Method, apparatus, and arrangement for the automated inspection of carcasses by means of ultrasound imaging

Abstract

The invention relates to a method for the automated inspection of carcasses (10) by means of ultrasound imaging, the method comprising the steps of: conveying the carcasses (10) along a conveying path (11) by means of a conveying device; and scanning the carcasses (10) by means of ultrasound using an imaging ultrasound sensor (12) in order to generate image data by bringing the carcasses (10) into lateral contact with an ultrasound contact face (13) of the imaging ultrasound sensor. The invention also relates to a corresponding apparatus. Furthermore, the invention to a method for automatically deboning poultry legs, which is characterised by: performing the automated inspection of carcasses (10) by means of ultrasound imaging using the method for the automated inspection of carcasses; locating the position of the knee joint as a skeletal component in the poultry legs by evaluating the image data; and deboning the poultry legs on the basis of the position of the knee joint. The invention also relates to a corresponding arrangement for automatically deboning poultry legs.

Description

[0001] FPI Food Processing Innovation GmbH & Co. KG, Roggenhorster Str. 9c, 23556 Lübeck

[0002] Method, device and arrangement for the automated examination of carcasses using ultrasound imaging

[0003] Description

[0004] The present invention relates to a method for the automated examination of carcasses using ultrasound imaging and to a method for the automated deboning of poultry legs. Furthermore, the invention relates to a device for the automated examination of carcasses using ultrasound imaging.

[0005] Furthermore, the invention relates to an arrangement for the automatic deboning of poultry legs.

[0006] Such methods, devices, and arrangements are used in the inspection of carcasses. Before the actual processing of carcasses, it is regularly necessary to examine them for properties relevant to the processing. Depending on the type of processing, the internal structure of the carcass is of interest, for example, the presence of cartilage and bone fragments and their location. Determining the external shape, the mass distribution within the carcass, and other properties are also regularly of great importance for the subsequent processing steps.

[0007] Especially in the semi- or fully automated processing of carcasses, a preliminary examination using X-rays has become standard practice. The carcasses pass through an X-ray station, where they are exposed to X-rays that are detected by a suitable X-ray detector and used for imaging. Based on this image data, an evaluation—usually automated—takes place to determine, for example, the aforementioned characteristics of the carcass. The carcasses in question are primarily slaughtered animals or parts thereof, such as fish or poultry. However, the use of X-ray technology is associated with a number of disadvantages. Such X-ray systems are expensive in terms of acquisition, operation, and maintenance.Furthermore, handling X-rays places increased demands on occupational safety and requires the use of specially trained personnel due to potential health hazards from radiation exposure.

[0008] The use of ultrasonic transducers for testing carcasses is known, for example, from document EP 0 666 984 B1. Contact between the carcass and the ultrasonic transducer is established by the carcass resting a significant portion of its weight on the ultrasonic sensor. The contact pressure with the surface of the ultrasonic transducer therefore depends primarily on the carcass's own weight, but also on how it is conveyed – usually in a suspended position. The tensile force with which the carcass is conveyed also influences the actual force with which the carcass comes into contact with the subsonic transducer.

[0009] Therefore, bringing the carcass into contact with the ultrasonic transducer in this way has a number of disadvantages. To obtain reliable and reproducible image data, it is crucial to ensure good contact between the carcass and the ultrasonic transducer, while simultaneously achieving this contact with a precisely defined contact force. However, as previously described, this contact force in the device known from document EP 0 666 984 B1 depends on a multitude of factors that can influence it and ultimately have a significantly negative impact on the image quality of the ultrasonic image.

[0010] It is therefore an object of the present invention to propose a method that enables cost-effective, reliable, reproducible, and precise examination of carcasses. In particular, the method should be as low in radiation as possible, and preferably X-ray-free. It is also an object of the present invention to propose a method that enables the examination of carcasses at the highest possible throughput rates. Furthermore, the object is to propose a corresponding apparatus. Finally, the object is to propose an arrangement that ensures the automatic deboning of poultry legs.

[0011] The aforementioned method solves the problem by combining the steps of conveying the carcasses along a conveyor path using a conveying device and scanning them with ultrasound using an imaging ultrasonic sensor to generate image data. This is achieved by bringing the carcasses into lateral contact with the ultrasonic sensor's transducer. Advantageously, this method brings the carcass into contact with the ultrasonic sensor with a defined force independent of its own weight. In this way, the ultrasound imaging is not subject to unknown influences, such as the carcass's own weight. The carcass is thus pressed against the sensor under defined and, above all, precisely controllable conditions, ensuring that the acquired image data is reproducible and reliable at all times.Even at high throughput rates, this method makes it possible to examine carcasses with the desired accuracy – particularly in an automated manner. The process is also cost-effective and, due to the use of ultrasound waves, radiation-free, specifically free of ionizing and / or electromagnetic radiation. "Bringing the carcass into lateral contact" as defined in the present invention means that the ultrasound sensor is positioned relative to the conveyor path such that the carcass comes into lateral contact with the sensor as it passes. In other words, the carcass "grazes" the ultrasound sensor on its flank. The carcasses can be conveyed past the ultrasound sensor at a constant speed or at a temporarily reduced speed – even to a brief standstill.

