Dressed carcass processing device

Abstract

To provide a dressed carcass processing device that can cut a dressed carcass with excellent quality.SOLUTION: A dressed carcass processing device for processing a right dressed carcass and a left dressed carcass includes: a first cutting device which has a cutter for cutting the meat portions of the right dressed carcass and the left dressed carcass; and a controller for moving the cutter from the backbone side to the abdominal side to cut the meat portions of each of the right dressed carcass and the left dressed carcass.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to carcass processing equipment. [Background technology]

[0002] In meat processing for meat carcasses of relatively large livestock such as pigs and cows, the prepared meat carcass is cut into a pair of carcasses by splitting it into left and right halves at the spine (backbone), and each carcass is further cut into a front and rear part. This cutting process has traditionally been performed manually by workers using blades, but from the standpoint of ensuring uniformity in quality, ensuring worker safety, and improving processing efficiency, automation using meat processing machines is desired. For example, Patent Document 1 discloses technology relating to a cutting device and method in a large carcass division process. This document describes that in the large carcass division process, the meat part of the carcass is cut using a knife-shaped cutting blade. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-31916 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the cutting device described in the above-mentioned patent document, for example, when separating the forebody from the middle body, a knife-shaped cutting blade is moved from the breast side to the back side for the left carcass, and a knife-shaped cutting blade is moved from the back side to the breast side for the right carcass. However, in the cutting device described in the above-mentioned patent document, there is a risk that the cutting blade will cut the ribs, which may result in a decrease in the quality of the carcass after cutting.

[0005] In view of the above circumstances, at least one embodiment of the present disclosure aims to provide a carcass processing device that can cut carcasses with good quality. [Means for solving the problem]

[0006] At least one embodiment of the carcass processing apparatus according to the present disclosure includes: A carcass processing device for processing a right carcass and a left carcass, A first cutting device having a cutter for cutting meat portions of the right carcass and the left carcass; a controller for moving the cutter from a backbone side to a ventral side in order to cut the meat portion of each of the right carcass and the left carcass; Equipped with. Effect of the Invention

[0007] At least one embodiment of the present disclosure provides a good quality cut of the carcass. [Brief description of the drawings]

[0008] [Figure 1] 1 is an overall configuration diagram of a carcass dividing device which is a carcass processing device according to the present embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a pair of carcasses from the front. [Diagram 3] FIG. 2 is a perspective view of a front side front-middle structure cutting device and a front side middle-rear structure cutting device. [Figure 4] FIG. 2 is a perspective view of a rear side front middle structure cutting device and a rear side middle rear structure cutting device. [Diagram 5] FIG. 2 is a configuration diagram showing a gripping position specifying system of the carcass dividing device according to one embodiment together with the peripheral configuration. [Figure 6] 6 is a schematic diagram showing the layout of the imaging device in FIG. 5 from above. [Figure 7] FIG. 2 is a schematic diagram showing some aspects of characteristic points that can be identified in a pair of left and right carcasses. [Figure 8] FIG. 1 is a configuration diagram of a cutting position specifying system according to an embodiment. [Figure 9] FIG. 2 is a schematic diagram showing the layout of imaging devices in the carcass dividing apparatus according to the present embodiment, viewed from above a pair of left and right carcasses. [Figure 10] 1 is a simplified diagram showing the movement trajectories of a rotating circular blade of a front-side front middle structure cutting device and a cutting blade of a rear-side front middle structure cutting device. FIG. [Figure 11] 10 is a diagram for explaining the relationship between the extending direction of the cutting position and the direction of the cutting edge of the cutting blade when viewed from the extending direction of the blade length of the cutting blade. FIG. [Figure 12] 10 is a diagram for explaining the relationship between the extending direction of the cutting position and the direction of the cutting edge of the cutting blade when viewed from the extending direction of the blade length of the cutting blade. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, some embodiments of the present disclosure will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of components described as the embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present disclosure. For example, expressions expressing relative or absolute configuration, such as "in a certain direction," "along a certain direction," "parallel," "orthogonal," "center," "concentric," or "coaxial," not only strictly express such a configuration, but also express a state in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained. For example, expressions indicating that things are in an equal state, such as "identical," "equal," and "homogeneous," not only indicate a state of strict equality, but also indicate a state in which there is a tolerance or a difference to the extent that the same function is obtained. For example, expressions describing shapes such as a rectangular shape or a cylindrical shape do not only refer to rectangular shapes, cylindrical shapes, etc. in the strict geometric sense, but also refer to shapes that include uneven portions, chamfered portions, etc., to the extent that the same effect is obtained. On the other hand, the expressions "comprise," "include," "have," "includes," or "have" of one element are not exclusive expressions excluding the presence of other elements.

[0010] An embodiment in which the present invention is applied to the large division of a meat carcass (hereinafter also simply referred to as a carcass) will be described with reference to Figs. 1 to 6. Fig. 1 is a general configuration diagram of a carcass dividing device 10 which is a carcass processing device according to this embodiment. Fig. 2 shows a pair of left and right carcasses W R and W L 3 is a schematic diagram showing the front of the cutting device 310. FIG 3 is a perspective view of the front side front middle structure cutting device 310 and the front side middle rear structure cutting device 330. FIG 4 is a perspective view of the rear side front middle structure cutting device 320 and the rear side middle rear structure cutting device 340. In the carcass dividing device 10, the front-middle body dividing section A and the middle-rear body dividing section B are arranged in series with respect to the rails 12 that form the carcass transport path. The rails 12 are arranged horizontally and are arranged so as to penetrate the upper areas within the compartments of the front-middle body dividing section A and the middle-rear body dividing section B. A pair of carcasses W R and W L The carcass W is a pair of carcasses W of a relatively large livestock such as a pig or a cow, which is cut in half at the vertebrae 7 (backbone). R and W L The patient is suspended from a single Gambrel 14 via both ankles on the thigh side. A pair of carcasses W R and W L Each of the above is positioned symmetrically with the anterior body C facing downward (the posterior body E facing upward), the dorsal side facing inward (the thoracic side facing outward), and the cut surface 4 on which the spine 7 and ribs 8 are visible facing forward, with the cut surface 4 facing forward and the ribs 8 facing outward.

