Automated system for measuring quality of carcass

Abstract

One embodiment of the present invention provides an automated system for measuring quality of a carcass, the system comprising: a first scanning unit for scanning the outer surfaces of a slaughtered animal bisected into a first carcass and a second carcass which move by hanging on a main conveyor through a gambrel; a movement guide module for guiding the movement of the first carcass and the second carcass passing through the first scanning unit; a rotation operation module rotating the first carcass at a required angle to adjust the position of the slaughtered animal so that the inner surface of the first carcass and the second carcass can be scanned; a second scanning unit for scanning the inner surfaces of the first carcass and the second carcass of which the positions have been adjusted by the rotation operation module; and an analysis unit for analyzing quality states of the first carcass and the second carcass on the basis of scan data provided from the first scanning unit and the second scanning unit, wherein the second scanning unit is configured to simultaneously scan the inner surfaces of the bisected slaughtered animal.

Description

Conductor Quality Measurement Automation System

[0001] The present invention relates to an automated carcass quality measurement system, and more specifically, to an automated carcass quality measurement system configured to automatically determine the quality status of slaughtered animals.

[0002] As a method of estimating the amount of meat from slaughtered animals, the amount of meat from slaughtered animals is estimated by inputting the thickness of back fat, carcass weight, etc. of the slaughtered animals into a preset meat amount estimation formula.

[0003] To accurately measure the meat mass of these slaughtered animals, a slaughtered animal mass measuring device is being developed. This device uses ultrasound to image the fat thickness and muscle depth of the slaughtered animal, allowing it to measure the meat mass and weight of each cut.

[0004] However, the currently developed equipment for measuring the amount of slaughtered animals requires a large installation space, which is a problem in that small-scale slaughterhouses cannot introduce such equipment.

[0005] In addition, because the equipment for measuring the amount of meat produced by slaughtered animals is so expensive, it is practically difficult for small-scale slaughterhouses to introduce such equipment.

[0006] Accordingly, various research and developments are being conducted on automated conductor quality measurement systems with a simple structure that can minimize installation space.

[0007] The technical task of the present invention to solve the above problems is to provide an automated carcass quality measurement system that automatically determines the quality status of slaughtered animals.

[0008] In order to achieve the above technical task, one embodiment of the present invention provides an automated carcass quality measurement system, including: a first scanning unit that scans the outer surface of a slaughtered animal divided into a first carcass and a second carcass while being hung on a main conveyor through a gamble; a movement guide module that guides the movement of the first carcass and the second carcass via the first scanning unit; a rotation operation module that adjusts the position of the slaughtered animal by rotating the first carcass at a required angle to enable scanning of the inner surfaces of the first and second carcasses; a second scanning unit that scans the inner surfaces of the first and second carcasses whose positions have been adjusted by the rotation operation module; and an analysis unit that analyzes the quality status of the first and second carcasses based on scan data provided from the first and second scanning units; wherein the second scanning unit is configured to simultaneously scan the inner surfaces of the slaughtered animal divided into two.

[0009] In one embodiment of the present invention, the movement guide module may include: a support frame; a buffer roller portion provided at a predetermined interval in the height direction of the support frame and guiding the movement of the first conductor and the second conductor entering the position adjustment space; an inner guide portion coupled to the upper end of the support frame and arranged inside a pair of fastening hooks provided in the gamble to guide the movement of the first conductor and the second conductor; an outer guide portion provided outside the inner guide portion to prevent the first conductor and the second conductor from being dislodged as they move along the length direction of the support frame; and a movement conveyor provided at a predetermined interval in the height direction of the support frame and guiding the movement of the first conductor and the second conductor as they move in the length direction of the support frame.

[0010] In one embodiment of the present invention, the movement guide module further includes a washing unit that is supported and connected to the upper portion of the moving conveyor and washes a belt unit provided on the moving conveyor; and a sensor unit that is provided with a first sensor and a second sensor that are spaced apart from each other at a predetermined interval on the main conveyor on which the gamble is hung; and when the first sensor detects the gamble, the rotation operation module is configured to rotate the first conductor at a required rotation angle, and when the second sensor detects the gamble, the rotation operation module can be rotated to the original position.