[0012] A preferred embodiment of the invention is characterized in that the conveying process is continuous and the carcasses are brought into lateral contact with the ultrasonic sensor during conveying. Advantageously, the carcasses are conveyed at a constant speed. Therefore, it is not necessary to slow down or stop the carcasses for the purpose of ultrasonic testing. This has a beneficial effect on the throughput of the entire machine, since the carcasses are conveyed at a constant speed and the examination of the carcasses using the ultrasonic sensor has no negative impact on the overall throughput. A preferred further development of the invention is characterized in that the ultrasonic head of the ultrasonic sensor is oriented at an angle to the conveying path.This ensures reliable contact between the carcass and the ultrasonic sensor at all times, without requiring any changes to the carcass's speed in the conveying direction. The inclined position, however, preferably causes the carcass to be slightly delayed or slowed down upon initial contact with the ultrasonic sensor – at least briefly. This temporary "lag" relative to the conveying speed presses the carcass against the ultrasonic sensor with sufficient pressure to establish the necessary contact between the carcass and the sensor. This ensures the coupling of the ultrasonic waves without interference from the sensor, resulting in high-quality ultrasonic images of the carcass. A further advantage is that the carcasses are at least temporarily slowed down.This results in a lower relative speed between the ultrasonic sensor and the carcass, which facilitates the generation of a snapshot using the ultrasonic sensor.

[0013] According to a further preferred embodiment of the invention, the ultrasonic sensor head is oriented in the conveying direction towards the conveying path. In other words, the ultrasonic sensor head is oriented such that it extends further and further towards the conveying path in the conveying direction. Advantageously, this brings the carcass into contact with the sensor during conveying. The further the carcass is conveyed along the conveying path, the more strongly it is pressed against the ultrasonic sensor head due to this orientation, thus reliably establishing the necessary contact. Despite this contact, it is always ensured that the carcass passes the ultrasonic sensor.

[0014] Another advantageous embodiment of the invention is characterized in that the inclined position has a lead angle relative to a line parallel to the conveying path. By selecting the lead angle, an optimum is ensured with regard to the required contact of the carcass with the ultrasonic sensor head on the one hand, and controlled and, in particular, collision-free passage of the carcass past the ultrasonic sensor on the other. The lead angle preferably has an angle of less than 30°. Particularly preferably, the lead angle is approximately 17°. In particular, the lead angle can be selected to be less than 5°. More preferably, the ultrasonic sensor is arranged such that its ultrasonic sensor head is inclined at an angle of less than 5° relative to the vertical. This results in more favorable contact between the ultrasonic sensor head and the carcass.In particular, it is further advantageous if the upper end of the ultrasound head is inclined away from the conveying path.

[0015] A preferred embodiment of the invention is characterized by guiding the carcasses in the area of ​​the ultrasonic sensor by means of a moving guide element. This actively guides the carcasses during scanning by the ultrasonic sensor, thus significantly improving the image quality of the ultrasonic images. Preferably, the guide element is configured such that it moves at least substantially in sync with the conveying speed of the carcasses.

[0016] A preferred embodiment of the invention is characterized in that the carcasses are conveyed in a straight line by means of the conveying device. Thus, the inventive method can advantageously be used with a linear conveyor, such as those frequently used for processing carcasses, without further modifications to the conveyor.

[0017] Another advantageous embodiment of the invention is characterized by conveying the carcasses along a circular path by means of the conveying device, which is designed and configured as a rotary conveyor. Alternatively, it is also possible to use the methods according to the invention with rotary conveyors.

[0018] Another preferred embodiment is characterized by the relative movement of the carcasses to the ultrasonic sensor. This relative movement between the carcass and the ultrasonic sensor results in a planar scanning of the carcass. Optionally, the ultrasonic sensor is positioned at rest with respect to the conveying direction, and the carcasses are moved relative to it. It is also possible for the ultrasonic sensor to be actively moved, at least to some extent, relative to the carcasses for this purpose.

[0019] A preferred embodiment of the invention is characterized in that the carcasses are extremities of poultry carcasses. The method according to the invention is particularly suitable for the automated examination of extremities of poultry carcasses, especially poultry legs.

[0020] Another advantageous embodiment of the invention is characterized by spring-loaded holding of the extremities in a lower region by means of tension rollers that are flexibly mounted against spring force. Advantageously, this achieves an extension of the extremities, thereby improving access to the areas to be examined by ultrasound for contact with the ultrasound sensor. Among other things, the extension straightens the angled position that prevails in the unloaded state of the extremities, thus achieving the most uniform possible contact with the ultrasound probe.

[0021] Another advantageous embodiment of the invention is characterized by holding the extremities in an upper region by means of a plurality of holding elements designed to hold the extremities in an upper region. In this way, the extremity is reliably and sufficiently fixed so that the ultrasonic sensor comes into contact with the carcass with the required contact force during imaging.

[0022] A preferred embodiment of the invention is characterized by adjusting the height of the retaining elements and / or the tension rollers for extending the extremities such that they are moved into an extended position each time the extremities pass the ultrasonic sensor. Advantageously, the extremities are thus moved into the previously described extended position each time they pass the ultrasonic sensor. Furthermore, the extended position provides the necessary pressure against the ultrasonic sensor or supports its operation.

