Poultry processing line and method for recording parameters related to poultry or poultry parts suspended from at least one carabiner moving in the processing line

Abstract

The invention relates to a poultry processing line and a method for registering parameters related to poultry or poultry parts suspended from at least one carabiner moving in the processing line. The poultry processing line comprises at least one carabiner movable in the processing line, to which a poultry or poultry part can be suspended by the legs, and said processing line comprises at least one first sensor or detector for registering parameters related to the poultry or poultry part suspended from the at least one carabiner, wherein the at least one first sensor is arranged with a field of view having a position below the at least one carabiner, which field of view enables detection of whether the at least one carabiner carries a single, free-standing poultry leg not connected to another poultry part, or detection of whether the at least one carabiner carries two free-standing poultry legs not connected to each other or to another poultry part.

Description

Technical Field

[0001] The present invention relates to a poultry processing line comprising at least one hook movable within the processing line, wherein at least one poultry or poultry part is suspendable by its leg from the at least one hook, and the processing line comprising at least one first sensor or detector for recording parameters relating to the poultry or poultry part suspended from the at least one hook, wherein the at least one first sensor or detector is configured to have a field of view pointing downwards from the at least one hook. Background Technology

[0002] US 2007 / 111648 disclosed such a processing line.

[0003] US 2025 / 052699 discloses a poultry processing line in which separated poultry legs are conveyed past a camera. The purpose of the system is to determine the cutting path and distinguish between left and right poultry legs. Summary of the Invention

[0004] The applicant has applied a poultry processing line having a sensor / detector for detecting whether two poultry legs of a carcass are suspended from the same hook. If the sensor / detector detects that the carcass is suspended from only one leg, it will either cause the hook to move or reject the carcass.

[0005] In this application, poultry leg is defined as the lower leg portion having its natural meat or the lower leg having its natural meat connected to the thigh.

[0006] This invention aims to provide a solution to the following problems in existing poultry processing lines. Known processing line sensors / detectors cannot be used to detect legs transported solely by hooks (i.e., legs not attached to anything else, such as another leg or another part of the poultry, such as the forequarter or carcass). If the hooks only transport individual legs suspended by the hooks, then in the prior art, such individual legs would be discarded (which equates to an avoidable loss of yield) because known sensors / detectors cannot distinguish between individual legs without attachments or carcasses / hindquarters suspended by only one leg by the hooks.

[0007] Therefore, the object of this invention is to enable the sensor / detector to distinguish between two situations: whether only a single or multiple legs without other connecting parts are suspended from the hook, or whether a complete carcass / rear half is suspended from the hook by one or more legs. If, for example, a complete carcass / rear half is suspended from the hook, it is desirable to bypass a specific processing unit, particularly when such a processing unit is designed only for processing individual legs without other connecting parts, or vice versa, i.e., when the processing unit is designed for processing complete carcasses / rear halves while the hook supplies individual legs, allowing the hook to loop around the processing unit. Otherwise, processing the wrong type of poultry part could damage the processing unit.

[0008] In order to provide a solution to the problems mentioned above, the present invention provides a poultry processing line and a method for recording parameters relating to poultry or poultry parts transported in the processing line, based on the features of one or more of the appended claims.

[0009] In a first aspect of the invention, at least one first sensor or detector (e.g., a camera) of the processing line is configured to have a field of view located below at least one hook, and the at least one first sensor or detector is configured to have or be connected to a decision tool for analyzing images in the field of view of the sensor or detector to detect whether the at least one hook carries a single individual bird leg that is not connected to another bird part, or to detect whether the at least one hook carries two individual bird legs that are not connected to each other or to another bird part.

[0010] For optimal results, it is preferable that the field of view of at least one first sensor or detector corresponds to a position below at least one hook, wherein, during use, the lower portion of one or more bird legs suspended from the hook is positioned at said position.

[0011] To enhance the effectiveness of detection, preferably, the decision tool for analyzing images in the field of view of at least one first sensor or detector is arranged to detect whether one or more predetermined areas of the field of view are free of any poultry parts. By selecting such predetermined areas, it is possible to detect whether one or two legs are suspended from the associated hooks, and whether another poultry part is attached to said one or more legs.