[0011] In one embodiment of the present invention, the rotation operation module includes a rotation part coupled to the support frame and having a rotation member; and an angle adjustment bar coupled to the rotation member; wherein the angle adjustment bar can rotate the first conductor at a required angle while in close contact with the inner surface of the first conductor by rotation of the rotation member.

[0012] In one embodiment of the present invention, the rotation operation module may include: a fixed frame; a rotating part coupled to the fixed frame and having a rotating member; a cylinder part coupled to the rotating part; a plurality of joint parts operated by expansion and contraction of the cylinder part; and a gripper coupled to an end of the joint part and rotating the first conductor at a required angle while holding the first conductor.

[0013] In one embodiment of the present invention, the first scanning unit includes a first camera unit that scans the outer surface of a slaughtered animal; and a first backboard that is arranged to face the first camera unit and is placed on the rear side of the slaughtered animal during the scanning process of the first camera unit; and the second scanning unit includes a second camera unit that scans the inner surface of the first conductor rotated by the rotation operation module; a second backboard that is arranged on the rear side of the first conductor during the scanning process of the second camera unit; a third camera unit that scans the inner surface of the second conductor while the first conductor is rotated by the rotation operation module; and a third backboard that is arranged on the rear side of the second conductor during the scanning process of the third camera unit and has a rotation prevention guide unit coupled thereto; and when the rotation operation module is operated, the second backboard can be rotated and placed on the rear side of the first conductor.

[0014] An embodiment of the present invention provides an automated carcass quality measurement system, comprising: a scan robot for scanning a slaughtered animal divided into a first carcass and a second carcass while being hung on a main conveyor through a gamble; and an analysis unit for analyzing the quality status of the first carcass and the second carcass based on scan data provided from the scan robot; wherein the scan robot comprises: a robot base; a multi-joint robot arm that rotates while coupled to the robot base and moves to a required position; and a scan tool coupled to an end of the robot arm and that scans the slaughtered animal; wherein the scan tool is equipped with an ultrasonic sensor, and the scan tool moves from the top to the bottom of the slaughtered animal to scan the exterior and the interior of the slaughtered animal.

[0015] The effects of the conductor quality measurement automation system according to the present invention described above are as follows.

[0016] According to the present invention, the automated carcass quality measurement system has a simple structure, minimizing its installation space. Therefore, the automated carcass quality measurement system can be introduced even in small-scale slaughterhouses with limited installation space.

[0017] According to the present invention, an automated conductor quality measurement system is capable of accurately measuring the quality of slaughtered animals based on scan data on the exterior and interior surfaces of slaughtered animals.

[0018] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0019] FIG. 1 is a configuration diagram of an automated conductor quality measurement system according to a first embodiment of the present invention.

[0020] FIG. 2 is an exemplary diagram of an automated conductor quality measurement system according to the first embodiment of the present invention.

[0021] FIG. 3 is a plan view of an automated conductor quality measurement system according to a first embodiment of the present invention.

[0022] Figure 4 is a perspective view of a movement guidance module according to a first embodiment of the present invention.

[0023] Figure 5 is an exemplary diagram of a rotation operation module according to the first embodiment of the present invention.

[0024] Figure 6 is an operating state diagram of a rotation operation module according to the first embodiment of the present invention.

[0025] Figure 7 is an exemplary diagram of a washing unit according to the first embodiment of the present invention.

[0026] FIG. 8 is an exemplary diagram of an automated conductor quality measurement system according to a second embodiment of the present invention.

[0027] Figure 9 is an exemplary diagram of a rotation operation module according to a second embodiment of the present invention.

[0028] Figure 10 is an operating state diagram of a rotation operation module according to a second embodiment of the present invention.