[0023] A preferred embodiment of the invention is characterized by adjusting the height of the retaining elements and / or the tension rollers by means of height-adjusting elements, each of which is arranged on a cam guide. The retaining elements and / or the tension rollers are automatically adjusted to their respective height positions by means of the cam guide.

[0024] A further advantageous embodiment of the invention is characterized in that the carcasses are each received and guided by guide receptacles of the guide element. In other words, the guide receptacles are designed and configured to receive at least a portion of the carcass, for example, by positive and / or frictional engagement. Preferably, the geometry of the guide receptacles is adapted, at least substantially, to the external shape of the respective carcass type.

[0025] Another advantageous embodiment of the invention is characterized in that the guide receptacles each have a concave receiving area. In other words, the concave receiving area forms a trough-like recess which is designed and configured for receiving and guiding the carcass.

[0026] According to a further preferred embodiment of the invention, the ultrasonic sensor is arranged such that the ultrasonic transducer protrudes, at least in a partial section, beyond the concave receiving area in the direction of the conveying path. This protrusion of the ultrasonic transducer ensures that the carcass always makes secure contact with the ultrasonic sensor with the required pressure. The existing protrusion of the ultrasonic transducer beyond the concave receiving area reliably secures the carcass and, at the same time, causes the tissue of the carcass to be compressed to a certain extent in the area of ​​contact with the ultrasonic transducer. This tissue compression generates a counterforce with which the tissue presses against the ultrasonic transducer, thus ensuring the necessary sufficient contact.

[0027] A preferred embodiment of the invention is characterized in that the guiding element is a continuously driven guide wheel. This achieves the simplest possible design for guiding the carcasses in the area of ​​the ultrasonic sensor, while also requiring minimal maintenance. Preferably, the guide wheel is driven at a constant speed. Even more preferably, the path speed is matched to the conveying speed, so that the guide wheel is synchronized with it.

[0028] Another advantageous embodiment of the invention is characterized in that the carcasses are guided twice above and below the ultrasonic sensor by means of guide mounts, namely upper and lower guide mounts respectively. This double guidance ensures precise and reliable positioning of the carcass against the ultrasonic sensor at all times. According to a further preferred embodiment, the ultrasonic sensor is fixed in position. Such a fixed arrangement of the ultrasonic sensor offers the advantage of a very simple design. For example, the fixed arrangement eliminates the need for electrical connection components that would otherwise be required for the ultrasonic sensor to be movable. Such a simple design is particularly advantageous in the food processing industry, especially with regard to the stringent hygiene requirements.By arranging the ultrasonic sensor in such a fixed position, it is advantageously positioned with minimal backlash. This has a positive effect on measurement accuracy. The ultrasonic sensor is particularly preferably arranged approximately centrally within the guide wheel that surrounds it. The rotating, driven guide wheel thus guides the carcasses around the fixed ultrasonic sensor. A fixed arrangement within the meaning of the present invention is understood to mean that the ultrasonic sensor is immovably mounted with respect to the conveying direction. In directions orthogonal to the conveying direction, however, the ultrasonic sensor may be movably mounted.

[0029] Another advantageous embodiment of the invention is characterized in that the ultrasonic sensor is spring-mounted against a restoring force, at least in the transverse direction to the conveying path. This offers the advantage that the ultrasonic sensor is automatically pressed against the carcasses by means of the restoring force, thus generating the required contact force between the carcass and the ultrasonic sensor head. Furthermore, the magnitude of this contact force can advantageously be adapted to the specific conditions by selecting the appropriate spring characteristics. "Transverse direction" is understood to mean either a direction orthogonal to the conveying direction or one that is not exactly orthogonal to the conveying direction, for example, inclined by a few degrees relative to it. Preferably, the deviation from an exactly orthogonal orientation is less than 45°.

[0030] According to a further preferred embodiment of the invention, the ultrasonic sensor is pivotally mounted about a pivot axis within a predetermined angular range. This offers the advantage that the sensor can be pivoted towards the carcass for placement and, after imaging is complete or as soon as the carcass has passed the ultrasonic sensor, can be pivoted away from the conveyor path again. Pivoting about the pivot axis is particularly preferably achieved by means of an actively controlled drive. Another advantageous embodiment of the invention is characterized by applying a pressure force to the side of the carcass opposite the ultrasonic sensor by means of a pressure element. In this way, the carcass is pressed against the ultrasonic sensor by the application of pressure force on its opposite side.This also ensures that the carcass is reliably positioned against the ultrasound probe for imaging.

[0031] A preferred embodiment of the invention is characterized in that the application of the contact force is against a restoring force. For example, the restoring force is generated by at least one spring element. The spring element is preferably designed as a compression or tension spring. The spring element can also be configured as a pneumatic cylinder.

[0032] A preferred embodiment of the invention is characterized in that the pressure element is driven to move along with the carcasses. This offers the advantage that the relative speed between the pressure element and the carcass is zero or nearly zero, at least in the conveying direction. The pressure element thus acts on the carcass without slippage in the conveying direction, while transversely to the conveying direction, i.e., towards the ultrasonic sensor, it exerts a corresponding pressure force in the direction of the ultrasonic sensor.

