conveyor track in the region of the belt may be utilized to urge the carcass against the belt. Imagining may use an optical imaging system, an X-ray imaging system, a laser scanning camera, a time of flight camera or a Dual-energy X-ray absorptiometry system. Imaging information may be used to calculate cutting paths and/or weight distribution of carcass portions. Cutting may be performed by a robotic cutter using a circular saw or a circular knife. The carcass when processed is held at an angle by a special belt and the force of gravity together to stabilize the carcass while it is imaged and cut. em, an X-ray imaging system, a laser scanning camera, a time of flight camera or a Dual-energy X-ray absorptiometry system. Imaging information may be used to calculate cutting paths and/or weight distribution of carcass portions. Cutting may be performed by a robotic cutter using a circular saw or a circular knife. The carcass when processed is held at an angle by a special belt and the force of gravity together to stabilize the carcass while it is imaged and cut.

Description

A CARCASS PROCESSING SYSTEM AND METHOD FIELD This invention relates to a carcass processing system and method for imaging and or performing cuts on a s. The method and system are particularly suited to processing of a carcass during its transportation along a conveyor.

OUND In the meat processing industry much processing is performed whilst a s is conveyed along a conveyor line. For automated imaging and cutting steps it is often necessary to remove a carcass from the conveyor to stabilize the carcass for automated sing. This may e placing the carcass on a trolley, holding the carcass using a robotic arm or placing the carcass on a flat conveyor. This requires additional ng and equipment and may make processing less efficient.

The difficulty with performing operations on a carcass moving on a conveyor is that the carcass my not remain in a stable frame of reference. Typically, a carcass will swing about its centerline. During imaging the movement of the carcass of the path of the conveyor may result in inaccurate or distorted g information being captured. The image ation may indicate that the carcass is in a certain position with respect to the conveyor but due to swing this position may be different with t to the conveyor at the cutting station.

During cutting swing of the carcass can present the cutting tool with a moving target to cut. This may also be out of alignment with the imaged information.

Further the force of the tool on the carcass may move the carcass away from its free hanging position.

These problems have resulted in automated carcass processing steps typically being performed with the carcass removed from the or.

It is an object of the invention to provide a carcass processing system and method which stabilizes the carcass during processing on a conveyor or to at least provide the public with a useful .

SUMMARY According to one example embodiment there is provided a carcass cutting system comprising: a. a conveyor for conveying a g s; b. a belt positioned below the conveyor such as to: i. position a carcass away from its natural hanging position; and ii. stabilise the carcass by forcing it t the belt via the force of gravity only; c. a cutting tool positioned to m a cut whilst a carcass is t the belt ; and. d. an imaging system positioned to capture an image of the carcass prior to cutting wherein the imaging system is selected from one or more of: an optical imaging system, an X-ray imaging , a laser ng camera, a time of flight camera and a Dual-energy X-ray absorptiometry system.

According to another example embodiment there is provided a method of performing a cut on a carcass comprising the steps of: a. hanging a carcass on a conveyor; b. advancing the carcass along the conveyor against a belt moving in the direction of the conveyor which is positioned with respect to the conveyor such that the carcass is stabilised by forcing it against the belt via the force of gravity only; c. imaging the carcass whilst it is against the belt using an imaging system selected from one or more of: an optical imaging system, an X-ray imaging system, a laser scanning camera, a time of flight camera and a Dual-energy X-ray absorptiometry system; and d. performing a cut on the carcass whilst it is t the belt.

It is acknowledged that the terms ise”, “comprises” and “comprising” may, under varying jurisdictions, be attributed with either an exclusive or an inclusive meaning. For the purpose of this specification, and unless otherwise noted, these terms are intended to have an inclusive meaning – i.e., they will be taken to mean an inclusion of the listed ents which the use directly references, and possibly also of other non-specified ents or elements.

Reference to any document in this specification does not constitute an admission that it is prior art, validly combinable with other nts or that it forms part of the common general knowledge.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings which are incorporated in and constitute part of the specification, illustrate embodiments of the invention and, together with the general description of the invention given above, and the detailed description of embodiments given below, serve to explain the ples of the ion, in which: Figure 1 is a schematic perspective view of a carcass processing system; Figure 2 is an end view of the carcass processing system shown in Figure 1; Figure 3 is a plan view of a carcass processing system ing an offset section of conveyor track; and Figure 4 is an end view of a carcass hanging next to the belt and away from the belt.

DETAILED DESCRIPTION Figure 1 shows an exemplary carcass processing system 1 in which ses 4 hang by hooks from pulleys 3 and are conveyed along or rail 2. Carcasses are advanced along the conveyor from right to left so that they pass in front of imaging device 5 for imaging prior to passing in front of cutting tool 6.

