WO2006059906A2 - Procede et appareil d'estimation d'une position specifique definie par un os dans une partie de carcasse de betail - Google Patents

Procede et appareil d'estimation d'une position specifique definie par un os dans une partie de carcasse de betail Download PDF

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Publication number
WO2006059906A2
WO2006059906A2 PCT/NL2005/050046 NL2005050046W WO2006059906A2 WO 2006059906 A2 WO2006059906 A2 WO 2006059906A2 NL 2005050046 W NL2005050046 W NL 2005050046W WO 2006059906 A2 WO2006059906 A2 WO 2006059906A2
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WO
WIPO (PCT)
Prior art keywords
carcass part
reference position
data
determining
specific
Prior art date
Application number
PCT/NL2005/050046
Other languages
English (en)
Other versions
WO2006059906A3 (fr
Inventor
Lambertus Maria Aarts
Original Assignee
Stork Townsend B.V.
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 Stork Townsend B.V. filed Critical Stork Townsend B.V.
Publication of WO2006059906A2 publication Critical patent/WO2006059906A2/fr
Publication of WO2006059906A3 publication Critical patent/WO2006059906A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
    • A22B5/0041—Electronic, robotic or computer assisted cutting, dividing or deboning carcasses
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
    • A22B5/0035—Deboning or obtaining boneless pieces of meat from a carcass
    • 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