[0033] According to a further preferred embodiment of the invention, the plane of the pressure element that exerts the pressure on the carcass is inclined towards the ultrasonic sensor. Advantageously, this allows the carcass to come into contact with the pressure element along the conveying path and be guided towards the ultrasonic sensor during the conveying process. As soon as the carcass comes into contact with the ultrasonic head side of the ultrasonic sensor, it is pressed against it with increasing pressure to apply the pressure required for imaging.

[0034] Preferably, the pressure element is designed and configured as an endlessly circulating conveyor belt, more preferably as a double conveyor belt that runs above and below the ultrasonic sensor. Even more preferably, the pressure element is designed as a flat pressure element, for example, as a pressure surface or pressure plate. Such a flat pressure element can be either moving or stationary. An advantage of such a flat pressure element is that it is designed and configured as an additional guide element for guiding the carcasses.

[0035] According to another preferred embodiment, the carcasses are poultry legs.

[0036] The task is also solved by the aforementioned method for the automated deboning of poultry legs, which is characterized by the automated examination of carcasses using ultrasound imaging. This method involves locating the position of the knee joint as a bony component within the poultry legs by evaluating the image data and deboning the legs based on the position of the knee joint. The evaluation of the image data to determine the position of the knee joint is performed either algorithmically or using machine learning.

[0037] Furthermore, the problem is solved by the aforementioned device in that a conveying device set up for conveying the carcasses along a conveying path comprises an imaging ultrasonic sensor set up for scanning the carcasses by means of ultrasound and for generating image data, wherein the ultrasonic sensor has an ultrasonic head side which is designed and set up for lateral contact with the carcasses.

[0038] The advantages achievable with the present invention have already been described in detail in connection with the method according to the invention. To avoid repetition, reference is also made to the advantages mentioned therein in connection with the device according to the invention, which apply in the same way to the method claims, which are essentially analogous to the method. Therefore, only selected aspects of the device according to the invention will be addressed separately below.

[0039] A preferred embodiment of the invention is characterized in that the conveying device is configured for the continuous conveying of the carcasses and the ultrasonic sensor is configured to come into lateral contact with the carcasses during conveying. A preferred further development of the invention is characterized in that the ultrasonic head side of the ultrasonic sensor is oriented at an angle to the conveying path.

[0040] According to a further preferred embodiment of the invention, the ultrasound head side is aligned in the conveying direction towards the conveying path.

[0041] Another advantageous embodiment of the invention is characterized in that the inclined position has a lead angle relative to a parallel to the conveying path.

[0042] According to a further preferred embodiment of the invention, a moving guide element is provided for guiding the carcasses in the area of ​​the ultrasonic sensor.

[0043] Another advantageous embodiment of the invention is characterized in that the conveying device is designed and equipped for the straight-line conveying of the carcasses.

[0044] According to a further preferred embodiment, the conveying device is designed and configured as a rotary conveyor for conveying the carcasses along the conveying path, which is circular.

[0045] Another advantageous embodiment of the invention is characterized in that the ultrasonic sensor is arranged in such a way that the carcasses are moved along the conveyor path relative to the ultrasonic sensor by means of the rotary conveyor.

[0046] According to another preferred embodiment, the carcasses are extremities of poultry carcasses.

[0047] A preferred embodiment of the invention is characterized in that tension rollers, mounted in a way that allows for spring-loaded retention of the extremities in a lower region, are arranged on the rotary actuator. According to a further preferred embodiment of the invention, the rotary actuator comprises a plurality of retaining elements arranged for holding the extremities in an upper region.

[0048] Another advantageous embodiment of the invention is characterized in that the retaining elements and / or the tension rollers are designed to be height-adjustable in such a way that they are moved into an extended position each time the extremity passes the ultrasonic sensor.

[0049] A preferred embodiment of the invention is characterized in that the retaining elements and / or the tension rollers each comprise a height adjustment element which is guided on a cam track.

[0050] According to a further preferred embodiment of the invention, the guide element has guide receptacles designed to receive and guide the carcasses.

[0051] A convenient embodiment of the invention is characterized in that the guide receptacles each have a concave receiving area.

[0052] Another advantageous embodiment of the invention is characterized in that the ultrasonic sensor is arranged such that the ultrasonic head side protrudes at least in a partial section relative to the concave receiving area in the direction of the conveying path.

[0053] According to another preferred embodiment, the guide element is a continuously driven guide wheel.

[0054] Another advantageous embodiment of the invention is characterized in that the guide receptacles for guiding the carcasses above and below the ultrasonic sensor are each designed as double guides, forming an upper and lower guide receptacle.

[0055] According to a further preferred embodiment of the invention, the ultrasonic sensor is arranged in a fixed position. A preferred further development of the invention is characterized in that the ultrasonic sensor is mounted so as to be spring-loaded against a restoring force, at least in the transverse direction to the conveying path.

[0056] Another advantageous embodiment of the invention is characterized in that the ultrasonic sensor is mounted so as to be pivotable about a pivot axis through a predetermined angular range.

[0057] Another advantageous embodiment of the invention is characterized in that a pressure element is arranged to exert a pressure force on the side of the carcass opposite the ultrasonic sensor.

[0058] According to another preferred embodiment, the pressure element is designed to exert the pressure force against the restoring force.