[0029] Fig. 11 is an exemplary diagram of an automated conductor quality measurement system according to a third embodiment of the present invention.

[0030] Fig. 12 is a perspective view of a main part of a movement guidance module according to a fourth embodiment of the present invention.

[0031] Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention can be implemented in various different forms and is therefore not limited to the embodiments described herein. In the drawings, irrelevant parts have been omitted for clarity of description, and similar parts have been designated with similar reference numerals throughout the specification.

[0032] Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "indirectly connected" with other elements intervening. Furthermore, when a part is said to "include" a component, this does not exclude other components, but rather implies that the other components may be included, unless otherwise specifically stated.

[0033] In the present invention, upper and lower parts mean being located above or below the target member, but do not necessarily mean being located above or below with respect to the direction of gravity.

[0034] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0035] FIG. 1 is a block diagram of an automated conductor quality measurement system according to a first embodiment of the present invention, FIG. 2 is an exemplary diagram of an automated conductor quality measurement system according to a first embodiment of the present invention, FIG. 3 is a plan view of an automated conductor quality measurement system according to a first embodiment of the present invention, FIG. 4 is a perspective view of a movement guide module according to a first embodiment of the present invention, FIG. 5 is an exemplary diagram of a rotation operation module according to a first embodiment of the present invention, FIG. 6 is an operational state diagram of a rotation operation module according to a first embodiment of the present invention, and FIG. 7 is an exemplary diagram of a washing unit according to a first embodiment of the present invention.

[0036] As shown in FIGS. 1 to 7, the conductor quality measurement automation system (1000) may include a first scanning unit (100), a movement guidance module (200), a rotation operation module (300), a second scanning unit (400), and an analysis unit (500).

[0037] Here, the first scanning unit (100) is configured to scan the outer surface of the divided slaughter animal (P) moving along the main conveyor (10).

[0038] In the present invention, a pig is used as an example for the slaughter animal (P) divided into a first conductor (P1) and a second conductor (P2). Here, the slaughter animal (P) whose quality is measured through the automatic carcass quality measurement system (1000) is not necessarily limited to pigs, and may be various slaughter animals (P) other than pigs, such as cattle.

[0039] The first scanning unit (100) is configured to scan the outer surface of a slaughtered animal (P) that is hung and moved on the main conveyor (10) via a gamble (20).

[0040] This first scanning unit (100) may include a first camera unit (110) and a first backboard (120).

[0041] Here, the first camera unit (110) may be formed of a camera, and scan data on the outer surface of the slaughtered animal (P) scanned from the first camera unit (110) may be provided to the analysis unit (500).

[0042] The first camera unit (110) does not necessarily have to be comprised solely of a camera, and may be comprised of a 2D Lidar. Alternatively, the first camera unit (110) may be comprised of a 3D scanner, and any device may be used as the first camera unit (110) as long as it can obtain more accurate scan data of the slaughtered animal (P).

[0043] And the first backboard (120) can be positioned to face the first camera unit (110). This first backboard (120) enables more accurate scan data on the slaughtered animal (P) to be acquired during the scanning process of the first camera unit (110). That is, the first backboard (120) prevents noise from being generated in the scan data due to various devices around the slaughterhouse during the scanning process of the slaughtered animal (P) by the first camera unit (110).

[0044] This first backboard (120) can be placed at the rear of the slaughtered animal (P) during the process of the first camera unit (110) scanning the slaughtered animal (P).

[0045] The first scanning unit (100) may further include components such as lighting and reflectors. It goes without saying that the first scanning unit (100) may further include various device configurations as long as it can more accurately acquire scan data of slaughtered animals (P).

[0046] In this way, the slaughtered animal (P) passing through the first scanning unit (100) is guided to the movement guidance module (200).

[0047] This movement guidance module (200) is configured to guide the movement of the first conductor (P1) and the second conductor (P2).