Definitions

  • the invention relates to a method for estimating a specific position defined by a carcass part of livestock, comprising of the processing step based on determining a first reference position defined by the carcass part.
  • the invention also relates to an apparatus for estimating a specific position defined by a carcass part of livestock.
  • a carcass is herein normally divided into segments, such as for instance half-carcasses which can then be further subdivided into front end, middle piece and rear end. The thus obtained segments are then usually further divided or severed.
  • the dimensions of the carcass parts for processing vary, which makes automatic processing of the carcass parts more difficult.
  • the automatic control of a processing member such as a knife has the drawbacks, among others, that this can result in damage to meat and/or bone material and that only a limited efficiency can be achieved.
  • a requirement that only very small quantities of bone material are permitted in the deboned meat can thus result for instance in a relatively large amount of meat remaining on the bones after deboning. Losses can also occur when mutually connecting muscle tissue parts are separated from each other when the separation does not take place exactly at the separating surface (for instance at the position where the tissues are mutually separated by one or more membranes).
  • the present invention therefore has for its object to provide a method and an apparatus, as a result of which carcass parts can be processed in automated manner with an increased efficiency and/or a reduced chance of damage to meat and/or bone material.
  • the invention provides for this purpose a method for estimating a specific position defined by a carcass part of livestock, comprising the processing steps of: A) determining a specific first reference position defined by the carcass part, B) determining a specific second reference position defined by the carcass part, C) estimating on the basis of a data collection a specific third, as yet undefined reference position on the basis of the two reference positions determined with processing steps A) and B), D) determining the third reference position, and E) modifying the data collection on the basis of the determined third reference position.
  • a third reference position which can likewise be defined by a bone but which may also be defined by other components of the carcass part such as muscle tissue parts.
  • the third reference position can thus be determined by a bone for which at least a first or second reference position has been determined, but it may also be a bone other than that for which the first or second reference position has been determined but which is connected to a bone for which a reference position has been determined.
  • carcass part can also be a whole carcass.
  • Livestock is understood to mean cattle, pigs, sheep, goats, but optionally also other larger or smaller mammals or poultry which are processed in larger quantities.
  • the increased accuracy in estimating the third reference position makes it possible to process the carcass part more accurately, which can enhance both the quantity and the quality of the remaining slaughter products (including deboned meat), with the result of increased yields.
  • the fed-back data of the detected third reference position can be processed in various statistical ways, several practical examples hereof being quadratic regression analysis and linear programming.
  • At least one of the first two reference positions can be determined mechanically by having a reference member, such as for instance a clamp, jaw, knife and/or pin, engage on for instance, but not necessarily, a bone.
  • a reference position can also be determined in contactless manner, for instance visually or by means of a radiation passing though the carcass part.
  • an engaging reference member it is also possible for an engaging reference member to also fulfil another function, such as for instance fixing, sawing or cutting. This is particularly advantageous in determining the third reference position, since this is normally difficult to access without affecting the state of the carcass part.
  • An even greater accuracy in estimating the third reference position can be obtained if it is estimated in accordance with processing step D) while using supplementary data in addition to the first and second reference position.
  • At least one dimension relating to the carcass part (for instance length, width or thickness, weight) can thus be taken for the purpose of carrying out processing step D), this dimension functioning as supplementary information.
  • at least one reference relating to the carcass part is inputted, for instance information dependent on the carcass part relating to breed, age, gender, breeding data, behaviour, producer, geographic origin, fat percentage and so on. Such variables can influence the build of a slaughtered animal to a greater or lesser extent, and can thus result in an increase in the accuracy with which the third reference position can be estimated.
  • the first two reference positions are defined by the same bone, but they can also be defined by different bones forming part of the carcass part. In the latter case there must of course be a relation between the relative positioning of these bones, for instance in that they are joined to each other via joints or cartilage connections. At least one of the first two reference positions of a bone possibly defining the third reference position can already have been predetermined, but it is also possible that a reference position of a bone defining the third reference position has not been predetermined. On the other hand, it is also possible that the third reference position is defined by a connection of different muscle tissues; it may be desirable to make a cut at such a separating surface (usually provided with one or more membranes). The more accurately such muscle tissues are separated from each other, the higher the yield.
  • the present invention also relates to an apparatus for estimating a specific third reference position in a carcass part of livestock, comprising: means for determining a specific first and a specific second reference position which are defined by the carcass part, a data processing unit connecting to the reference-determining means, means for automated processing of the carcass part which also connect to the data-processing unit, which processing means are at least partly controlled by the data-processing unit, and means connecting to the data-processing unit for determining a specific third reference position.
  • the first and/or second reference position can be determined using contactless or mechanically engaging sensors (for instance in the form of a clamp with which a bone is engaged).
  • An operation can then be performed with for instance a cutting member, wherein a third reference position, known only approximately up to this point, is determined precisely upon detection of a specific resistance or specific change in movement of the cutting member.
  • This determined third reference position is compared to the estimated third reference position, and a feedback of the results found takes place so as to enable a third reference position to be estimated again with an, if possible, even greater reliability during a subsequent operation.
  • an operation for instance cutting or sawing
  • the third reference can then be determined with a separate sensor (optionally the sensor with which the first and/or second reference position was also determined), since this reference has become more readily accessible as a result of the operation.
  • the determined third reference position is then fed back to the data-processing unit (for instance in the form of a computer).
  • the data-processing unit connects to drive means for displacing the means for determining a third reference position.
  • the displacement of the cutting member (and therefore at least a part of the processing of the carcass part) can thus be automated.
  • Favourable results can also be achieved in estimating the third reference position if the apparatus is provided with measuring means (for instance using a vision system) for determining a length measure and/or the weight of the carcass part, which measuring means connect to the data-processing unit. It is also possible for the apparatus to be provided with input means connecting to the data-processing means for inputting carcass part-dependent data (for instance batch-dependent data relating to producer, age of the slaughtered animals, average physical characteristics, breed, gender and so on). It is also possible to collect extra data by arranging a coupling to production means which have performed previous operations on the carcass or the carcass parts.
  • measuring means for instance using a vision system
  • input means connecting to the data-processing means for inputting carcass part-dependent data (for instance batch-dependent data relating to producer, age of the slaughtered animals, average physical characteristics, breed, gender and so on). It is also possible to collect extra data by arranging a coupling to production means which have performed previous operations on the carcass or the carcass parts.
  • the means for automated processing of the carcass part preferably comprise cutting means such as an elongate knife or a rotatable circular knife. It is also efficient if the means for automated processing of the carcass part are integrated with the means for determining a specific third reference position which connect to the data-processing unit.
  • figure 1 shows a schematic representation of the apparatus according to the present invention
  • figures 2A and 2B show cut-away views of two hams being processed according to the present invention
  • figure 3 shows a cross-section through a carcass of a pig
  • figure 4 shows a view of a shoulder part of a pig carcass schematically processed according to the present invention.
  • Figure 1 shows a schematically represented apparatus 1 with a clamp with stop 2 which engages on a bone 3 of a ham 4.
  • the position of the clamp with stop 2 (the first reference position) is determined by schematically shown operating means 5, and the position in which the clamp with stop 2 is situated is transmitted to a central control unit 7 via a signal line 6.
  • a knife 8 is inserted into ham 4 such that it lies against a specific second reference position (for more detail here see also following figure 2A).
  • the position of knife 8 is determined by schematically shown operating means 9 of knife 8 and the position in which knife 8 is situated is transmitted to a central control unit 7 via a signal line 10.
  • a rotatable saw 13 (or rotatable knife) is now displaced by associated operating means 14 via a signal line 11.
  • central control unit 7 For the best possible operation of saw 13, an estimate is made by central control unit 7 of the position of at least one location of a bone part which is situated in ham 4 and which is not (yet) externally accessible.
  • the third reference position can be determined with a sensor 15 which is displaceable as a result of schematically shown operating means 16. Both the displacement of sensor 15 and the feedback of the determined third reference position to central control unit 7 take place via a signal line 17.
  • Figures 2A and 2B show a ham 20 in cut-away state.
  • Figure 2A shows ham 20 in a view from the inside and figure 2B shows ham 20 in a view from the outside.
  • a clamp with stop 22 determining a first reference position engages on a protruding bone ("tibia” 21).
  • a knife 23 is then inserted into ham 20 until it is stopped by the assembly of two connected bones (the connection between "tibia” 21 and "fibula” 24). The second reference position is thus also determined.
  • the estimated third reference position On the basis of the first and second reference position an estimate can now be made of the position of a specific opening (the estimated third reference position) in a bone 25 ("pubic bone” 25) which has to be engaged by a hook- like sensor 26 for further fixation of the ham 20.
  • the hook- like sensor 26 can now be automatically placed in the desired engaging position due to the estimation of the position thereof.
  • the third reference position is determined precisely and the position thereof will be fed back to a control system not shown in this figure.
  • Figure 3 shows a pig half-carcass 30 in a longitudinal cross-section.
  • the half-carcass 30 is usually divided into three segments, ham 31, middle part 32 and front end 33.
  • the half-carcass 30 or the parts 31,32,33 of which half-carcass 30 is made up are highly suitable for processing with the method according to the present invention.
  • Figure 4 finally shows meaty pig shoulder 40.
  • a first reference position can be determined by means of an engaging member 41 on the outer end of a shank 42 (also referred to as "ulna" 42 or foreleg 42), and transmitted to a control unit 44 by control means 43 of engaging member 41.
  • a second reference position is determined by placing a sensor pin 45 into contact with a receding part of shoulder 40. Control means 46 of sensor pin 45 then also transmit this second reference position to control unit 44. On the basis of the thus obtained information, control unit 44 will actuate a knife 48 via a control system 47, whereby different muscle tissue parts 49, 50 are separated from each other.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Biophysics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Processing Of Meat And Fish (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un procédé d'estimation d'une position spécifique définie par une partie de carcasse de bétail, qui consiste en une étape de traitement basée sur la détermination d'une première position de référence définie par la partie de carcasse. L'invention porte également sur un appareil d'estimation d'une position spécifique définie par une partie de carcasse de bétail.
PCT/NL2005/050046 2004-11-30 2005-11-21 Procede et appareil d'estimation d'une position specifique definie par un os dans une partie de carcasse de betail WO2006059906A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1027623A NL1027623C2 (nl) 2004-11-30 2004-11-30 Werkwijze en inrichting voor het inschatten van een specifieke positie bepaald door een bot in een karkasdeel van groot vee.
NL1027623 2004-11-30

