WO2005099460A1 - Apparatus for analysing meat products - Google Patents

Apparatus for analysing meat products Download PDF

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Publication number
WO2005099460A1
WO2005099460A1 PCT/GB2005/001400 GB2005001400W WO2005099460A1 WO 2005099460 A1 WO2005099460 A1 WO 2005099460A1 GB 2005001400 W GB2005001400 W GB 2005001400W WO 2005099460 A1 WO2005099460 A1 WO 2005099460A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
meat
meat products
sensing means
meat product
Prior art date
Application number
PCT/GB2005/001400
Other languages
French (fr)
Inventor
Koorosh Khodabandehloo
Original Assignee
Koorosh Khodabandehloo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koorosh Khodabandehloo filed Critical Koorosh Khodabandehloo
Priority to EP05733001A priority Critical patent/EP1776014A1/en
Priority to GB0620231A priority patent/GB2430254A/en
Publication of WO2005099460A1 publication Critical patent/WO2005099460A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0064—Accessories for use during or after slaughtering for classifying or grading carcasses; for measuring back fat
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C17/00—Other devices for processing meat or bones
    • A22C17/0073—Other devices for processing meat or bones using visual recognition, X-rays, ultrasounds, or other contactless means to determine quality or size of portioned meat

Definitions

  • This invention relates to apparatus for analysing meat products.
  • slaughter houses may include a carrier system in the form of a track for moving prepared meat carcasses from a loading position to an unloading position. It is already known to provide a camera and computer control system to determine the size and position of the meat carcasses during movement along the carrier system and use this information to control a cutter in the form of a circular saw blade which is carried and moved by a mechanical robotic arm.
  • the present invention seeks to provide a new and inventive system for handling meat products which is capable of providing accurate and reliable information in less time than is currently the case.
  • the present invention proposes apparatus for analysing meat products which includes:
  • control system including sensing means for detecting the size and position of the meat products during movement along the carrier system; characterised by a tissue probe which is carried by a mechanical robotic arm to insert the probe into the meat products in response to information provided by the sensing means and thereby obtain the thickness of fat along the probing axis, and the control system adapts the probing position automatically using the sensory input from the sensing means to adapt to variations in the shape and size of the meat product.
  • control system preferably uses the sensory information to insert the probe substantially perpendicular to the surface of the meat product at the point of entry.
  • the product is preferably probed from the skin side.
  • the meat product may be moving or stationary during the probing operation.
  • the fat information obtained from the probing may be printed on the carcass, preferably at a different position along the carrier system.
  • the sensing means preferably includes an optical imaging system which provides a digital image of the carcass from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product.
  • the robotic arm is preferably arranged to move the probe in three mutually orthogonal x, y and z axes with provision for changing the axis of the probe relative to the meat product.
  • the invention also provides a method of analysing meat products which includes:
  • sensing means to detect the size and position of the meat products during such movement; characterised by inserting a tissue probe, carried by a mechanical robotic arm, into the meat products in response to information provided by the sensing means and thereby obtaining the thickness of fat along the probing axis, and the probing position is adapted automatically using the sensory information from the sensing means to adapt to variations in the shape and size of the meat product.
  • Figure 1 is an overall plan view of meat processing apparatus in accordance with the invention.
  • Figure 2 is a more detailed plan view of part of the apparatus;
  • Figure 3 is a diagrammatic plan view to illustrate the entry path of the probe into a meat carcass;
  • Figure 4 is a general view the meat carcass and probe.
  • the apparatus shown in F ⁇ g. 1 may be installed in a meat processing plant.
  • the apparatus has a carrier system which includes a track 1 for moving meat products C suspended on hooks, from a loading position 2 to an unloading position 3 in direction A.
  • An imaging system which includes a camera 4 linked to a control computer 8 optically senses the size and position of the meat products during movement along the track.
  • a mechanical robot 5 is mounted adjacent to the track 1 operated by the control system, and a printer 6 is also linked to the control system.
  • the robot 5 has a fixed plinth 10 carrying a robotic arm 11 which includes a plurality of articulated sections 12, 13 and 14 arranged to move a tissue probe 15 in three mutually orthogonal x, y and z axes.
  • the probe is also mounted for angular movement relative to the arm so that the axis of the probe can be changed relative to the meat products.
  • the tissue probe 15 may be of a known kind which is capable of detecting the difference between fat and lean meat, e.g. by measuring electrical resistance.
  • the robot inserts the probe into the meat products for a known distance in response to information provided by the visual system 4, and thereby measures the thickness of fat along the probing axis.
  • the optical imaging system provides a digital image of the carcass, from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product.
  • the control system changes the probing position automatically to adapt to variations in the shape and size of the meat product.
  • the control system uses the sensory information to orientate the probe 15 substantially perpendicular to the surface of the meat product at the point of entry, as shown in Fig. 3.
  • the probe is preferably inserted from the skin side. The probe may penetrate completely through the carcass so that the probe extends beyond the bone side, or it may be partially inserted to measure fat depth from the skin side.
  • the probe may measure the depth of fat in one or more positions on the meat carcass.
  • the probe path is defined anatomically using the sensory device using predetermined anatomical features such as rib bones16, the mid point of the middle primal piece, or a certain distance from the split plane 18 and between the 3 rd and 4 th rib, etc., taking into account the dimensions of the carcass, e.g. its length.
  • the meat carcass may be moving or stationary during the probing operation.
  • the robotic arm may also carry a clamp or support for steadying the carcass against the force applied by the probe.
  • the fat information obtained from the probe may then be printed on the carcass by the printer 6 using food-grade inks.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Biophysics (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Manipulator (AREA)