[0059] A preferred embodiment of the invention is characterized in that the pressure element is designed and configured to move along with the extremities.

[0060] A preferred embodiment of the invention is characterized in that the plane of the pressure element that causes the pressure force on the extremities is inclined towards the ultrasonic sensor.

[0061] According to another preferred embodiment, the carcasses are poultry legs.

[0062] Furthermore, the task is solved by the aforementioned arrangement in that an automated examination of carcasses is carried out using ultrasound imaging of carcasses with the aforementioned device and includes localization of the position of the knee joint as bony components in the poultry legs by evaluating the image data and deboning the poultry legs based on the position of the knee joint using a deboning device.

[0063] The advantages achievable with the arrangement according to the invention have already been described in detail in connection with the method according to the invention. To avoid repetition, we also refer to the advantages mentioned therein in connection with the arrangement according to the invention, which apply in the same way to the method claims, which are essentially analogous to those of the method.

[0064] Further preferred and / or advantageous features and embodiments of the invention will become apparent from the dependent claims and the description. Particularly preferred embodiments are explained in more detail with reference to the accompanying drawing. The drawing shows:

[0065] Fig. 1 shows a perspective view of a first embodiment of the device according to the invention, looking in the conveying direction.

[0066] Fig. 2 shows another perspective view of the embodiment shown in Fig. 1,

[0067] Fig. 3 shows the embodiment shown in Figures 1 and 2 with a view opposite to the conveying direction,

[0068] Fig. 4 shows a perspective view of a second embodiment of the device according to the invention,

[0069] Fig. 5 shows a detailed representation of the second embodiment variant and

[0070] Fig. 6 shows a further detailed representation of the second version.

[0071] The present invention is explained in more detail below with reference to the figures. The invention is further explained below with reference to the apparatus. However, the explanations given here also apply equally to the method and arrangement according to the invention.

[0072] Fig. 1 shows a perspective view of a first embodiment of the device according to the invention. The device is designed for the automatic examination of carcasses using ultrasound imaging. It comprises a conveying device for transporting the carcasses 10 along a conveying path 11 – not shown in Fig. 1.

[0073] The conveying device is designed and configured, for example, as an overhead conveyor. In Fig. 1, the carcass is shown as an example of a poultry leg. However, the present invention is not limited to poultry legs as the carcass 10, but is fundamentally suitable for any type of carcass 10.

[0074] The device further comprises an imaging ultrasonic sensor 12, which is configured and designed for scanning the carcasses 10 using ultrasound and for generating image data. The ultrasonic sensor 12 has at least one ultrasonic head 13. The ultrasonic head 13 is configured and designed for lateral contact with the carcasses. In Fig. 1, the carcass 10 is shown by way of example in a position shortly before initial contact with the ultrasonic sensor 12.

[0075] As can be seen in Fig. 1, the carcass 10 comes into contact with the ultrasonic sensor 12 or its ultrasonic head side 13 with a defined force that is independent of its own weight during conveying along the conveying path 11.

[0076] Preferably, the conveying device is configured for the continuous conveying of the carcasses 10. The ultrasonic sensor 12 is further configured or arranged relative to the conveying path 11 such that the carcasses 10 come into lateral contact with the ultrasonic sensor 12 or its ultrasonic head 13 during conveying. Preferably, the carcasses 10 are conveyed at a constant speed.

[0077] Preferably, the ultrasonic head side 13 of the ultrasonic sensor 12 is aligned at an angle to the conveyor path 11, so that reliable contact of the carcass 10 with the ultrasonic sensor 12 is always ensured. In other words, the ultrasonic head side 13 is not aligned parallel to the conveyor path 11, but at an angle to it.

[0078] Particularly preferably, the ultrasonic head side 13 is oriented in the conveying direction 14 towards the conveying path 11. The ultrasonic head side 13 is thus oriented such that it extends further and further towards the conveying path 11 in the conveying direction 14. Preferably, the inclination therefore exhibits a leading angle relative to a line parallel to the conveying path 11.

[0079] Preferably, the ultrasonic sensor 12 is arranged such that its ultrasonic head side 13 is inclined at an angle of less than 5° to the vertical. As shown in Fig. 1, the ultrasonic head side 13 is preferably tilted backwards, so that an upper end 15 of the ultrasonic head side 13 is inclined away from the conveying path 11.

[0080] Preferably, the device according to the invention comprises a guide element 16. The guide element 16 is designed and configured to guide the carcasses 10 in the area of ​​the ultrasonic sensor 12. For this purpose, the guide element 16 is preferably designed as a rotating guide element 16. As shown in Figures 1 to 3, the guide element 16 is, for example, designed as a rotating guide wheel, which is preferably arranged to be driven by a motor via a guide element drive 17.

[0081] The guide element 16 is driven alternatively by the drive of the conveyor (not shown in the drawing), so that the rotation of the guide element 16 is synchronized with the conveyor. Regardless of the drive type of the guide element 16, its rotational speed is at least substantially adapted to the conveying speed of the carcasses 10.

[0082] In other words, the instantaneous velocity of the guide element 16 at the moment of contact with the carcass 10 is equal to or substantially equal to the conveying velocity of the carcasses 10. Preferably, the conveying device is designed and configured for the straight-line conveying of the carcasses 10. The conveying path 11 is therefore also straight, as shown in Figures 1 to 3.