[0048] Such a moving guide module (200) may include a support frame (210), a buffer roller part (220), an inner guide part (230), an outer guide part (240), a moving conveyor (250), a washing part (260), and a sensor part (270).

[0049] Here, the support frame (210) forms the skeleton of the movement guide module (200) and is configured to support various components provided in the movement guide module (200).

[0050] And the buffer roller part (220) is coupled to the support frame (210). The buffer roller part (220) has a movement guide module (200) positioned at the front to guide the movement of the first conductor (P1) and the second conductor (P2) entering the position adjustment space (201).

[0051] Such a buffer roller part (220) prevents damage to the outer surfaces of the first conductor (P1) and the second conductor (P2) from occurring when the first conductor (P1) and the second conductor (P2) collide with the support frame (210) during the process of the first conductor (P1) and the second conductor (P2) entering the position adjustment space (201).

[0052] This buffer roller section (220) guides the first conductor (P1) and the second conductor (P2) to the position adjustment space (201) provided on one side and the other side, respectively, based on the support frame (210).

[0053] Such buffer roller parts (220) may be provided in multiple units at predetermined intervals in the height direction of the support frame (210). Accordingly, the first conductor (P1) and the second conductor (P2) entering the position adjustment space (201) can move smoothly without shaking or rotating.

[0054] And the inner guide part (230) is coupled to the upper part of the support frame (210). These inner guide parts (230) form a pair and guide the smooth movement of the first conductor (P1) and the second conductor (P2) guided to the position adjustment space (201).

[0055] These inner guide parts (230) are arranged on the inner side of a pair of spaced fastening hooks (21) provided in the gamble (20) to guide the movement of the first conductor (P1) and the second conductor (P2) moving along the longitudinal direction of the support frame (210).

[0056] Such an inner guide part (230) prevents the first conductor (P1) and the second conductor (P2) from shaking or vibrating during the process of moving the first conductor (P1) and the second conductor (P2) along the longitudinal direction of the support frame (210).

[0057] And the outer guide part (240) is placed on the outside of the inner guide part (230).

[0058] This outer guide part (240) is configured to prevent the first conductor (P1) and the second conductor (P2) from being dislodged externally during the process in which the first conductor (P1) and the second conductor (P2) are moved along the longitudinal direction of the support frame (210).

[0059] Such an outer guide portion (240) may be formed of, for example, a plate, and may prevent the first conductor (P1) and the second conductor (P2) from being detached from the outside.

[0060] This outer guide part (240), together with the inner guide part (230), prevents the first conductor (P1) and the second conductor (P2) from shaking and vibrating during the process of moving the first conductor (P1) and the second conductor (P2) along the longitudinal direction of the support frame (210).

[0061] And the moving conveyor (250) guides the movement of the first conductor (P1) and the second conductor (P2) along the longitudinal direction of the support frame (210).

[0062] These moving conveyors (250) may be provided in pairs on one side and the other side based on the support frame (210). In this way, the moving conveyors (250) forming a pair guide the movement of each conductor that has entered the position adjustment space (201).

[0063] Here, the moving conveyor (250) may be provided in multiple units at predetermined intervals in the height direction of the support frame (210), such as the buffer roller unit (220). Accordingly, as the first conductor (P1) and the second conductor (P2) move along the length direction of the support frame (210), the slaughtered animal (P) can be moved stably without shaking or trembling.

[0064] And the washing unit (260) is supported and connected to the upper part of the moving conveyor (250).

[0065] This washing unit (260) is configured to wash the belt unit (251) provided on the moving conveyor (250). That is, the washing unit (260) is configured to hygienically manage the belt unit (251) by spraying washing water onto the belt unit (251) that guides the movement of the slaughtered animal (P) while in contact with the slaughtered animal (P).

[0066] A washing unit (260) like this may include a washing housing (261), a washing water supply unit (262), and a washing nozzle (263).