[0011] A trolley 16 that slides on rails 12 is attached to the upper end of the gambrel 14. After the gambrel 14 stops for a certain period of time, it is pushed by a pusher 15 in the direction of arrow a (the conveying direction) for a certain distance at a time, so that the gambrel 14 advances intermittently. R , W L First, the carcass W from which the pre-middle body has been separated is transported to the pre-middle body separation section A, where it stops for a certain period of time and the pre-middle body C is separated. The separated pre-middle body C falls onto the conveyor 51 and is carried out. R , W Lis transported to the middle and rear body dividing section B, where the middle body D is separated. The separated middle body D falls onto the conveyor 52 and is carried out. The remaining rear body E is transported as it is to the subsequent process.

[0012] (Cutting device 300) The carcass dividing device 10 according to this embodiment divides a pair of carcasses W R and W L In the carcass dividing device 10 according to the present embodiment, the cutting device 300 includes a front side front middle body cutting device 310, a rear side front middle body cutting device 320, a front side middle rear body cutting device 330, and a rear side middle rear body cutting device 340. The front side front middle body cutting device 310 and the front side middle rear body cutting device 330 have the same configuration, and the rear side front middle body cutting device 320 and the rear side middle rear body cutting device 340 have the same configuration.

[0013] As shown in FIG. 3, the front-side front middle body cutting device 310 is located in front of the front middle body dividing section A, that is, in the front middle body dividing section A, in the horizontal direction perpendicular to the conveying direction, a pair of carcasses W R and W L The front side front center structure cutting device 310 is fixed to the frame 56 of the front center structure divided portion A. As shown in FIG. 4, the rear side front middle body cutting device 320 is a device for cutting a pair of carcasses W on the left and right sides of the rear side of the front middle body dividing section A, that is, in the horizontal direction perpendicular to the conveying direction in the front middle body dividing section A. R and W L The rear side front center body cutting device 320 is, for example, a vertical articulated robot having a blade attached to the tip 308 of a robot arm 307.

[0014] 3, the front side middle rear body cutting device 330 is a cutting device disposed in front of the middle rear body division part B. The front side middle rear body cutting device 330 is fixed to the frame 57 of the middle rear body division part B. 4, the rear side middle rear body cutting device 340 is a cutting device disposed on the rear side of the middle rear body divided part B. The rear side middle rear body cutting device 340 is, for example, a vertical articulated robot having a blade attached to the tip 308 of a robot arm 307.

[0015] 3, the front-side front-middle structure cutting device 310 and the front-side middle-rear structure cutting device 330 are cutting devices configured to be able to move the rotary circular blade 301, for example, whose blade surface is arranged horizontally, in the vertical and horizontal directions. The front-side front-middle structure cutting device 310 and the front-side middle-rear structure cutting device 330 have a vertical direction movement device 302 for moving the rotary circular blade 301 vertically relative to the frames 56 and 57, a conveying direction movement device 303 for moving the rotary circular blade 301 horizontally in a direction parallel to the conveying direction relative to the frames 56 and 57, and a depth direction movement device 304 for moving the rotary circular blade 301 horizontally perpendicular to the conveying direction relative to the frames 56 and 57. Therefore, the front side front center structure cutting device 310 and the front side center rear structure cutting device 330 are configured to be able to move the rotating circular blade 301 in the vertical direction, the direction parallel to the conveying direction, and the horizontal direction perpendicular to the conveying direction.

[0016] As shown in FIG. 4, the rear side front center body cutting device 320 and the rear side center rear body cutting device 340 have, for example, a six-axis vertical articulated robot 306 and a knife-shaped cutting blade 360 ​​attached to the tip 308 of the robot arm 307. In the carcass cutter 10 according to this embodiment, the cutting blade 360 ​​has a blade length 361, and at least a region 362 used for cutting meat is a straight blade that extends linearly in the extension direction Db of the blade length 361. In the carcass cutter 10 according to this embodiment, the cutting blade 360 ​​has a blade tip 363 formed only on one side in a direction perpendicular to the extension direction Db of the blade length 361, and this blade tip 363 is a double-edged blade with blade surfaces formed on both side surfaces of the cutting blade 360. In the carcass dividing device 10 according to this embodiment, the robot arm 307 is configured to be able to change the inclination angle of the cutting blade 360 ​​when viewed from the extension direction Db of the blade length 361 as shown by the double arrow rt in Fig. 4 by rotating the tip 308. This allows the orientation of the blade tip 363 to be changed to match the movement direction of the cutting blade 360, and also allows the orientation of the blade tip 363 to be changed so as to be offset from the movement direction of the cutting blade 360, as described below.

[0017] (Restraint device 100) The carcass dividing device 10 according to this embodiment divides a pair of left and right carcasses W R and W L When cutting, a pair of carcasses W R and W L In the carcass dividing device 10 according to the present embodiment, the restraining device 100 includes a first restraining unit 110 and a second restraining unit 120. In the carcass dividing device 10 according to the present embodiment, the restraining device 100 includes a third restraining unit 130 provided in the front middle body dividing section A. The first restraining unit 110 is provided in the front-center body division A and the center-rear body division B. The second restraining unit 120 is provided in the front-center body division A and the center-rear body division B.

[0018] (First Detention Unit 110) The first restraining unit 110 is a pair of carcasses W suspended by a gambrel 14. R and W L The first restraining unit 110 includes a first stationary part 111 and a first movable part 113 for clamping and restraining the pair of carcasses W at a first height position h1. The first restraining unit 110 is configured such that the first movable part 113 can be moved in the depth direction of the paper surface of FIG. 1 by an actuator (not shown). R and W L Of these, it is configured to clamp and restrain the rear body E.