[0083] A second embodiment is shown by way of example in Figures 4 to 6. Here, the conveying device is designed as a rotary conveyor 18. The carcasses 10 are conveyed along a circular path by means of the rotary conveyor 18. Preferably, the ultrasonic sensor 12 is arranged such that the carcasses 10 are moved along the conveying path 11 relative to the ultrasonic sensor 12 by means of the rotary conveyor 18. This relative movement between the carcasses 10 and the ultrasonic sensor 12 results in a planar scanning of the carcasses 10.

[0084] Particularly preferred are the carcasses 10 extremities of poultry carcasses, especially poultry legs. As shown in Fig. 5, the carcasses 10 in the form of poultry extremities or poultry legs are held by means of retaining elements 19 arranged on the rotary conveyor 18, which are, for example, shackle-like in design.

[0085] Furthermore, tension rollers 20, 21 are preferably arranged on the rotary runner 18. These rollers are designed and configured to hold the carcass in a lower region of the carcass 10 by spring force. For this purpose, the tension rollers 21 are mounted in a way that allows them to be flexibly supported against spring force. As shown in Fig. 5, the tension rollers 20 are, for example, rigidly mounted on the rotary runner 18. However, it is also possible for the tension rollers 21 to be mounted in a way that allows them to be flexibly supported against spring force on the rotary runner 18.

[0086] Preferably, the rotary unit 18 comprises a plurality of retaining elements designed to hold the limbs or the carcass 10 in an upper region 23 of the carcass 10, which are not shown in the drawing. These retaining elements are designed to additionally fix the carcass 10 in the upper region 23. For example, they are designed and configured similarly to the tension rollers 20, 21.

[0087] Preferably, the retaining elements, the retaining element 19 and / or the tension rollers 20, 21 are designed to be height-adjustable in such a way that, in order to extend the extremity or the carcass 10, they bring the ultrasonic sensor into an extended position each time it passes through it.

[0088] Here, the retaining elements, the retaining element 19 and / or the tension rollers 20, 21 each comprise a height adjustment element 24. The height adjustment element 24 is guided on a cam track 25. In Fig. 6, the height adjustment element 24 is shown by way of example for two of the retaining elements 19. The height adjustment of retaining elements 19 and / or tension rollers 20, 21 can, for example, be implemented analogously to the height adjustment of the retaining element 19. Preferably, the guide element 16 has guide receptacles 26 designed for receiving and guiding the carcasses 10, as shown by way of example in Fig. 1. The carcasses 10 are received and guided by means of the guide receptacles 26. Preferably, the guide receptacles 26 each have a concave receiving area.

[0089] Preferably, the ultrasonic sensor 12 is arranged such that the ultrasonic head side 13 projects at least in a partial section towards the concave receiving area in the direction of the conveying path 11. This can be clearly seen, for example, in Fig. 1.

[0090] The guide element 16 is not only designed as the aforementioned continuously driven guide wheel, but preferably configured as a double guide. The guide receptacles 26 are therefore each designed and configured as an upper guide receptacle 27 and a lower guide receptacle 28. In this way, the carcasses 10 are guided above and below the ultrasonic sensor 12, respectively. In other words, the guide wheel is designed as a double guide wheel.

[0091] Preferably, the ultrasonic sensor 10 is arranged in a fixed position, i.e., it is immovably arranged with respect to at least one component in the conveying direction 14. In directions orthogonal to the conveying direction 14, the ultrasonic sensor 12 can optionally be movably mounted. For example, the ultrasonic sensor 12 is preferably spring-loaded to allow movement against a restoring force, at least in the transverse direction to the conveying path 11.

[0092] Preferably, the ultrasonic sensor 12 is pivotally mounted about a pivot axis – not shown in detail in the drawing – within a predetermined angular range. In this way, the ultrasonic sensor 12 is pivotally positioned in contact with the carcass 10.

[0093] Preferably, the device comprises a pressure element 29 configured to exert a pressure force on the side of the carcasses 10 opposite the ultrasonic sensor 12. More preferably, the pressure element 29 is configured to exert the pressure force against a restoring force. For example, the restoring force is provided by at least one

[0094] - as shown in Fig. 6 - spring element 30 is generated. The spring element is preferably designed as a compression or tension spring. The spring element 30 can also be configured as a pneumatic cylinder.

[0095] Preferably, the pressure element 29 is driven to move along with the carcasses 10. According to the first embodiment, a pressure element drive 31 is preferably provided for this purpose, as shown in Figures 1 to 3. According to the

[0096] In the second embodiment, shown in Figures 4 to 6, the pressure elements 29 are driven by the rotary drive 18. Preferably, the pressure element 29 is designed as a flat pressure element 50, for example, as a pressure surface or pressure plate. Such a flat pressure element 50 can be either rotating or stationary. An advantage of such a flat pressure element 50 is that it is designed and configured as an additional guide element for guiding the carcasses 10. It is particularly advantageous that the flat pressure element 50 is arranged in such a way that it mechanically shields the lateral area of ​​the ultrasonic sensor 12, ensuring that the carcass 10 is guided in a controlled manner towards the ultrasonic sensor 10, as shown, for example, in Figure 6.