Abstract

Apparatus for analysing meat products includes a carrier system (1) for moving meat products (C) from a loading position (2) to an unloading position (3). A control system including a camera (4) detects the size and position of the meat products during movement along the carrier system. A tissue probe (15) carried by a mechanical robotic arm (5) is inserted into the meat products in response to information provided by the camera (4). The probe thus obtains the thickness of fat along the probing axis which may be printed on the carcass by a printer (6) . The meat product may be moving or stationary during the probing operation. The control system adapts the probing position automatically using the sensory input to adapt to variations in the shape and size of the meat product.

Description

APPARATUS FOR ANALYSING MEAT PRODUCTS
TECHNICAL FIELD OF THE INVENTION
This invention relates to apparatus for analysing meat products.
BACKGROUND
In the meat processing industry slaughter houses may include a carrier system in the form of a track for moving prepared meat carcasses from a loading position to an unloading position. It is already known to provide a camera and computer control system to determine the size and position of the meat carcasses during movement along the carrier system and use this information to control a cutter in the form of a circular saw blade which is carried and moved by a mechanical robotic arm.
Existing systems do not provide any analytical information about the quality of the meat products, which must be assessed manually in a separate operation.
The present invention seeks to provide a new and inventive system for handling meat products which is capable of providing accurate and reliable information in less time than is currently the case. SUMMARY OF THE INVENTION
The present invention proposes apparatus for analysing meat products which includes:
- a carrier system for moving meat products from a loading position to an unloading position;
- a control system including sensing means for detecting the size and position of the meat products during movement along the carrier system; characterised by a tissue probe which is carried by a mechanical robotic arm to insert the probe into the meat products in response to information provided by the sensing means and thereby obtain the thickness of fat along the probing axis, and the control system adapts the probing position automatically using the sensory input from the sensing means to adapt to variations in the shape and size of the meat product.
To ensure that accurate depth information is obtained the control system preferably uses the sensory information to insert the probe substantially perpendicular to the surface of the meat product at the point of entry. In the case of a meat carcass the product is preferably probed from the skin side.
The meat product may be moving or stationary during the probing operation.
The fat information obtained from the probing may be printed on the carcass, preferably at a different position along the carrier system.
The sensing means preferably includes an optical imaging system which provides a digital image of the carcass from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product.
The robotic arm is preferably arranged to move the probe in three mutually orthogonal x, y and z axes with provision for changing the axis of the probe relative to the meat product.
The invention also provides a method of analysing meat products which includes:
- moving meat products from a loading position to an unloading position;
- using sensing means to detect the size and position of the meat products during such movement; characterised by inserting a tissue probe, carried by a mechanical robotic arm, into the meat products in response to information provided by the sensing means and thereby obtaining the thickness of fat along the probing axis, and the probing position is adapted automatically using the sensory information from the sensing means to adapt to variations in the shape and size of the meat product.
BRIEF DESCRIPTION OF THE DRAWINGS
The following description and the accompanying drawings referred to therein are included by way of non-limiting example in order to illustrate how the invention may be put into practice. In the drawings:
Figure 1 is an overall plan view of meat processing apparatus in accordance with the invention;
Figure 2 is a more detailed plan view of part of the aparatus; Figure 3 is a diagrammatic plan view to illustrate the entry path of the probe into a meat carcass; and
Figure 4 is a general view the meat carcass and probe.
DETAILED DESCRIPTION OF THE DRAWINGS
The apparatus shown in Fϊg. 1 may be installed in a meat processing plant. The apparatus has a carrier system which includes a track 1 for moving meat products C suspended on hooks, from a loading position 2 to an unloading position 3 in direction A. An imaging system which includes a camera 4 linked to a control computer 8 optically senses the size and position of the meat products during movement along the track. A mechanical robot 5 is mounted adjacent to the track 1 operated by the control system, and a printer 6 is also linked to the control system.
Referring to Fig. 2, the robot 5 has a fixed plinth 10 carrying a robotic arm 11 which includes a plurality of articulated sections 12, 13 and 14 arranged to move a tissue probe 15 in three mutually orthogonal x, y and z axes. The probe is also mounted for angular movement relative to the arm so that the axis of the probe can be changed relative to the meat products.