[0019] (Second Detention Unit 120) The second restraining unit 120 holds a pair of carcasses W suspended by the gambrel 14. R and W L The second restraining unit 120 includes a second stationary part 121 and a second movable part 123 for clamping and restraining the pair of carcasses W at a second height position h2 below the first height position h1. The second restraining unit 120 is configured such that the second movable part 123 can advance and retreat in the depth direction of the paper surface of FIG. 1 by an actuator (not shown). R and W L It is configured to clamp and restrain the central structure D.

[0020] (Third Detention Unit 130) The third restraining unit 130 is a pair of carcasses W suspended by the gambrel 14. R and W L The third restraining unit 130 includes a one-side third movable part 131 and an other-side third movable part 136 for clamping and restraining the pair of left and right carcasses W at a third height position h3 below the second height position h2. The third restraining unit 130 is configured such that the one-side third movable part 131 and the other-side third movable part 136 can advance and retreat in the depth direction of the paper surface of FIG. 1 by an actuator (not shown). R and W L It is configured to clamp and restrain the precursor body C. The one-side third movable part 131 and the other-side third movable part 136 are configured so that a gripping position P, which is a position where the precursor body C is sandwiched, can be adjusted in the vertical direction by an actuator (not shown).

[0021] (Controller 40) The controller 40 is a control device for controlling the carcass dividing device 10 according to this embodiment. The controller 40 is composed of, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program, for example, and the CPU reads the program into the RAM or the like and executes information processing and arithmetic processing to realize various functions. The program may be installed in a ROM or other storage medium in advance, may be provided in a state stored in a computer-readable storage medium, or may be distributed via a wired or wireless communication means. The computer-readable storage medium may be a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

[0022] (Identifying gripping position P) Next, the identification of the gripping position P of the predecessor body C by the third restraining unit 130, i.e., the third height position h3, in the carcass divider 10 having the above configuration will be described. Fig. 5 is a configuration diagram showing the gripping position identifying system 20 of the carcass divider 10 according to one embodiment together with the surrounding configuration, and Fig. 6 is a schematic diagram showing the arrangement layout of the imaging device 22 in Fig. 5 from above.

[0023] As shown in FIG. 5, the gripping position identifying system 20 is R and W L 5 is a system for identifying the gripping position P of the gripping position identifying system 20, and includes an imaging device 22 and a gripping position identifying device 24. In addition to the gripping position identifying system 20, the above-mentioned third restraining unit 130 and a controller 40 capable of acquiring the gripping position P identified by the gripping position identifying system 20 and controlling the third restraining unit 130 are also shown in FIG.

[0024] As shown in FIG. 6, the imaging device 22 is R and W LThe pair of carcasses W R and W L The imaging device 22 is a device such as a camera capable of capturing an image. The image captured by the imaging device 22 may be a still image or a video image. The number of imaging devices 22 may be one or more. In addition, the pair of carcasses W R and W L The image capture shows a pair of carcasses W on the left and right in the area upstream of the front middle body division part A in the conveying direction (left side in FIG. 1). R and W L This should be done during the period when

[0025] The gripping position specifying device 24 uses the images captured by the imaging device 22 to identify the pair of left and right carcasses W R and W L The device is configured to specify the gripping position P of the gripper, for example, by a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program, and the CPU reads the program into the RAM or the like and executes information processing and arithmetic processing to realize various functions. The program may be installed in a ROM or other storage medium in advance, may be provided in a state stored in a computer-readable storage medium, or may be distributed via a wired or wireless communication means. The computer-readable storage medium may be a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

[0026] In FIG. 5, the functional configuration of the gripping position identifying device 24 included in the gripping position identifying system 20 includes an image acquisition unit 28, a storage unit 30, a feature point identifying unit 32, and a gripping position calculation unit .

[0027] The image acquisition unit 28 is a component for acquiring the image captured by the imaging device 22.

[0028] The storage unit 30 is configured to store various data necessary for the computational processing of the grip position identifying device 24, and stores, for example, a learning model 36 used to predict the feature point Pc in the feature point identifying unit 32. The learning model 36 is a prediction model for inputting an image acquired by the image acquiring unit 28 and predicting the feature point Pc based on the image, and is learned using images previously acquired by the image acquiring unit 28 as teacher data.

[0029] The feature point identification unit 32 is configured to identify a feature point Pc in the image acquired by the image acquisition unit 28. The feature point Pc is identified as a characteristic point that serves as a reference when the grip position calculation unit 34 calculates the grip position P, that is, as a reference position Ps. In the gripping position identifying system 20 shown in FIG. 5, the image acquisition unit 28, the storage unit 30, and the feature point identifying unit 32 of the gripping position identifying device 24 are included in a reference position identifying device 38 for identifying the reference position Ps.

[0030] Here, some aspects of the characteristic point Pc will be described. R and W L 1 is a schematic diagram showing several aspects of feature points Pc that can be identified by

[0031] First, in FIG. 7, the characteristic points Pc1′ and Pc2′ according to the comparative example are a pair of carcasses W R and W L However, as shown by the characteristic points Pc1' and Pc2', the neck of the carcass W R and W LThe neck of a carcass is generally formed by a worker's manual operation of cutting off the head, and so individual differences are likely to occur (in FIG. 7, the heightwise positions of characteristic points Pc1' and Pc2' are different due to the difference in the length of the neck remaining in the left carcass 1A and the right carcass 1B). Therefore, if the gripping position P is calculated based on characteristic points Pc1' and Pc2', it will be easily affected by individual differences. This problem can be solved by adopting characteristic points Pc according to the various aspects described below.