[0097] Furthermore, preferably the plane of the pressure element 29 which exerts the pressure force on the carcasses 10 is inclined towards the ultrasonic sensor 12 as shown in Figures 1 to 3 for the first embodiment.

[0098] Particularly preferred are the carcasses containing 10 poultry legs.

[0099] The present invention also includes the aforementioned method for the automated examination of carcasses 10 using ultrasound imaging. The preceding descriptions of the device according to the invention also apply analogously to the method according to the invention.

[0100] The invention also relates to the aforementioned method for the automatic deboning of poultry legs. For this purpose, the carcasses 10 are automatically examined using ultrasound imaging with the device or method described above. Subsequently, the position of the knee joint as a bony component in the poultry legs (carcasses 10) is determined by evaluating the image data, and the poultry legs are deboned based on the position of the knee joint. The position of the knee joint preferably serves as a reference position for the precise and accurate execution of the deboning process.

[0101] The invention further relates to the aforementioned arrangement, which is designed for the automated examination of carcasses by means of ultrasound imaging of carcasses using the aforementioned device and for localizing the position of the knee joint as bony components in the poultry legs by evaluating the image data and deboning the poultry legs based on the position of the knee joint using a deboning device.

Claims

1. Method for the automated examination of carcasses (10) using ultrasound imaging, comprising the steps: Conveying the carcasses (10) by means of a conveying device along a conveying path (11), Scanning the carcasses (10) using ultrasound with an imaging ultrasound sensor (12) to generate image data by bringing the carcasses (10) into contact with an ultrasound head side (13) of the imaging ultrasound sensor.

2. Method according to claim 1, characterized in that the conveying is continuous and the carcasses (10) are brought into lateral contact with the ultrasonic sensor (12) during conveying.

3. Method according to one of claims 1 or 2, characterized in that the ultrasonic head side (13) of the ultrasonic sensor (12) is aligned at an angle to the conveying path (11).

4. Method according to claim 3, characterized in that the ultrasound head side (13) is aligned in the conveying direction (14) towards the conveying path (11).

5. Method according to one of claims 3 or 4, characterized in that the inclination has a lead angle relative to a parallel to the conveying path (11).

6. Method according to one of claims 1 to 5, characterized by guiding the carcasses (10) in the area of ​​the ultrasonic sensor (12) by means of a moving guide element (16).

7. Method according to one of claims 1 to 6, characterized in that the carcasses (10) are conveyed in a straight line by means of the conveying device.

8. Method according to one of claims 1 to 6, characterized by conveying the carcasses (10) along a circular path by means of the conveying device which is designed and set up as a rotary conveyor (18).

9. Method according to claim 8, characterized by relative movement of the carcasses (10) to the ultrasonic sensor (12).

10. Method according to any one of claims 1 to 9, characterized in that the carcasses (10) are extremities of poultry carcasses.

11. Method according to claim 10, characterized by spring-loaded holding of the extremities in a lower area (22) by means of tension rollers (20, 21) mounted to resist spring force.

12. Method according to one of claims 10 or 11, characterized by holding the extremities in an upper area (23) by means of a plurality of holding elements (19) provided for holding the extremities in the upper area (23).

13. Method according to claim 12, characterized by adjusting the height of the retaining elements (19) and / or the tension rollers (20, 21) to stretch the Extremity such that each one passes the ultrasound sensor (12) is transferred into an extended position 14. Method according to claim 13, characterized by adjusting the height of the retaining elements (19) and / or the tension rollers (20, 21) by means of height adjustment elements (24) which are each guided on a cam guide (25).

15. Method according to one of claims 6 to 14, characterized in that the carcasses (10) are each received and guided by guide receptacles (26) of the guide element (16).

16. Method according to claim 15, characterized in that the guide receptacles (16) each have a concave receiving area.

17. Method according to claim 16, characterized in that the ultrasonic sensor (12) is arranged such that the ultrasonic head side (13) protrudes at least in a partial section relative to the concave receiving area in the direction of the conveying path (11).

18. Method according to claims 6 to 17, characterized in that the guide element (16) is a continuously driven guide wheel.

19. Method according to one of claims 15 to 18, characterized in that the carcasses (10) are guided twice above and below the ultrasonic sensor (12) by means of the guide receptacles (26), namely upper and lower guide receptacles (27, 28).

20. Method according to one of claims 1 to 19, characterized in that the ultrasonic sensor (12) is arranged in a fixed position.

21. Method according to one of claims 1 to 19, characterized in that the ultrasonic sensor (12) is mounted in a spring-loaded manner at least in the transverse direction to the conveying path (11) against a restoring force.

22. Method according to one of claims 1 to 21, characterized in that the ultrasonic sensor (12) is mounted so as to pivot about a pivot axis by a predetermined angular range.

23. Method according to one of claims 1 to 22, characterized by exerting a pressure force on the side of the carcasses (10) opposite the ultrasonic sensor (12) by means of a pressure element (29).

24. Method according to claim 23, characterized in that the application of the pressure force is against a restoring force.

25. Method according to one of claims 23 or 24, characterized in that the pressure element (29) is driven to move along with the carcasses (10).