[0067] Here, a washing water receiving space (not shown) is formed within the washing housing (261), so that washing water supplied through the washing water supply unit (262) can be received in the washing water receiving space. That is, a washing water supply pipe (264) is connected to the washing water supply unit (262), and washing water supplied through the washing water supply pipe (264) can be supplied to the washing water receiving space through the washing water supply unit (262).

[0068] And, the washing nozzles (263) are provided in multiple numbers on both sides of the washing housing (261) and are configured to spray washing water onto the belt portion (251) that rotates for the movement of the first conductor (P1) and the second conductor (P2). Accordingly, the belt portion (251) where washing is performed by the washing nozzles (263) guides the movement of the first conductor (P1) and the second conductor (P2) while in contact with the first conductor (P1) and the second conductor (P2).

[0069] For example, when the moving conveyor (250) is operated in the process of the first conductor (P1) and the second conductor (P2) entering the position adjustment space (201), the washing nozzle (263) may be operated to spray washing water onto the belt portion (251), or when the sensor portion (270) detects the entry of the gamble (20), the washing nozzle (263) may be operated to spray washing water onto the belt portion (251), and the operation method of the washing portion (260) may be various.

[0070] And the sensor unit (270) can be installed on the main conveyor (10) on which the gamble (20) is hung.

[0071] This sensor unit (270) may include a first sensor (271) and a second sensor (272).

[0072] The first sensor (271) and the second sensor (272) are arranged at predetermined intervals to detect the position of the gamble (20) moving along the main conveyor (10).

[0073] When the first dog portion (273) provided in the first sensor (271) is rotated at a certain angle by the gamble (20) moving along the main conveyor (10), the first sensor (271) sends a corresponding operation signal to the rotation operation module (300). In this way, when the rotation operation module (300) receives the operation signal from the first sensor (271), the rotation operation module (300) rotates the first conductor (P1) at a required rotation angle. At this time, the first conductor (P1) rotated by the rotation operation module (300) can be rotated, for example, by 90° with respect to the direction of travel.

[0074] In this way, while the first conductor (P1) is rotated at a required rotation angle by the rotation operation module (300), the second scanning unit (400) scans the inner surfaces of the first conductor (P1) and the second conductor (P2).

[0075] In other words, when the first conductor (P1) is rotated at a required rotation angle by the rotation operation module (300), the second camera unit (410) equipped in the second scanning unit (400) scans the inner surface of the first conductor (P1), and the third camera unit (420) equipped in the second scanning unit (400) can scan the inner surface of the second conductor (P2). In this way, the second scanning unit (400) is configured to scan the inner surfaces of the first conductor (P1) and the second conductor (P2) whose positions have been adjusted by the rotation operation module (300).

[0076] Here, since the second conductor (P2) is not covered by the first conductor (P1) when the first conductor (P1) is rotated at the required rotation angle by the rotation operation module (300), the third camera unit (420) can scan the inner surface of the second conductor (P2). That is, the second camera unit (410) and the third camera unit (420) can simultaneously scan the inner surfaces of the first conductor (P1) and the second conductor (P2) when the first conductor (P1) is rotated at the required rotation angle by the rotation operation module (300).

[0077] And the second backboard (430) equipped in the second scanning unit (400) is placed on the rear side of the first conductor (P1) during the scanning process of the second camera unit (410) to increase the scanning precision of the first conductor (P1). Such a second backboard (430) rotates together when the angle adjustment bar (320) equipped in the rotation operation module (300) operates, and can be placed on the rear side of the first conductor (P1).

[0078] And the third backboard (440) equipped in the second scanning unit (400) is placed on the rear side of the second conductor (P2) during the scanning process of the third camera unit (420) to increase the scanning precision of the second conductor (P2).

[0079] A rotation prevention guide part (441) may be combined with the third backboard (440). This rotation prevention guide part (441) is provided along the longitudinal direction of the third backboard (440) and prevents the second conductor (P2) from rotating during the process in which the third camera part (420) scans the second conductor (P2). Accordingly, the inner surface of the second conductor (P2) can be accurately scanned by the third camera part (420).