[0032] In FIG. 7, characteristic points Pc1 to Pc3 are shown as some aspects of the characteristic points Pc. These characteristic points Pc1 to Pc3 are R and W L The feature point Pc is identified from the inner area Ar of the contour R of the cut surface 4. Since the inner area Ar of the contour R of the cut surface 4 is less susceptible to the influence of individual differences in the carcass, by identifying the feature point Pc from the inner area Ar, an appropriate feature point Pc suitable for calculating the grip position P can be obtained.

[0033] First, the feature point Pc1 is a feature in which a spine connected to the first rib included in the inner region Ar of the contour R of the cut surface 4 is selected as the feature point Pc. The feature point Pc2 is a feature in which the lower end of the thoracic cavity (the lower end of the so-called spare rib) included in the inner region Ar of the contour R of the cut surface 4 is selected as the feature point Pc. The feature point Pc3 is a feature in which the first rib included in the inner region Ar of the contour R of the cut surface 4 is selected as the feature point Pc. By selecting the feature points Pc1 to Pc3 included in the inner region Ar of the contour R of the cut surface 4 in this way, the feature points Pc for suitably calculating the gripping position P can be obtained.

[0034] In addition, when the first rib in the inner region Ar is not exposed to the thoracic cavity, it may not be possible to identify the feature points Pc1 and Pc3 related to the first rib, so the accuracy can be improved by using the feature point Pc2 rather than the feature points Pc1 and Pc3. Also, since the feature point Pc2 is relatively close to the calculated gripping position P, the accuracy can be improved by calculating the gripping position P using the feature point Pc2. On the other hand, when internal organs, fat, or pieces of meat are attached to the lower end of the spare rib, the gripping position P can be calculated more accurately by using the feature points Pc1 and Pc3 rather than the feature point Pc2. As the characteristic point Pc for calculating the grip position P, any one of the above-mentioned characteristic points Pc1 to Pc3 may be used, or a combination of these may be used.

[0035] In this embodiment, the feature point identification unit 32 obtains a prediction result of the feature point Pc by inputting the image acquired by the image acquisition unit 28 to the learning model 36 stored in the storage unit 30. As described above, the learning model 36 is constructed by learning in advance using teacher data created by specifying the feature point Pc for the image previously acquired by the image acquisition unit 28. Generally, the carcass W R and W L It is difficult to identify with high accuracy the feature points Pc that are within the inner area Ar of the contour R of the cut surface 4 by simple image processing. However, by using a learning model 36 constructed using the image as training data, it is possible to identify the feature points Pc with high accuracy.

[0036] The gripping position calculation unit 34 is configured to calculate the gripping position P based on the characteristic point Pc predicted by the characteristic point identification unit 32. At this time, the gripping position calculation unit 34 calculates the gripping position P based on the characteristic point Pc identified by the characteristic point identification unit 32 so as to offset the gripping position P to the opposite side of the carcass 1 from the cutting position set in advance. This offset amount can be set as appropriate, but is preferably set so that the gripping position P is not too far from the characteristic point Pc (a position that is somewhat close). The function of the grip position calculation unit 34 may be assigned to the controller 40 .

[0037] The gripping position P calculated by the gripping position calculation unit 34 in this manner is output to the controller 40 as the identification result of the gripping position identifying device 24. The controller 40 generates a control signal for setting the third height position h3 in the third constraining unit 130 to the acquired gripping position P. This generated control signal is transmitted to a lifting device (not shown) of the third constraining unit 130, and the lifting device is driven to set the third height position h3 in the third constraining unit 130 to the gripping position P.

[0038] (Cutting position identification system 210) The carcass dividing apparatus 10 according to this embodiment is equipped with a cutting position identifying system 210 which will be described below. The cutting position identification system 210 is a pair of left and right carcasses W R and W L The system is for identifying a cutting position L1 for cutting the precursor body C and a cutting position L2 for cutting the intermediate body D. As described below, the cutting positions L1 and L2 are identified by image analysis using an image captured by an imaging device 212 included in the cutting position identifying system 210. In the following description, the image analysis is used to identify a pair of left and right carcasses W R and W L The first feature point P1 corresponds to a specific vertebra and rib connection on the dorsal side (between the fourth and fifth connection from the bottom in Figure 2), and the pair of left and right carcasses W R and W L In the following description, the cutting position L1 is specified as a straight line connecting the second feature point P2 corresponding to a specific rib (between the fourth and fifth ribs from the bottom in FIG. 2) on the breast side of the carcass W. R and W L 10, a case will be illustrated in which the cutting position L2 is identified as a horizontal line passing through the third feature point P3 corresponding to the lumbar vertebrae. However, the cutting positions L1 and L2 may be specified based on other feature points extracted by image analysis.

[0039] Next, a description will be given of a cutting position specifying system 210 for specifying the above-mentioned cutting position L. Fig. 8 is a configuration diagram of the cutting position specifying system 210 according to an embodiment.

[0040] The cutting position identification system 210 is a pair of left and right carcasses W R and W L The system is for identifying the cutting positions L1 and L2 of the surgical instrument, and includes at least one imaging device 212 and a cutting position identifying device 214.

[0041] The imaging device 212 captures a pair of carcasses W R and W L The imaging device 212 is a device such as a camera that is arranged to face the cut surface 4 of the pair of carcasses 1 and is capable of capturing an image of the pair of carcasses 1. The image captured by the imaging device 212 may be a still image or a video. The number of imaging devices 212 may be one or more (the specific layout of the imaging device 212 will be described later).

[0042] The cutting position specifying device 214 uses the images captured by the imaging device 212 to identify the pair of left and right carcasses W R and W L The cutting position L1, L2 of the cutting device is determined by the cutting position determining section 100 and the cutting position determining section 102. The cutting position determining section 102 is configured by, for example, a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program, for example, and the CPU reads the program into the RAM or the like and executes information processing and arithmetic processing to realize various functions. The program may be installed in a ROM or other storage medium in advance, may be provided in a state stored in a computer-readable storage medium, or may be distributed via a wired or wireless communication means. The computer-readable storage medium may be a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

[0043] In FIG. 8, the cutting position specifying device 214 included in the cutting position specifying system 210 includes an image acquiring unit 218, a storage unit 220, and a cutting position predicting unit 222 as functional components.