Publications (2)

Publication Number Publication Date
WO2006059906A2 true WO2006059906A2 (fr) 2006-06-08
WO2006059906A3 WO2006059906A3 (fr) 2006-09-28

Family

ID=34974651

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2005/050046 WO2006059906A2 (fr) 2004-11-30 2005-11-21 Procede et appareil d'estimation d'une position specifique definie par un os dans une partie de carcasse de betail

Country Status (2)

Country Link
NL (1) NL1027623C2 (fr)
WO (1) WO2006059906A2 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0594528A2 (fr) * 1992-09-18 1994-04-27 Slagteriernes Forskningsinstitut Procédé et installation pour le traitement des demi-carcasses
FR2754426A1 (fr) * 1996-10-15 1998-04-17 Durand International Procede et machine pour separer la tete d'une carcasse d'un animal de boucherie
US20040029514A1 (en) * 1999-08-27 2004-02-12 Kj Maskinfabriken A/S Laying-down system and vision-based automatic primal cutting system in connection therewith
US6692345B1 (en) * 1999-08-27 2004-02-17 K. J. Maskinfabriken A/S Laying-down system and vision-based automatic primal cutting system in connection therewith

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0594528A2 (fr) * 1992-09-18 1994-04-27 Slagteriernes Forskningsinstitut Procédé et installation pour le traitement des demi-carcasses
FR2754426A1 (fr) * 1996-10-15 1998-04-17 Durand International Procede et machine pour separer la tete d'une carcasse d'un animal de boucherie
US20040029514A1 (en) * 1999-08-27 2004-02-12 Kj Maskinfabriken A/S Laying-down system and vision-based automatic primal cutting system in connection therewith
US6692345B1 (en) * 1999-08-27 2004-02-17 K. J. Maskinfabriken A/S Laying-down system and vision-based automatic primal cutting system in connection therewith

Also Published As

Publication number Publication date
NL1027623C2 (nl) 2006-05-31
WO2006059906A3 (fr) 2006-09-28

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