The tissue probe 15 may be of a known kind which is capable of detecting the difference between fat and lean meat, e.g. by measuring electrical resistance. The robot inserts the probe into the meat products for a known distance in response to information provided by the visual system 4, and thereby measures the thickness of fat along the probing axis. The optical imaging system provides a digital image of the carcass, from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product. The control system changes the probing position automatically to adapt to variations in the shape and size of the meat product.
To ensure that accurate depth information is obtained the control system uses the sensory information to orientate the probe 15 substantially perpendicular to the surface of the meat product at the point of entry, as shown in Fig. 3. In the case of a meat carcass the probe is preferably inserted from the skin side. The probe may penetrate completely through the carcass so that the probe extends beyond the bone side, or it may be partially inserted to measure fat depth from the skin side.
As shown in Fig. 4, the probe may measure the depth of fat in one or more positions on the meat carcass. The probe path is defined anatomically using the sensory device using predetermined anatomical features such as rib bones16, the mid point of the middle primal piece, or a certain distance from the split plane 18 and between the 3rd and 4th rib, etc., taking into account the dimensions of the carcass, e.g. its length.
The meat carcass may be moving or stationary during the probing operation. The robotic arm may also carry a clamp or support for steadying the carcass against the force applied by the probe.
The fat information obtained from the probe may then be printed on the carcass by the printer 6 using food-grade inks.
It will be appreciated that the features disclosed herein may be present in any feasible combination. Whilst the above description lays emphasis on those areas which, in combination, are believed to be new, protection is claimed for any inventive combination of the features disclosed herein.

Claims

1. Apparatus for analysing meat products which includes:
- a carrier system (1 ) for moving meat products from a loading position (2) to an unloading position (3);
- a control system (8) including sensing means (4) for detecting the size and position of the meat products during movement along the carrier system; characterised by a tissue probe (15) which is carried by a mechanical robotic arm (11) to insert the probe into the meat products in response to information provided by the sensing means (4) and thereby obtain the thickness of fat along the probing axis, and the control system adapts the probing position automatically using the sensory information from the sensing means to adapt to variations in the shape and size of the meat product.
2. Apparatus according to Claim 1 in which the control system is arranged to use the sensory information to insert the probe substantially perpendicular to the surface of the meat product at the point of entry.
3. Apparatus according to Claim 1 which includes printing means (6) for printing fat information on the carcass as obtained from the probe.
4. Apparatus according to Claim 3 in which the printing means (6) is located at a different position along the carrier system (1) from the tissue probe (15).
5. Apparatus according to Claim 1 in which the sensing means includes an optical imaging system (4) which provides a digital image of the carcass from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product.
6. Apparatus according to Claim 1 in which the robotic arm (11 ) is arranged to move the probe in three mutually orthogonal x, y and z axes with provision for changing the axis of the probe relative to the meat product.
7. A method of analysing meat products which includes:
- moving meat products from a loading position (2) to an unloading position (3);
- using sensing means (4) to detect the size and position of the meat products during such movement; characterised by inserting a tissue probe (15), carried by a mechanical robotic arm (11), into the meat products in response to information provided by the sensing means (4) and thereby obtaining the thickness of fat along the probing axis, and the probing position is adapted automatically using the sensory information from the sensing means to adapt to variations in the shape and size of the meat product.
8. Apparatus according to Claim 7 in which the sensory information is used to insert the probe (15) substantially perpendicular to the surface of the meat product at the point of entry.
9. Apparatus according to Claim 7 in which the meat product is probed from the skin side.
10. Apparatus according to Claim 7 in which fat information obtained from the probe is printed on the carcass.
11. Apparatus according to Claim 7 in which In which the sensing means includes an optical imaging system (4) which obtains a digital image of the carcass which is used to calculate the optimum position in which to insert the probe (15) according to the size and shape of the meat product.
12. Apparatus according to Claim 7 in which the robotic arm (11) moves the probe (15) in three mutually orthogonal x, y and z axes with provision for changing the axis of the probe relative to the meat product.
PCT/GB2005/001400 2004-04-13 2005-04-12 Apparatus for analysing meat products WO2005099460A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP05733001A EP1776014A1 (en) 2004-04-13 2005-04-12 Apparatus for analysing meat products
GB0620231A GB2430254A (en) 2004-04-13 2005-04-12 Apparatus for analysing meat products