In the region of the conveyor nt the imaging device 5 and cutting tool 6 a belt 8 is provided. Belt 8 is in the form of a continuous loop belt (only shown schematically) driven from right to left. The belt may suitably be between 200 to 3000mm in width. Belt 8 may be in the form of a number of rigid hinged sections or a flexible material. Belt 8 may be driven at a continuous speed by a motor or the motor may be controllable to stop and start the belt as described below.

Referring now to Figure 2 it will be seen that belt 8 is inclined at an angle Ɵ to the al, which may ly be between 5 to 40 degrees, with about 5 degrees being found adequate and requiring less support by the belt. Referring back to Figure 1 a transition zone 9 is provided for the belt to move the carcass 4 from a vertical hanging position to the inclined orientation shown in Figure 2. Due to the force of gravity upon the carcass it is forced against the inclined belt and this stabilizes the carcass. As the carcass now travels along a predictable path only the movement in the direction of the conveyor changes as the carcass moves (i.e. the swing element has been removed).

In operation a carcass 4 will be moved onto the tion zone 9 of the belt. Either pulleys 3 may be advanced by an ted system or the ses may be advanced manually. Once on the transition zone the carcass will be advanced along the conveyor through the transition zone until the carcass is on the inclined section of the belt 8 (see Figure 2). The carcass is next advanced to a position in front of the g device 5, which may suitably be an X-ray imaging system, an optical camera, a laser scanner (i.e. a system ting structured light and detecting the reflection with a camera to develop depth information), a time of flight camera or other suitable imaging systems.

During image capture the belt may stop to allow the imaging device 5 to capture one or more images. Alternatively, the belt 8 may continue to be driven and one or more images captured whilst the carcass is moving. In any case lateral and udinal swing has been d and so the imaging information obtained will have a known correlation for the next cutting stage. The image ation is provided to control system 10 which calculates the positions of required cuts.

Belt 8 is then driven to advance carcass 4 to a position in front of cutting tool 6. In this case the cutting tool is a robotic arm having a ar saw blade or circular knife 7 to perform the required cuts. Again cuts may either be performed whilst the belt is moving (with the robotic arm tracking the movement of the belt) or belt 8 may be stopped to allow the robotic arm to perform the cuts whilst the s is stationary. Control system 10 may calculate the position of belt 8 so that it knows the position of the carcass so that with the imaging information it can direct the robotic arm to perform the cuts whether moving or stationary. However, the cutting tool could additionally be fitted with a vision system to guide it to perform required cuts.

Referring now to Figures 3 and 4 an alternate design employing a laterally offset conveyor n will be described. The conveyor is seen to include main conveyor ns 11 and 12; a laterally offset section 13 that is laterally offset (in the horizontal plane) with respect to the main conveyor track sections 11 and 12 and tion sections 14 and 15 linking the ends of the offset track section 13 to the main conveyor track sections 11 and 12.

A continuous belt 16 s about rollers 17 and 18 and is positioned with respect to the conveyor so that a carcass 19 hanging from a pulley 20 enters along or track 11 and is spaced away from belt 16. Whilst passing along track transition section 14 the carcass is brought into contact with belt 16 as indicated by carcass 19’ on pulley 20’. This causes the carcass 19’ to be held in an inclined orientation against belt 16 as shown in Figure 4.

When the carcass is supported by belt 16 in the position indicated by 19’ in Figure 3 it may be scanned by imaging device 21. The imaging system be one or more of: an l imaging , an X-ray imaging , a laser scanning camera, a time of flight camera and a Dual-energy X-ray absorptiometry system (DXA of DEXA system).

The imaging system may provide 2D, 3D or pseudo 3D (i.e. 2D with some depth information) image information to controller 22 which may ate one or more cutting path based on the image information received from the g system 21. The controller 22 may also calculate the weight distribution of carcass portions based on the image information and the cutting paths. The controller may also e weight information from a sensor measuring the weight of each carcass. Controller 22 provides the cutting paths to cutter 23 so that the cutting tool may perform cuts according to the one or more cutting path.

The operation of the system may be controlled by intelligence on the imaging/cutting side (i.e. dumb belt) or operation of the belt may be synchronized with the imaging and cutting systems.

For a “dumb belt” system the belt 16 may be continuously driven with imaging system 21 detecting the presence of a carcass in a required position and autonomously obtaining image information. The cutting tool 23 may include a vision system to locate the cutting tool relative to the s in a required position whilst performing the required cuts on a moving carcass.

Alternatively, the belt 16 may be controlled by controller 22 to position the carcass and pulley in a d position (indicated at 19’ and 20’) in front of the imaging system 21 and stop for imaging and then move the carcass and pulley to the next desired position (indicated at 19’’ and 20’’) and stop for the cutting tool to effect the required cuts.

There is thus provided systems and methods for imaging and cutting which remove the problem of swing during imaging and cutting and allow these processes to be performed on a conventional conveyor line.