[0044] The image acquisition unit 218 is a component for acquiring the image captured by the imaging device 212 .

[0045] The storage unit 220 is configured to store various data necessary for the calculation processing of the cutting position identification device 214, and stores a learning model 224 used to predict the cutting positions L1 and L2. The learning model 224 is a prediction model for predicting the cutting positions L1 and L2 based on an image acquired by the image acquisition unit 218 as an input, and is trained in advance using teacher data. The learning model 224 is trained by specifying a first feature point P1, a second feature point P2, and a third feature point P3 for identifying the cutting positions L1 and L2 in each of a sufficient number of sample images prepared as teacher data.

[0046] The cutting position prediction unit 222 is configured to predict the cutting positions L1, L2 in the image acquired by the image acquisition unit 218. Specifically, the cutting position prediction unit 222 obtains a prediction result of the cutting position L by inputting the image acquired by the image acquisition unit 218 to the learning model 224 stored in the storage unit 220. The cutting positions L1, L2 predicted by the cutting position prediction unit 222 are output as the identification result of the cutting position identification device 214.

[0047] In the cutting position identification system 210, first, a pair of left and right carcasses W are detected by the imaging device 212. R and W L The image captured by the imaging device 212 is then acquired by the image acquisition section 218.

[0048] Next, the cutting position prediction unit 222 accesses the storage unit 220 to obtain a learning model 224 that has been trained in advance using teacher data, and predicts the cutting positions L1 and L2 by inputting the images obtained as described above into the learning model 224. Note that the prediction of the cutting position L2 is based on the pair of left and right carcasses W after the precarious body C is divided. R and W L After being carried into the middle and rear body division section B, a pair of carcasses W on the left and right were carried into the middle and rear body division section B. R and W L Alternatively, the above may be performed based on an image captured by an imaging device (not shown) capable of capturing images.

[0049] The incision position L1 predicted as described above is judged to be within the normal range or not. For this judgment, for example, the predicted incision position L1 is displayed superimposed on the image captured as described above, and the operator confirms it. If the incision position L1 is out of the normal range, the incision position L1 is corrected by the operator, and the corrected incision position L1 is output as the specified result.

[0050] Similarly, it is determined whether the incision position L2 predicted as described above is within the normal range. This determination is performed, for example, by displaying the predicted incision position L2 superimposed on the image captured as described above, so that the operator can confirm it. If the incision position L2 is outside the normal range, the incision position L2 is corrected by the operator's operation, and the corrected incision position L2 is output as the specified result.

[0051] When the cutting positions L1 and L2 are within the normal range, the prediction result by the cutting position prediction unit 222 is output as it is.

[0052] Next, a specific layout of the imaging device 212 in the cutting position specifying system 210 will be described. FIG. 9 shows the layout of the imaging devices 212 in the carcass dividing device 10 according to this embodiment, with respect to a pair of left and right carcasses W R and WL FIG. The imaging device 212 captures a pair of carcasses W R and W L One side (left carcass W L The first imaging device 212A is disposed at a position corresponding to the right carcass W R The first imaging device 212A captures the left carcass W. L The second imaging device 212B is disposed in a position where it can image the right carcass W. R is placed in a position where it can capture an image.

[0053] In the carcass dividing apparatus 10 configured as above, the restraining device 100 operates as follows. First, a pair of carcasses W R and W L When the carcass W is conveyed by the pusher 15 to the upstream side in the conveying direction from the front middle body dividing section A, the gripping position specifying device 24 detects the pair of left and right carcasses W R and W L The image is captured, and the characteristic points Pc are calculated as described above based on the acquired image, and the gripping position P, i.e., the target position of the third height position h3, is calculated based on the calculated characteristic points Pc.

[0054] Then, a pair of carcasses W R and W L When the object is transported into the front center body section A by the pusher 15, the controller 40 outputs a control signal to set the third height position h3 in the third restraint unit 130 to the acquired gripping position P, thereby driving a lifting device (not shown). Next, the controller 40 outputs a control signal to extend the rod of an actuator (not shown) of the one-side third movable part 131. As a result, the front body front presser 134 swings so as to move downward while moving toward the rear surface, thereby pressing the front body C toward the rear surface with the front body front presser 134.

[0055] Next, the controller 40 outputs a control signal to extend the rod of an actuator (not shown) of the first movable part 113 of the first restraining unit 110. As a result, the rear-body rear retainer 116 swings so as to move upward while facing forward, thereby pressing the rear body E toward the front with the rear-body rear retainer 116 and pressing the rear body E against the first stationary part 111, thereby restraining the rear body E.

[0056] Next, the controller 40 outputs a control signal to extend the rod of an actuator (not shown) of the second movable part 123 of the second restraining unit 120. As a result, the intermediate body rear retainer 126 swings so as to move upward while facing forward, and the curved part 126b presses the intermediate body D toward the front, pressing the intermediate body D against the second stationary part 121 and restraining the intermediate body D.

[0057] Next, the controller 40 outputs a control signal to extend the rod of an actuator (not shown) of the other-side third movable part 136. As a result, the front body rear retainer 139 swings so as to move downward while facing the front, and presses the front body C toward the front with the curved part 139b, pressing the front body C against the front body front retainer 134, thereby restraining the front body C. In this way, the carcass dividing device 10 divides a pair of carcasses W R and W L can be restrained by the restraint device 100 in order from the top down.