[0080] The second scanning unit (400) may further include components such as lighting and a reflector, as in the first scanning unit (100) mentioned above. That is, the second scanning unit (400) may further include various other device components as long as it can more accurately acquire scan data of the slaughtered animal (P).

[0081] The structure of this second scanning unit (400) is not limited to the form according to the first embodiment, and may be formed in various forms.

[0082] And when the second dog part (274) provided in the second sensor (272) is rotated at a certain angle by the gamble (20) moving along the main conveyor (10), the second sensor (272) sends a corresponding operation signal to the rotation operation module (300). In this way, when the rotation operation module (300) receives an operation signal from the second sensor (272), the rotation operation module (300) rotates to the original position (original position).

[0083] Although the first sensor (271) and the second sensor (272) are described as mechanical sensors equipped with a dog part, the first sensor (271) and the second sensor (272) may be composed of various sensors as long as they can determine the exact movement position of the gamble (20).

[0084] Meanwhile, the rotation operation module (300) may include a rotation part (310) and an angle adjustment bar (320).

[0085] Here, the rotating part (310) is coupled to the support frame (210). The rotating member (311) provided in the rotating part (310) is configured to operate according to the operating signals transmitted from the first sensor (271) and the second sensor (272).

[0086] A rotating member (311) like this controls the rotation of the angle adjustment bar (320) that rotates the first conductor (P1).

[0087] These rotating parts (310) can be arranged at predetermined intervals in the height direction of the support frame (210). Accordingly, by the operation of the rotating member (311), the angle adjustment bar (320) can rotate the first conductor (P1) to a required angle stably without shaking while being in close contact with the inner surfaces of the upper and lower sides of the first conductor (P1).

[0088] Meanwhile, the analysis unit (500) analyzes the quality status of the first conductor (P1) and the second conductor (P2) based on the scan data provided from the first scanning unit (100) and the second scanning unit (400). This analysis unit (500) can analyze various quality statuses of the slaughtered animal (P), such as the total meat quantity, meat yield, meat quantity and meat yield of major portions, and expected yield for the measured amount of specific portions of the slaughtered animal (P).

[0089] Through the analysis data of the analysis unit (500), it is possible to obtain estimates of preferred parts and expensive parts, and also determine the grade according to the meat ratio.

[0090] Additionally, the analysis data of the analysis unit (500) may also be provided as a processing process, and in the processing process, processing work may be performed using the analysis data.

[0091] FIG. 8 is an exemplary diagram of an automated conductor quality measurement system according to a second embodiment of the present invention, FIG. 9 is an exemplary diagram of a rotation operation module according to a second embodiment of the present invention, and FIG. 10 is an operational state diagram of a rotation operation module according to a second embodiment of the present invention.

[0092] As shown in FIGS. 8 to 10, the conductor quality measurement automation system (2000) according to the second embodiment differs from the conductor quality measurement automation system (1000) according to the first embodiment in the rotation operation module (600).

[0093] The rotation operation module (600) according to the second embodiment may include a fixed frame (610), a rotation part (620), a cylinder part (630), a joint part (640), and a gripper (650).

[0094] Here, the fixed frame (610) is configured to support the rotating part (620).

[0095] And the rotating part (620) is coupled to the fixed frame (610), and the rotating part (620) is provided with a rotating member (621) that controls the rotation of the second backboard (430'). This rotating member (621) is connected to the second backboard (430') by a connecting member (431), so that when the rotating member (621) rotates, the second backboard (430') can rotate. That is, in the process in which the first conductor (P1) is rotated by the rotation operation module (600), the second backboard (430') rotates and can be placed on the rear side of the first conductor (P1).

[0096] And the cylinder part (630) is coupled to the rotating part (620). This cylinder part (630) is not configured to rotate together with the rotating member (621).