[0012] When the primary sensor or detector is a time-of-flight sensor, a cost-effective solution that avoids expensive cameras can be provided. According to Wikipedia, a time-of-flight camera, also known as a time-of-flight sensor, is a ranging imaging camera system used to measure the distance between the camera and an object at each point in an image based on the time of flight, i.e., the round-trip time of an artificial light signal provided by a laser or LED. However, other types of 3D sensors used for measuring distances using other techniques, such as photoelectric sensors, can also be used.

[0013] In addition, although the distance can be calculated locally in the sensor itself, some calibration data can also be used. For this purpose, the sensor can be arranged to provide measurement data through an interface such as Ethernet.

[0014] Advantageously, the processing line includes at least a second sensor or detector for detecting when at least one hook is positioned along the processing line such that one or more legs are within the field of view of at least one first sensor or detector, and the operation of at least one first sensor depends on the second sensor detecting that one or more legs are within the field of view of at least one first sensor. In this way, the first sensor or detector does not need to continuously detect and operates only when the hook is in place. Furthermore, this facilitates high processing rates in the processing line without compromising accuracy. For ease of implementation, it is preferable that the operation of at least one first sensor or detector depends on a signal received directly or indirectly from the second sensor or detector indicating that the hook has reached its position, wherein one or more legs suspended from the hook are within the field of view of at least one first sensor or detector.

[0015] Preferably, at least one first sensor or detector is positioned such that its field of view is located within a curved section of the processing line. As the hook and loop are conveyed along the curved section, the legs tend not to tilt or cross each other as they would in the straight sections of the line. If the legs cross at the moment they are scanned by at least one first sensor or detector, the sensor or detector may give a false positive (the sensor or detector incorrectly detects that the two legs are connected by tissue). Most preferably, the detector is positioned in a curved section between two sections of the line, i.e., the curved section connects the first and second straight sections, with the angle between the first and second straight sections ranging from 90° to 180°.

[0016] In order to achieve proper routing of hooks with suspended poultry or poultry parts to bypass processing units in a processing line, it is desirable that a decision tool be connected to a controller arranged to provide a command signal to an actuator based on the output of at least one first sensor or detector for turning at least one hook away from its path and / or routing it away from the processing unit, or for causing at least one hook to continue along its path toward the processing unit.

[0017] The present invention is also embodied in a method for recording parameters relating to a bird or bird part suspended by at least one hook moving in a processing line, wherein at least one first sensor or detector is configured to have a field of view located below at least one hook, characterized in that an image in the field of view of at least one sensor or detector is analyzed using a decision tool to detect whether the at least one hook carries a single individual bird leg not connected to another bird part, or to detect whether the at least one sensor or detector carries two individual bird legs not connected to each other or not connected to another bird part.

[0018] Preferably, the field of view of at least one first sensor or detector is arranged such that it corresponds to a position below at least one hook, wherein, during the movement of at least one hook in the processing line, the lower portion of one or more poultry legs suspended from the hook is positioned at said position.

[0019] The method according to the invention aims to detect whether two legs are suspended from at least one hook, and then detect whether there is a space between the two legs without any other poultry parts.

[0020] In a preferred embodiment of the method of the invention, at least one hook is detected when it is positioned along the processing line such that one or more legs are within the field of view of at least one first sensor or detector.

[0021] Appropriately, the operation of at least one first sensor or detector is performed only when at least one hook is in a position along the processing line such that one or more legs are in the field of view of at least one first sensor or detector.

[0022] Advantageously, the field of view of at least one first sensor or detector is oriented at the curved section of the processing line. Preferably, the curved section is located between a first straight section and a second straight section, with the angle between the first and second straight sections being in the range of 90° to 180°.

[0023] The method of the present invention includes providing a controller that provides command signals to an actuator using parameters based on the output of a decision tool, for causing at least one hook to turn away from its path and / or detour away from the processing unit, or causing at least one hook to continue traveling along its path toward the processing unit. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form a part of this application, illustrate one or more embodiments of the invention and, together with the description, serve to explain the principles of the invention. The drawings are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0025] In the attached diagram:

[0026] - Figure 1 A processing unit capable of being placed in a processing line according to the invention is described.