[0058] Thereafter, the controller 40 outputs a control signal to drive the front side front center body cutting device 310 and the rear side front center body cutting device 320, thereby separating the precursor body C from the center body D. Specifically, the controller 40 outputs drive signals to the front side front center structure cutting device 310 and the rear side front center structure cutting device 320 so that the front side front center structure cutting device 310 and the rear side front center structure cutting device 320 operate as follows. FIG. 10 is a simplified diagram showing the movement trajectories of the rotary circular blade 301 of the front-side front middle structure cutting device 310 and the cutting blade 360 ​​of the rear-side front middle structure cutting device 320. As shown in FIG. First, the rotary circular blade 301 of the front midsection cutting device 310 moves from the spine 7 side toward the ventral side as shown by the arrow f1 in FIG. 10 and cuts the left carcass W at the cutting position L1. L The vertebra 7 is cut. Next, the rotary circular blade 301 of the front midsection cutting device 310 moves from the ventral side toward the spine 7 side as shown by the arrow f2 in FIG. 10, and cuts the left carcass W at the cutting position L1. L The third thoracic vertebra is cut.

[0059] Next, the rotary circular blade 301 of the front midsection cutting device 310 moves from the spine 7 side toward the ventral side as shown by the arrow f3 in FIG. 10, and cuts the right carcass W at the cutting position L1. R The vertebra 7 is cut. Next, the rotary circular blade 301 of the front midsection cutting device 310 moves from the ventral side toward the spine 7 side as shown by the arrow f4 in FIG. 10, and cuts the right carcass W at the cutting position L1. R The third thoracic vertebra is cut.

[0060] The left carcass W is cut by the rotary circular blade 301 of the front middle body cutting device 310. L When the cutting of the vertebrae 7 and the thoracic vertebrae 3 is completed, the cutting blade 360 ​​of the dorsal side anterior midsection cutting device 320 moves from the vertebrae 7 side toward the ventral side as shown by the arrow b1 in FIG. 10, and cuts the left carcass W at the cutting position L1. L The fleshy part m is cut off. In addition, if the front side front middle body cutting device 310 and the rear side front middle body cutting device 320 do not interfere with each other, the left carcass W L If the cutting of the spine 7 and thoracic vertebrae 3 of the right carcass W is completed, the cutting of the right carcass W by the rotary round blade 301 is completed. R Even before the cutting of the vertebrae 7 and the thoracic vertebrae 3 of the left carcass W is completed, the cutting blade 360 L Then, cutting of the meat portion m may begin.

[0061] The right carcass W is cut by the rotary circular blade 301 of the front middle body cutting device 310. R When the cutting of the vertebrae 7 and the thoracic vertebrae 3 is completed, the cutting blade 360 ​​of the dorsal side anterior midsection cutting device 320 moves from the vertebrae 7 side toward the ventral side as shown by the arrow b2 in FIG. 10, and cuts the right carcass W at the cutting position L1.R The fleshy part m is cut off.

[0062] FIG. 11 is a diagram for explaining the relationship between the extending direction of the cutting position L1 and the orientation of the cutting edge 363 of the cutting blade 360 ​​when viewed from the extending direction Db of the blade length 361 of the cutting blade 360. As shown in FIG. FIG. 12 is a diagram for explaining the relationship between the extending direction of the cutting position L1 and the orientation of the cutting edge 363 of the cutting blade 360 ​​when viewed from the extending direction Db of the blade length 361 of the cutting blade 360. As shown in FIG. The controller 40 outputs a drive signal to the front-side front middle body cutting device 310 so that the orientation of the cutting edge 363 of the cutting blade 360 ​​is as described below.

[0063] For example, as shown in FIG. 11, when the cutting position L1 as viewed from the extension direction Db of the blade length 361 of the cutting blade 360 ​​is inclined downward from the spine 7 toward the ventral side, the cutting edge 363 is raised and the ridge 364 is lowered, and the orientation of the cutting edge 363 is changed so that the center line Cb of the cutting blade 360 ​​connecting the cutting edge 363 and the ridge 364 opposite the cutting edge 363 is inclined relative to the extension direction of the cutting position L1 as viewed from the extension direction Db of the blade length 361, i.e., the movement direction of the cutting blade 360. Here, regarding the angle difference θ between the center line Cb of the cutting blade 360 ​​connecting the cutting edge 363 and the ridge 364 and the extension direction of the cutting position L1 as viewed from the extension direction of the blade length 361, when the cutting blade 360 ​​is moved from the right to the left in Figures 11 and 12, the angle difference θ when the cutting edge 363 is rotated clockwise is set to +, and the angle difference θ when it is rotated counterclockwise is set to -. For example, as shown in FIG. 11, when the cutting position L1 is inclined downward (toward the anterior body C) as it moves from the spine side to the ventral side, i.e., when the upper and lower ribs 8 on either side of the cutting position L1 are inclined toward the anterior body C side as they move from the spine side to the ventral side, in order to make it difficult for the cutting edge 363 to cut the lower ribs 8 (toward the anterior body C), it is advisable to set the angle difference θ to approximately +3 degrees or less (e.g., 2 degrees) and shift the direction of the cutting edge 363 from the moving direction of the cutting blade 360 ​​toward the posterior body E side.

[0064] Furthermore, for example, as shown in FIG. 12, when the cutting position L1 as viewed from the extension direction Db of the blade length 361 of the cutting blade 360 ​​is inclined upward from the spine 7 toward the ventral side, the cutting edge 363 is lowered and the ridge 364 is raised, and the orientation of the cutting edge 363 is changed so that the center line Cb of the cutting blade 360 ​​connecting the cutting edge 363 and the ridge 364 is inclined relative to the extension direction of the cutting position L1 as viewed from the extension direction Db of the blade length 361, i.e., the movement direction of the cutting blade 360. For example, as shown in FIG. 12, when the cutting position L1 is inclined upward (toward the posterior body E) as it moves from the spine side to the ventral side, i.e., when the upper and lower ribs 8 on either side of the cutting position L1 are inclined toward the posterior body E as it moves from the spine side to the ventral side, in order to make it difficult for the cutting edge 363 to cut the upper ribs 8 (toward the posterior body E), it is advisable to shift the direction of the cutting edge 363 from the moving direction of the cutting blade 360 ​​toward the anterior body C by setting the angle difference θ to approximately −3 degrees or less (e.g., 2 degrees). This makes it possible to prevent the ribs 8 from being scraped by the cutting blade 360 ​​when the meat portion m is cut by the cutting blade 360.