[0097] This cylinder part (630) controls the operation of a plurality of joint parts (640) and grippers (650) connected to the cylinder part (630) through an expansion and contraction process. This cylinder part (630) ultimately controls the operation of the gripper (650) connected to the end of the joint part (640).

[0098] This gripper (650) can rotate the first conductor (P1) at a required angle while holding the first conductor (P1) by the operation of the cylinder portion (630). For example, the gripper (650) can rotate the first conductor (P1) by 90°.

[0099] In this way, when the first conductor (P1) is rotated at a required angle by the rotation operation module (600), the second camera unit (410) and the third camera unit (420) can scan the inner surfaces of the first conductor (P1) and the second conductor (P2).

[0100] Fig. 11 is an exemplary diagram of an automated conductor quality measurement system according to a third embodiment of the present invention.

[0101] As shown in FIG. 11, the conductor quality measurement automation system (3000) according to the third embodiment may include a scan robot (700) and an analysis unit (500, see FIG. 1).

[0102] Here, the scanning robot (700) is configured to scan the slaughtered animal (P) divided into a first conductor (P1) and a second conductor (P2) that are hung and moved on the main conveyor (10) via a gamble (20).

[0103] Such a scan robot (700) may include a robot base (710), a robot arm (720), and a scan tool (730).

[0104] Here, the robot base (710) is configured to support a multi-joint robot arm (720).

[0105] This robot arm (720) is configured to be rotatable relative to the robot base (710) while being coupled to the robot base (710).

[0106] And the robot arm (720) has a multi-joint shape and is configured to be able to move to a required position.

[0107] A scan tool (730) can be coupled to the end of such a robot arm (720).

[0108] The inner surface of the scan tool (730) is provided with, for example, a plurality of ultrasonic sensors, so that the scan tool (730) can scan the first conductor (P1) and the second conductor (P2).

[0109] A scan tool (730) like this is moved from the top to the bottom of the slaughter animal (P) by the robot arm (720), and scanning work can be performed on the outer and inner surfaces of the slaughter animal (P).

[0110] The shape of this scan tool (730) is not limited to the shape shown in the third embodiment, and may be formed in various shapes.

[0111] In this way, when scanning of a slaughtered animal (P) is performed through a scan robot (700), one scan robot (700) may perform scanning on the first conductor (P1) and the second conductor (P2), or a scan robot (700) for scanning the first conductor (P1) and a scan robot (700) for scanning the second conductor (P2) may be provided respectively to perform scanning of the slaughtered animal (P).

[0112] The scan data obtained through the scan robot (700) is provided to the analysis unit (500), and the analysis unit (500) analyzes the quality status of the first conductor (P1) and the second conductor (P2) based on the scan data provided from the scan robot (700).

[0113] Fig. 12 is a perspective view of a main part of a movement guide module according to a fourth embodiment of the present invention. Fig. 12 schematically illustrates only the movement guide module provided in the conductor quality measurement automation system (4000).

[0114] As shown in Fig. 12, the conductor quality measurement automation system (4000) according to the fourth embodiment is equipped with a moving guide bar (280) instead of the moving conveyor (250) equipped in the first and second embodiments.

[0115] The conductor quality measurement automation system (4000) according to the fourth embodiment can smoothly move the first conductor (P1) and the second conductor (P2) through the moving guide bar (280). The conductor quality measurement automation system (4000) can further simplify the overall structure compared to the conductor quality measurement automation systems (1000, 2000) according to the first and second embodiments through the moving guide bar (280).

[0116] However, this is only a preferred embodiment of the present invention, and the scope of the rights of the present invention is not limited by the scope of the description of this embodiment.

[0117] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will readily appreciate that the present invention can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single entity may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined manner.