[0027] - Figure 2 The diagram depicts a region in the processing line of the present invention, in which hooks pass through and the presence of one or more legs suspended from such hooks is detected.

[0028] - Figure 3 and Figure 2 Correspondingly, however, the rear half is now shown suspended from the hook and loop, and

[0029] - Figure 4 also with Figure 2 Correspondingly, but now also shown are two separate legs suspended from the hook without any other connecting tissue.

[0030] Whenever the same reference numerals are used in the accompanying drawings, these reference numerals refer to the same parts. Detailed Implementation

[0031] Figure 1 Processing unit 2 is depicted, which is constructed along and together with processing line 1 in a known manner. Processing unit 2 is designed for processing individual poultry legs, so that processing of carcasses / rear halves must be avoided in processing unit 2. Figure 1 This actually shows one of a series of hooks 3 that can move in the processing line 1, with the rear half 4 suspended from the hook 3, which is guided around the processing unit 2.

[0032] Usually, in such cases Figure 2 , Figure 3 and Figure 4At another location depicted, the processing line 1 guides a series of hooks 3 toward at least one first sensor or detector 5 for recording parameters relating to the poultry or poultry parts suspended from at least one hook 3. Figure 2 In the middle, hook 3 is empty, but in Figure 3 In the middle, the rear half 4 is suspended from the hook 3, and... Figure 4 In the middle, two separate legs 6 are suspended from hooks 3. The present invention aims to address the issue of... Figure 3 and Figure 4 Distinguish between the situations described in the text.

[0033] According to the invention, at least one first sensor or detector 5 is configured to have a field of view A located below at least one hook 3, which enables detection of whether the at least one hook 3 carries a single, individual bird leg 6 not connected to another bird part, or detection of whether the at least one hook 3 carries two individual bird legs 6 that are not connected to each other or to another bird part. Figure 4 The diagram shows at least one hook 3 carrying two separate bird legs 6 that are not connected to each other or to another bird part.

[0034] The regions of interest in field of view A are regions C1 and C2, which are used to detect whether one or both legs are suspended from hook 3. Regions B1 to B4 are used to determine whether any other bird parts are suspended from hook 3 through their connection with one or more legs suspended from hook 3. Regions B1 and B3 are somewhat special in this sense because these regions should always be free of bird parts, since the detection of a bird part would indicate a collision with one or more bird legs suspended from the preceding or following hook.

[0035] Correspondingly, what will be observed is, Figure 2 , Figure 3 and Figure 4 The field of view A depicting at least one first sensor or detector 5 includes at least one or more positions B2, B4 located below at least one hook 3, wherein, during use, the lower portions of one or more bird legs 6 suspended from the hook 3 are positioned at said one or more positions. Therefore, at least one first sensor or detector 5 is preferably arranged to detect whether two legs 6 are suspended from at least one hook 3 via detection areas C1 and C2 (e.g., Figure 3 and Figure 4 (as shown), and then detect whether there is any space in the regions B2, B4 located between and below the two legs 6 that does not contain any poultry parts (only as shown). Figure 4 (The situation in the middle).

[0036] For cost reasons, the first sensor or detector 5 is preferably a time-of-flight sensor. The sensor or detector 5 can determine the presence of a poultry part in any of the aforementioned areas by comparing the recorded distance with the distance to a reference plate 8 positioned behind the hook and loop. For example, when the recorded distance is less than the distance to plate 8, the decision tool 9 determines that a poultry part is present in that area. Furthermore, although the sensor or detector 5 can calculate the distance locally within the sensor itself, some calibration data can also be used; for this purpose, the sensor 5 can be arranged to provide measurement data via an interface such as Ethernet.

[0037] Another possibility is to use a photoelectric sensor having a light emitter that uses, for example, UV light or any other suitable light, and a photoelectric receiver positioned behind the hook and loop. When the photoelectric receiver does not receive light from the light emitter, decision tool 9 determines that a poultry part is present.