[0065] Next, the controller 40 drives the pusher 15 to separate the pair of carcasses W R and W L is transported to the middle and rear structure section B. A pair of carcasses W R and W L is carried into the middle rear-body division section B by the pusher 15, the controller 40 outputs a control signal to extend the rod of an actuator (not shown) of the first movable section 113 of the first restraining unit 110. As a result, the rear-body rear retainer 116 swings so as to move upward while facing forward, thereby pressing the rear body E toward the front with the rear-body rear retainer 116 and pressing the rear body E against the first stationary section 111, thereby restraining the rear body E.

[0066] Next, the controller 40 outputs a control signal to extend the rod of an actuator (not shown) of the second movable part 123 of the second restraining unit 120. As a result, the intermediate body rear retainer 126 swings so as to move upward while facing forward, and the curved part 126b presses the intermediate body D toward the front, pressing the intermediate body D against the second stationary part 121 and restraining the intermediate body D.

[0067] Next, the controller 40 outputs a control signal to drive the front side middle rear body cutting device 330 and the rear side middle rear body cutting device 340, thereby separating the middle body D from the rear body E. Specifically, the controller 40 outputs drive signals to the front side middle rear structure cutting device 330 and the rear side middle rear structure cutting device 340 so that the front side middle rear structure cutting device 330 and the rear side middle rear structure cutting device 340 operate as follows.

[0068] First, the rotary circular blade 301 of the front side middle hind body cutting device 330 moves from the ventral side toward the spine 7 side and cuts the left carcass W at the cutting position L2. L The lumbar vertebrae are severed. Next, the rotary circular blade 301 of the front side middle hind body cutting device 330 moves from the ventral side toward the spine 7 side and cuts the right carcass W at the cutting position L2. R The lumbar vertebrae are severed.

[0069] Next, the cutting blade 360 ​​of the rear middle carcass cutting device 340 moves from the spine 7 side toward the ventral side and cuts the left carcass W at the cutting position L2. L The fleshy part m is cut off. Next, the cutting blade 360 ​​of the rear middle carcass cutting device 340 moves from the spine 7 side toward the ventral side and cuts the right carcass W at the cutting position L2. R The fleshy part m is cut off.

[0070] The present disclosure is not limited to the above-described embodiments, and includes modifications to the above-described embodiments and appropriate combinations of these modifications. For example, in the carcass dividing device 10 of the embodiment described above, the front body C is divided from the middle body D at the front-middle body dividing section A, and the middle body D is divided from the posterior body E at the middle-rear body dividing section B. However, the carcass dividing device 10 may not be provided with the middle-rear body dividing section B, and the front body C may be divided from the middle body D at the front-middle body dividing section A, and then the middle body D may be divided from the posterior body E at the front-middle body dividing section A.

[0071] The contents described in each of the above embodiments can be understood, for example, as follows. (1) The carcass processing device (carcass dividing device 10) according to at least one embodiment of the present disclosure is R and left carcass W L The carcass processing device (carcass dividing device 10) according to at least one embodiment of the present disclosure is a carcass processing device for processing the right carcass W R and left carcass W L a first cutting device (rear side front middle body cutting device 320, rear side middle rear body cutting device 340) having a cutter (cutting blade 360) for cutting the meat part m of the right carcass W R and left carcass W L and a controller 40 for controlling the first cutting device (the rear side front middle body cutting device 320, the rear side middle posterior body cutting device 340) to move a cutter (cutting blade 360) from the backbone (vertebrae) 7 side toward the ventral side to cut the meat portion m for each of the above.

[0072] As a result of intensive research by the inventors, for example, when separating the precursor body C from the intermediate body D, the carcass W L , W R It was found that, compared with the case where the cutter (cutting blade 360) is moved from the chest side (ventral side) to the back side (backbone 7 side), it is difficult to cut the ribs 8 when the cutter (cutting blade 360) is moved from the back side (backbone 7 side) to the chest side (ventral side). L , W R Regarding the above, when the middle body D is separated from the rear body E, if the fin protrudes upward from the middle body D, the carcass W L , W RHowever, it was found that if the cutter (cutting blade 360) is moved from the ventral side toward the dorsal side (spine 7 side), depending on how the fin protrudes, the fin may be cut off, resulting in a reduced yield.

[0073] According to the above-mentioned configuration (1), the cutter (cutting blade 360) is moved from the backbone (vertebrae) 7 side to the ventral side in order to cut the meat portion m. This makes it difficult for the inconveniences that would occur if the cutter (cutting blade 360) were moved from the ventral side to the backbone (vertebrae) 7 side as described above to occur, and therefore the carcass W L , W R can be cut with good quality.

[0074] (2) In some embodiments, in the configuration of (1) above, the cutter (cutting blade 360) may be a knife-shaped cutting blade (cutting blade 360).

[0075] According to the above configuration (2), by cutting the meat portion m with the knife-shaped cutting blade (cutting blade 360), the amount of meat waste generated can be reduced compared to when the meat portion m is cut with a rotating circular blade. L , W R can be cut with good quality.

[0076] (3) In some embodiments, in the configuration of (2) above, at least a region 362 of the blade length 361 of the knife-shaped cutting blade (cutting blade 360) used for cutting the meat portion m may be a straight blade extending linearly in the extension direction Db of the blade length 361.

[0077] According to the above-mentioned configuration (3), the cutting edge 363 can be easily re-sharpened compared to a case where the cutting edge 363 is curved so as to be warped with respect to the extending direction Db of the blade length 361. Therefore, the sharpness of the knife-shaped cutting blade (cutting blade 360) can be maintained at a relatively low cost, and the carcass W L , W R can be cut with good quality.