[0118] The scope of the present invention is indicated by the claims described below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

Claims

1. A first scanning unit that scans the outer surface of a slaughtered animal divided into a first conductor and a second conductor that are hung and moved on the main conveyor through a gamble; A movement guidance module that guides the movement of the first conductor and the second conductor through the first scanning unit; A rotation operation module that adjusts the position of the slaughtered animal by rotating the first conductor at a required angle to enable scanning of the inner surfaces of the first conductor and the second conductor; A second scanning unit that scans the inner surfaces of the first conductor and the second conductor whose positions are adjusted by the rotation operation module; and It includes an analysis unit that analyzes the quality status of the first conductor and the second conductor based on scan data provided from the first scanning unit and the second scanning unit; An automated carcass quality measurement system in which the second scanning unit is configured to simultaneously scan the inner surface of a divided slaughtered animal.

2. In paragraph 1, The above movement guidance module, support frame; A buffer roller section provided at a predetermined interval in the height direction of the above support frame and guiding the movement of the first conductor and the second conductor entering the position adjustment space; An inner guide part coupled to the upper end of the support frame and positioned on the inner side of a pair of fastening hooks provided in the gamble to guide the movement of the first conductor and the second conductor; An outer guide portion arranged on the outside of the inner guide portion and preventing the first conductor and the second conductor from moving outward along the longitudinal direction of the support frame; and An automated conductor quality measurement system characterized by comprising a moving conveyor provided at predetermined intervals in the height direction of the support frame and guiding the movement of the first conductor and the second conductor moving in the length direction of the support frame.

3. In paragraph 2, The above movement guidance module, A washing unit that is supported and connected to the upper portion of the above moving conveyor and washes the belt unit provided on the above moving conveyor; and The above-mentioned gamble further includes a sensor unit having a first sensor and a second sensor spaced apart at a predetermined interval on the main conveyor; An automated conductor quality measurement system, characterized in that when the first sensor detects the gamble, the rotation operation module rotates the first conductor at a required rotation angle, and when the second sensor detects the gamble, the rotation operation module rotates to the original position.

4. In paragraph 2, The above rotation operation module, A rotating part coupled to the above support frame and having a rotating member; and It includes an angle adjustment bar coupled to the above rotating member; An automated conductor quality measurement system characterized in that the angle adjustment bar is configured to rotate the first conductor to a required angle while in close contact with the inner surface of the first conductor by rotation of the rotating member.

5. In paragraph 2, The above rotation operation module, Fixed frame; A rotating part coupled to the above fixed frame and having a rotating member; A cylinder part coupled to the above rotating part; A plurality of joints operated by expansion and contraction of the cylinder portion; and An automated conductor quality measurement system characterized by comprising a gripper coupled to an end of the joint portion and rotating the first conductor at a required angle while holding the first conductor.

6. In paragraph 1, The above first scanning unit, A first camera unit that scans the exterior of a slaughtered animal; and A first backboard is disposed to face the first camera unit and is disposed on the rear side of the slaughtered animal during the scanning process of the first camera unit; The above second scanning unit, A second camera unit that scans the inner surface of the first conductor rotated by the rotation operation module; A second backboard placed on the rear side of the first conductor during the scanning process of the second camera unit; A third camera unit that scans the inner surface of the second conductor while the first conductor is rotated by the rotation operation module; and Including a third backboard which is placed on the rear side of the second conductor during the scanning process of the third camera unit and has a rotation prevention guide unit combined; An automated conductor quality measurement system, characterized in that when the above rotation operation module is operated, the second backboard is rotated and positioned on the rear side of the first conductor.

7. A scanning robot that scans slaughtered animals divided into first and second conductors that are hung on the main conveyor and moved through the gamble; and An analysis unit that analyzes the quality status of the first conductor and the second conductor based on scan data provided from the scan robot; The above scanning robot, robot base; A multi-joint robot arm that rotates while being connected to the robot base and moves to a required position; and A scan tool is connected to the end of the above robot arm and includes a scan tool for scanning slaughtered animals; An automated carcass quality measurement system in which the above scan tool is equipped with an ultrasonic sensor, the scan tool moves from the top to the bottom of the slaughtered animal, and scans are performed on the outer and inner surfaces of the slaughtered animal.

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