[0038] Figure 2 , Figure 3 and Figure 4 The processing line 1 is also depicted as including at least a second sensor or detector 7 for detecting when at least one hook 3 is positioned along the processing line 1 such that one or more legs 6 suspended from the hook 3 will be within the field of view A of at least one first sensor or detector 5. This allows the operation of at least one first sensor or detector 5 to depend on a signal received directly or indirectly from the second sensor or detector 7 indicating that the first sensor or detector 5 has reached the optimal position for detecting one or more poultry parts suspended from at least one hook 3. In this way, the first sensor or detector 5 does not need to continuously detect and operates only when the hook 3 is in place. The sensor 7 may be a laser photoelectric sensor that works in conjunction with a reflector 7'. Other types of sensors, such as a trigger wheel sensor 10, are also possible, which is configured to detect a protrusion 11 disposed in a wheel 12, the protrusion 11 corresponding to the area where the wheel 12 engages with the hook 3.

[0039] Figure 2 , Figure 3 and Figure 4 The description depicts a situation where at least one first sensor or detector 5 is positioned such that the field of view A of the at least one first sensor or detector 5 is arranged in a curved section of the processing line 1. When the hook 3 is conveyed along the curved section, the legs 6 tend not to tilt and cross each other as they would in the straight section of the line, where tilting and crossing would lead to erroneous detection of the legs being connected to another part of the bird.

[0040] In a preferred arrangement, the curved section connects the first straight section and the second straight section, and the angle between the first straight section and the second straight section is in the range of 90° to 180°.

[0041] Although not further shown in the accompanying drawings, it is preferred that at least one first sensor or detector 5 is connected to a controller arranged to provide a command signal to the actuator for causing at least one hook 3 to turn away from its path and / or detour away from the processing unit 2, as shown in the figures. Figure 1 As shown in the diagram. Alternatives are also possible, in which at least one hook 3 continues along its path toward the processing unit 2, depending on the output of at least one first sensor or detector 5.

[0042] Although the invention has been discussed above with reference to exemplary embodiments thereof, the invention is not limited to these particular embodiments, which may be varied in many ways without departing from the invention. Therefore, the exemplary embodiments discussed should not be used to strictly interpret the appended claims therein. Rather, the embodiments are intended only to interpret the wording of the appended claims and not to limit the claims to these exemplary embodiments. Therefore, the scope of protection of the invention should be interpreted only according to the appended claims, wherein the exemplary embodiments should be used to resolve any possible ambiguities in the wording of the claims.

[0043] This invention is not limited to the embodiments illustrated in the figures. Therefore, it should be understood that if a feature mentioned in the appended claims is followed by a reference numeral, such numerals are included only for the purpose of increasing the comprehensibility of the claims and in no way limit the scope of the claims.

[0044] Modifications and alterations to the present invention will be apparent to those skilled in the art, and the invention is intended to cover all such modifications and equivalents in the appended claims. The full disclosure of all references, applications, patents, and publications cited above is incorporated herein by reference. Unless specifically stated above as "essential," the various components or their interrelationships are not essential for the operation of the invention. Rather, the desired results can be achieved by replacing the various components and / or reconstructing the relationships between them.

Claims

1. A poultry processing line (1), the poultry processing line (1) comprising at least one hook (3) movable within the processing line, wherein a poultry or poultry part (4, 6) is suspended by its leg (6) from the at least one hook (3), and the processing line (1) comprising at least one first sensor or detector (5) for recording parameters relating to the poultry or poultry part (4, 6) suspended from the at least one hook (3), wherein, The at least one first sensor or detector (5) is configured to have a field of view (A) pointing downwards from the at least one hook (3), characterized in that the at least one first sensor or detector (5) is provided with or connected to a decision tool (9) for analyzing an image in the field of view (A) of the sensor or detector (5) to detect whether the at least one hook (3) carries a single independent poultry leg (6) not connected to another poultry part, or to detect whether the at least one hook (3) carries two independent poultry legs (6) not connected to each other or not connected to another poultry part.

2. The poultry processing line according to claim 1, characterized in that, The field of view (A) of the at least one first sensor or detector (5) corresponds to a position below the at least one hook (3), wherein, during use, the lower portion of one or more bird legs (6) suspended from the hook (3) is positioned at the location.