[0078] (4) In some embodiments, in the configuration of (3) above, the right carcass W R and left carcass W Lis a carcass split into left and right halves at the position of the vertebrae 7. In some embodiments, in the above configuration (3), the right carcass W R and left carcass W L The cutting position specifying device (cutting position specifying system 210) may be provided for specifying imaginary cutting lines (cutting positions L1 and L2) by image processing of the image obtained by imaging the cut surface 4 of the cut piece divided in half. The controller 40 may control the first cutting device (rear side front middle body cutting device 320) to adjust the inclination angle of the knife-shaped cutting blade (cutting blade 360) when viewed from the extending direction Db of the blade length 361 based on the detection result of the imaginary cutting line (cutting position L1) by the cutting position specifying device (cutting position specifying system 210).

[0079] According to the above configuration (4), by adjusting the inclination angle of the knife-shaped cutting blade (cutting blade 360) when viewed from the extension direction Db of the blade length 361, it is possible to make it difficult for the ribs 8 to be cut, for example, when separating the precursor body C from the intermediate body D.

[0080] (5) In some embodiments, in any of the configurations (2) to (4) above, the controller 40 cuts the right carcass W with the knife-shaped cutting blade (cutting blade 360). R and left carcass W L By cutting the meat part m of the right carcass W R and left carcass W L It is preferable to control the first cutting device (rear side middle rear structure cutting device 340) so as to cut the middle structure D from the rear structure E.

[0081] According to the above configuration (5), the amount of meat waste generated can be reduced compared to when the meat portion m is cut with a rotary circular blade, and therefore the quality of the middle body D and the rear body E obtained by cutting is improved.

[0082] (6) In some embodiments, in any of the configurations (2) to (5) above, the controller 40 cuts the right carcass W with the knife-shaped cutting blade (cutting blade 360). R and left carcass W L By cutting the meat part m of the right carcass W R and left carcass W LIt is preferable to control the first cutting device (rear side front middle body cutting device 320) so as to cut the front body C from the middle body D.

[0083] According to the above configuration (6), the amount of meat waste generated can be reduced compared to when the meat portion m is cut with a rotary circular blade, and therefore the quality of the precursor body C and the intermediate body D obtained by cutting is improved.

[0084] (7) In some embodiments, in any of the configurations (1) to (6) above, the first cutting device (rear side front middle structure cutting device 320, rear side middle rear structure cutting device 340) may be a vertical articulated robot (six-axis vertical articulated robot 306) capable of mounting a cutter (cutting blade 360) to the tip 308 of the robot arm 307.

[0085] According to the above configuration (7), the carcass W L , W R This makes it possible to cut the desired portion in the desired direction.

[0086] (8) In some embodiments, in any one of the configurations (1) to (7) above, the right carcass W R and left carcass W L It is preferable to provide a second cutting device (front side anterior-middle body cutting device 310, front side middle-posterior body cutting device 330) having a rotary circular blade 301 for cutting the bones (thoracic vertebrae 3, spine 7).

[0087] According to the above configuration (8), the bones (thoracic vertebrae 3, spine 7) can be easily cut. [Explanation of symbols]

[0088] 4 Cut surface 8 ribs 7. Spine (backbone) 10. Carcass splitting device 12 Rail 14 Gambrel 15 Pusher 16 Trolley 20 Grasp Position Identification System 22 Imaging device 24 Grip position identification device 28 Image acquisition unit 30 Storage section 32 Feature point identification unit 34 Grip position calculation unit 40 Controller 210 Cutting Position Identification System 212 Imaging device 300 cutting equipment 301 Rotating circular blade 302 Vertical movement device 303 Conveying direction moving device 304 Depth Direction Movement Device 306 6-axis vertical articulated robot 307 Robot Arm 308 Tip 300 cutting equipment 310 Front mid-frame cutting device 320 Rear side front middle frame cutting device 330 Front middle and rear body cutting device 340 Rear mid-hind body cutting device 360 cutting blade 363 Cutting Edge

Claims

1. A carcass processing device for processing a right carcass and a left carcass, A first cutting device having a cutter for cutting meat portions of the right carcass and the left carcass; a controller for controlling the first cutting device to move the cutter from a backbone side to a ventral side to cut the meat portion of each of the right carcass and the left carcass; A carcass processing device comprising:

2. The cutter is a knife-like cutting blade. The carcass processing apparatus according to claim 1.

3. Of the blade length of the knife-shaped cutting blade, at least the area used for cutting the meat portion is a straight blade extending linearly in the extension direction of the blade length. The carcass processing apparatus according to claim 2.

4. The right carcass and the left carcass are carcasses split into left and right halves at the spine, a cutting position specifying device for specifying a virtual cutting line by imaging the cut surfaces of the right carcass and the left carcass and processing the images obtained by the imaging; Equipped with the controller controls the first cutting device to adjust an inclination angle of the knife-shaped cutting blade when viewed from an extension direction of the blade length based on a detection result of the imaginary cutting line by the cutting position specifying device. The carcass processing apparatus according to claim 3.

5. the controller controls the first cutting device to cut the meat portions of the right carcass and the left carcass with the knife-shaped cutting blade to cut a middle body from a rear body of the right carcass and the left carcass; 5. A carcass processing apparatus according to any one of claims 2 to 4.

6. the controller controls the first cutting device to cut the meat portions of the right carcass and the left carcass with the knife-like cutting blade to separate a precursor body from a middle body of the right carcass and the left carcass; 5. A carcass processing apparatus according to any one of claims 2 to 4.

7. The first cutting device is a vertical articulated robot having a tip end of a robot arm to which the cutter can be attached. A carcass processing apparatus according to any one of claims 1 to 4.

8. a second cutting device having a rotating circular blade for cutting bone portions of the right carcass and the left carcass; Equipped with 5. The carcass processing apparatus according to claim 3 or 4.

Images