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB0408179.0A GB0408179D0 (en) 2004-04-13 2004-04-13 Apparatus for analysing meat products
GB0408179.0 2004-04-13

Publications (1)

Publication Number Publication Date
WO2005099460A1 true WO2005099460A1 (en) 2005-10-27

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ID=32320715

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Application Number Title Priority Date Filing Date
PCT/GB2005/001400 WO2005099460A1 (en) 2004-04-13 2005-04-12 Apparatus for analysing meat products

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EP (1) EP1776014A1 (en)
GB (2) GB0408179D0 (en)
WO (1) WO2005099460A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107202610A (en) * 2017-05-27 2017-09-26 湖北第二师范学院 A kind of measurement techniques for quality detection of meat detection means
US10969572B2 (en) 2016-05-11 2021-04-06 Douglas D. Churovich Electronic visual food probe

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0273371A2 (en) * 1986-12-23 1988-07-06 Slagteriernes Forskningsinstitut A method and apparatus for treatment or examination of carcasses
US5937080A (en) * 1997-01-24 1999-08-10 Design Systems, Inc. Computer controlled method and apparatus for meat slabbing
US6088114A (en) * 1996-11-07 2000-07-11 Ontario Cattlemen's Association Apparatus for use in determining meat tenderness
WO2001067873A1 (en) * 2000-03-16 2001-09-20 Koorosh Khodabandehloo Meat carcass cutting apparatus
US6322508B1 (en) * 1998-07-23 2001-11-27 Engineering Services Inc. Automated meat grading method and apparatus
US20030075053A1 (en) * 2000-04-26 2003-04-24 Koorosh Khodabandehloo Traceability of meat

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0273371A2 (en) * 1986-12-23 1988-07-06 Slagteriernes Forskningsinstitut A method and apparatus for treatment or examination of carcasses
US6088114A (en) * 1996-11-07 2000-07-11 Ontario Cattlemen's Association Apparatus for use in determining meat tenderness
US5937080A (en) * 1997-01-24 1999-08-10 Design Systems, Inc. Computer controlled method and apparatus for meat slabbing
US6322508B1 (en) * 1998-07-23 2001-11-27 Engineering Services Inc. Automated meat grading method and apparatus
WO2001067873A1 (en) * 2000-03-16 2001-09-20 Koorosh Khodabandehloo Meat carcass cutting apparatus
US20030075053A1 (en) * 2000-04-26 2003-04-24 Koorosh Khodabandehloo Traceability of meat

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10969572B2 (en) 2016-05-11 2021-04-06 Douglas D. Churovich Electronic visual food probe
CN107202610A (en) * 2017-05-27 2017-09-26 湖北第二师范学院 A kind of measurement techniques for quality detection of meat detection means

Also Published As

Publication number Publication date
EP1776014A1 (en) 2007-04-25
GB2430254A (en) 2007-03-21
GB0408179D0 (en) 2004-05-19
GB0620231D0 (en) 2006-11-29

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