Although the above ary embodiment describes a system for both imaging and cutting it will be appreciated that the system may include only an imaging or a cutting stage.

While the present invention has been illustrated by the description of the embodiments thereof, and while the embodiments have been described in detail, it is not the intention of the Applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those d in the art. ore, the invention in its broader aspects is not d to the specific details, representative apparatus and method, and illustrative examples shown and described. Accordingly, departures may be made from such details without departure from the spirit or scope of the Applicant’s general ive concept.

Claims

1. A carcass g system comprising: a. a conveyor for conveying a hanging carcass; b. a belt positioned below the conveyor such as to: 5 i. position a carcass away from its natural hanging position; ii. stabilise the carcass by forcing it against the belt via the force of gravity only; c. a g tool positioned to perform a cut whilst a carcass is t 10 the belt; and d. an imaging system positioned to capture an image of the carcass prior to cutting wherein the imaging system is selected from one or more of: an optical imaging system, an X-ray g system, a laser scanning camera, a time of flight camera and a nergy X-ray 15 absorptiometry system.

2. A carcass cutting system as claimed in claim 1 wherein the section of the belt opposite the cutting tool is inclined to the vertical from an upper edge 20 of the belt to a lower edge of the belt.

3. A carcass g system as claimed in claim 1 n the section of the belt opposite the cutting tool is inclined between 5 to 40 degrees to the vertical from an upper edge of the belt to a lower edge of the belt.

4. A carcass cutting system as claimed in claim 1 wherein the section of the 25 belt opposite the cutting tool is inclined about 5 degrees to the vertical from an upper edge of the belt to a lower edge of the belt.

5. A carcass cutting system as claimed in any one of claims 1 to 4 wherein the belt includes a transition zone in which the belt transitions the carcass from a freely hanging orientation to an inclined orientation.

6. A carcass g system as claimed in any one of claims 1 to 4 wherein the 5 conveyor includes a laterally offset section in the region of the belt.

7. A carcass cutting system as claimed in claim 6 wherein the conveyor includes main conveyor sections; an offset n that is laterally offset with respect to the main conveyor sections and transition sections g the ends of the offset section to the main conveyor sections. 10

8. A carcass cutting system as claimed in claim 6 or claim 7 wherein the belt is in the form of a continuous belt driven about spaced apart rollers.

9. A carcass cutting system as d in any one of claims 1 to 8 wherein the belt is formed of a plurality of hinged sections.

10. A carcass g system as claimed in any one of claims 1 to 8 wherein the 15 belt is formed of a sheet of flexible al.

11. A carcass g system as claimed in any one of claims 1 to 10 wherein the belt has a width of between 200 to 3000mm.

12. A carcass cutting system as claimed in any one of claims 1 to 11 wherein the belt is driven in generally the same direction that carcasses are 20 advanced along the conveyor.

13. A carcass cutting system as claimed in any one of claims 1 to 12 wherein the belt is stopped during cutting.

14. A carcass cutting system as d in any one of claims 1 to 12 wherein the belt continues to move and the cutting tool moves with the belt during

15. A carcass cutting system as claimed in any one of the preceding claims 5 wherein the belt is stopped during imaging of the carcass.

16. A s cutting system as claimed in any one of the preceding claims including a controller which calculates one or more cutting path based on information received from the imaging system and controls the cutting tool to perform cuts according to the one or more cutting path. 10

17. A carcass cutting system as claimed in claim 16 wherein the controller calculates the weight distribution of carcass ns defined by the one or more cutting paths.

18. A carcass cutting system as claimed in any one of the ing claims wherein the cutting tool is a circular saw. 15

19. A carcass cutting system as claimed in any one of claims 1 to 17 wherein the cutting tool is a circular knife.

20. A method of performing a cut on a carcass comprising the steps of: a. hanging a carcass on a conveyor; b. advancing the s along the conveyor against a belt moving in 20 the direction of the conveyor which is positioned with respect to the conveyor such that the s is stabilised by forcing it against the belt via the force of gravity only; c. imaging the carcass whilst it is against the belt using an imaging system selected from one or more of: an optical imaging system, an 25 X-ray imaging , a laser scanning camera, a time of flight camera and a Dual-energy X-ray absorptiometry system; and d. performing a cut on the carcass whilst it is against the belt.

21. A method as claimed in claim 20 wherein the carcass and belt continue to move together as the s is cut. 5

22. A method as claimed in claim 20 wherein the carcass and belt stop when the carcass is cut.

23. A method as claimed in claim 20 wherein the carcass is imaged prior to cutting whilst against the belt.

24. A method as claimed in claim 23 wherein the belt is d whilst the 10 carcass is imaged.

25. A method as claimed in claim 23 wherein the belt is driven whilst the carcass is imaged. ‘9‘A“A N Esmi 19!! l 20!! 22 13 21 20' @L 14