3. The poultry processing line according to claim 1 or 2, characterized in that, The decision tool (9) for analyzing images in the field of view (A) of the at least one first sensor or detector (5) is arranged to detect whether there are no poultry parts in a predetermined area (B2, B4) of the field of view (A).

4. The poultry processing line according to any one of the preceding claims, characterized in that, The first sensor or detector (5) is a time-of-flight sensor.

5. The poultry processing line according to any one of the preceding claims, characterized in that, The processing line (1) includes at least a second sensor or detector (7) for detecting when the at least one hook (3) is in a position along the processing line (1) such that the one or more legs (6) are in the field of view (A) of the at least one first sensor or detector (5), and the operation of the at least one first sensor depends on the second sensor detecting that the one or more legs are in the field of view of the at least one first sensor.

6. The poultry processing line according to claim 5, characterized in that, The operation of the at least one first sensor or detector (5) depends on the signal received directly or indirectly from the second sensor or detector (7).

7. The poultry processing line according to any one of claims 1 to 6, characterized in that, The at least one first sensor or detector (5) is arranged such that the field of view (A) of the at least one first sensor or detector is arranged in the curved section of the processing line (1).

8. The poultry processing line according to claim 7, characterized in that, The curved section connects the first straight section and the second straight section, and the angle between the first straight section and the second straight section is in the range of 90° to 180°.

9. The poultry processing line according to any one of claims 1 to 8, wherein the poultry processing line comprises a processing unit (2), characterized in that, The decision tool (9) is connected to a controller, which is arranged to provide a command signal to the actuator based on the output of the at least one first sensor or detector (5) for causing the at least one hook (3) to turn away from and / or detour away from the processing unit (2) from the path of the at least one hook (3), or to cause the at least one hook (3) to continue traveling toward the processing unit (2) along the path of the at least one hook (3).

10. A method for recording parameters relating to a bird or bird part (4, 6) suspended from at least one hook (3) moving in a processing line (1), the method comprising arranging at least one first sensor or detector (5) having a field of view (A) located below the at least one hook (3), characterized in that, The image in the field of view (A) of the at least one sensor or detector (5) is analyzed using a decision tool (9) to detect whether the at least one hook (3) carries a single individual bird leg (6) that is not connected to another bird part, or the at least one sensor or detector (5) is used to detect whether the at least one hook (3) carries two individual bird legs (6) that are not connected to each other or to another bird part.

11. The method according to claim 10, characterized in that, The field of view (A) of the at least one first sensor or detector (5) is arranged such that the field of view (A) corresponds to a position below the at least one hook (3), wherein, during the movement of the at least one hook (3) in the processing line (1), the lower portion of the one or more poultry legs (6) suspended by the hook (3) is positioned in the position.

12. The method according to claim 11, characterized in that, Detect whether there are no bird parts in the predetermined area (B2, B4) of the field of view (A).

13. The method according to any one of claims 10 to 12, characterized in that, Detect when the at least one hook (3) is in a position along the processing line (1) such that the one or more legs (6) are in the field of view (A) of the at least one first sensor or detector (5).

14. The method according to claim 13, characterized in that, The at least one first sensor or detector (5) is operated only when the at least one hook (3) is in a position along the processing line (1) such that the one or more legs (6) are in the field of view (A) of the at least one first sensor or detector (5).

15. The method according to any one of claims 10 to 14, characterized in that, The field of view (A) of the at least one first sensor or detector (5) is set in the curved section of the processing line (1).

16. The method according to claim 15, characterized in that, The curved section is positioned between the first straight section and the second straight section, and the angle between the first straight section and the second straight section is in the range of 90° to 180°.

17. The method according to any one of claims 10 to 16, characterized in that, A controller is provided, which uses parameters based on the output of the decision tool (9) to provide command signals to the actuator for causing the at least one hook (3) to turn away from and / or detour away from the processing unit (2) from the path of the at least one hook (3), or to cause the at least one hook (3) to continue moving toward the processing unit (2) along the path of the at least one hook (3).

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