26. Method according to claim 25, characterized in that the plane of the pressure element (29) that exerts the pressure force on the carcasses (10) is inclined towards the ultrasonic sensor (12).

27. Method according to any one of claims 1 to 26, characterized in that the carcasses (10) are poultry legs.

28. Method for automatically deboning poultry legs, characterized by automated examination of carcasses (10) using ultrasound imaging with the method according to one of claims 1 to 27, localizing the position of the knee joint as bony components in the poultry legs by evaluating the image data and deboning the poultry legs based on the position of the knee joint.

29. Device for the automatic examination of carcasses (10) by means of ultrasonic imaging, comprising a conveying device for conveying the carcasses (10) along a conveying path (11), an imaging ultrasonic sensor (12) for scanning the carcasses (10) by means of ultrasound and for generating image data, wherein the ultrasonic sensor (12) has an ultrasonic head side (13) which is designed and configured for laterally coming into contact with the carcasses (10).

30. Device according to claim 29, characterized in that the conveying device is configured for the continuous conveying of the carcasses (10) and the ultrasonic sensor (12) is configured to come into lateral contact with the carcasses (10) during conveying.

31. Device according to one of claims 29 or 30, characterized in that the ultrasonic head side (13) of the ultrasonic sensor (12) is aligned at an angle to the conveying path (11).

32. Device according to claim 31, characterized in that the ultrasound head side (13) is aligned in the conveying direction (14) towards the conveying path (11).

33. Device according to one of claims 31 or 32, characterized in that the inclined position has a lead angle relative to a parallel to the conveying path (11).

34. Device according to one of claims 29 to 33 further comprising a moving guide element (16) arranged for guiding the carcasses (10) in the area of ​​the ultrasonic sensor (12).

35. Device according to one of claims 29 to 34, characterized in that the conveying device is designed and configured for the straight-line conveying of the carcasses (10).

36. Device according to one of claims 29 to 35, characterized in that the conveying device is designed and configured as a rotary conveyor (18) for conveying the carcasses (10) along the conveying path (11), which is circular.

37. Device according to claim 36, characterized in that the ultrasonic sensor (12) is arranged such that the carcasses (10) are moved along the conveying path (11) relative to the ultrasonic sensor (12) by means of the rotary conveyor (18).

38. Device according to one of claims 29 to 37, characterized in that the carcasses are extremities of poultry carcasses.

39. Device according to claim 38, characterized in that tension rollers (20, 21) are arranged on the rotary runner (18) in a lower area (22) to hold the extremities against spring force in a spring-loaded manner.

40. Device according to one of claims 38 or 39, characterized in that the rotary runner (18) comprises a plurality of holding elements (19) provided for holding the extremities in an upper area (23).

41. Device according to claim 40, characterized in that the retaining elements (19) and / or the tension rollers (20, 21) are designed to be height-adjustable such that they are moved into an extended position for stretching the extremity each time it passes the ultrasonic sensor (12).

42. Device according to claim 39, characterized in that the retaining elements (19) and / or the tension rollers (20, 21) each comprise a height adjustment element (24) which is guided on a cam guide (25).

43. Device according to one of claims 40 to 42, characterized in that the guide element (16) has guide receptacles (26) each designed to receive and guide the carcasses (10).

44. Device according to claim 43, characterized in that the guide receptacles (26) each have a concave receiving area.

45. Device according to claim 44, characterized in that the ultrasonic sensor (12) is arranged such that the ultrasonic head side (13) at least in a section opposite the concave receiving area in the direction of the conveying path (11).

46. ​​Device according to one of claims 40 to 45, characterized in that the guide element (16) is a continuously driven guide wheel.

47. Device according to one of claims 43 to 46, characterized in that the guide receptacles (26) for guiding the carcasses (10) above and below the ultrasonic sensor (12) are each designed as double guides forming an upper and lower guide receptacle (27, 28).

48. Device according to one of claims 29 to 47, characterized in that the ultrasonic sensor (12) is arranged in a fixed position.

49. Device according to one of claims 29 to 47, characterized in that the ultrasonic sensor (12) is mounted in a spring-loaded manner at least in the transverse direction to the conveying path (11) against a restoring force.

50. Device according to one of claims 29 to 49, characterized in that the ultrasonic sensor (12) is mounted so as to pivot about a pivot axis by a predetermined angular range.

51. Device according to one of claims 29 to 50, characterized in that a pressure element (29) is arranged to exert a pressure force on the side of the carcass (10) opposite the ultrasonic sensor (12).

52. Device according to claim 51, characterized in that the pressure element (29) is designed to exert the pressure force against restoring force.

53. Device according to one of claims 51 or 52, characterized in that the pressure element (29) is designed and configured to move along with the extremities.

54. Device according to claim 53 characterized in that the plane of the pressure element (29) that causes the pressure force on the extremities is inclined towards the ultrasonic sensor.

55. Device according to one of claims 29 to 54, characterized in that the carcasses (10) are poultry legs.

56. Arrangement for the automatic deboning of poultry legs, characterized by automated examination of carcasses (10) by means of ultrasound imaging of carcasses (10) by means of the device according to one of claims 29 to 55, localization of the position of the knee joint as bony components in the poultry legs by evaluating the image data and deboning the poultry legs based on the position of the knee joint by means of a deboning device.

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