Device and method for camera assisted cutting pieces of meat preferably pieces of poultry, in particular poultry wings

Abstract

The present invention relates to a device for camera assisted cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts. The cutting devices comprises an endless conveyor for transporting the pieces of meat provided with spaced out meat piece holders, at least one camera for determining dimensions of the individual pieces of meat, a cutting section arranged along the along the transport path of the endless conveyor and an intelligent process control unit. The invention also relates to a method for camera assisted cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts.

Description

[0001] Device and method for camera assisted cutting pieces of meat preferably pieces of poultry, in particular poultry wings

[0002] The invention relates to a device for camera assisted cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts. The invention also relates to a method for camera assisted cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts, preferably by making use of the device according to the invention.

[0003] Numerous meat processing machines, and more specific, poultry processing machines have been developed to meet the global demand for large-scale meat (poultry) consumption. These machines aim to enhance various aspects of meat (poultry) processing, focusing amongst others on improving the efficiency of producing different cuts of (poultry) meat. While these machines have proven highly effective for various cuts, certain meat (poultry) pieces, in particular those pieces with relative greater variations in dimensions and pieces that comprises small and closely spaced bones, still difficult to process automatically as they require intricate and precise manipulation for separation into smaller cuts. A specific, but not exclusive, example of such meat piece is the wing section (or “prime-wing”) of a poultry wing, comprising a relative larger, more muscular drumette section, a midwing section and a smaller, less muscular wingtip section. Partly in view of the different properties at preparation and consumption of these sections, it is advantageous to separate at least one of these sections, but preferably all the three sections, as individualised cuts from each other. Although this separation process (cutting process) may be done manually, manual cutting is time-consuming, laborious, and poses certain safety and health risks. Therefore, the need exists for a device to overcome these drawbacks.

[0004] It is a first objective of the invention to provide a device for efficiently automatically cutting pieces of meat, such as poultry wings, to separate meat cuts. A further objective of the invention is to provide a relatively simple and reliable device and method for cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts.At least one of these objectives can be achieved by providing a device for cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts, comprising: at least one endless conveyor for transporting pieces of meat, preferably pieces of poultry, in particular poultry wings, along a transport path, provided with spaced out meat piece holders, each meat piece holder having an upper gripper and a lower gripper for cooperative holding the pieces of meat at at least two spaced apart positions and whereby the distance of the upper gripper and lower gripper is adjustable; at least one camera for determining dimensions of the individual pieces of meat transported by the endless conveyor; at least one cutting section arranged along the transport path of the endless conveyor, said cutting section comprising at least one cutting element for cutting the pieces of meat transported along the transport path into separate cuts, and which cutting element is relative movable to the transport path of the meat pieces; and at least one intelligent process control unit controlling the relative position of the at least one cutting element relative to the transport path of the meat pieces, at least partially based on data provided to the process control unit by the at least one camera. The present invention provides the combination of holding the meat pieces (and more specific poultry wings) at two different locations which holding locations, determined by the upper and lower grippers, and subsequently controlled stretching (extending, lengthening) of the meat piece held by the grippers. The stretching / lengthening / extending of the meat piece may for instance be provided buy a pretension (e.g. provided by a compression of tensioning spring) but may alternatively also be actively controlled. The stretching of the meat piece has the advantage of positioning the meat piece such that the location(s) of the meat piece to be cut is (are) more accessible and easier to work with. In the case of for instance a poultry wings, the wings are stretched such that the joints between the different wing sections (tip, mid-wing, drumette, or for instance only mid-wing and drumette) become easier to accessible and the accurate positioning of the incisions is enabled. The stretching of the meat pieces is furthermore advantageously combined with determining the dimensions of the individual meat pieces by at least one camera (vision system) that is linked to an intelligent process control unit. The data generated by the at least on camara is thus to be used for controlling the cutting process on an individual meat piece level. A camera may be allocated in transport direction before the stretching of the meat piece takes place (e.g. also enabling the individual meat piece controlled stretching) but at least also intransport direction after the stretching of the meat piece has taken place a camera is allocated for accurately detecting the dimensions and locations where the meat pieces are to be cut I incisions have to be made. After the for the processing (cutting) data is gathered and fed to the intelligent process control unit. The intelligent process control unit may, based on the camera data input, generate the information to the cutting device to - meat piece dependent - move the at least one cutting element to the location where the incision(s) optimally may be made. The more camera’s are use the more information of the meat pieces (both dimensions but also other characteristics may be detected) may be gathered and thus the accuracy of the meat processing may increase.

[0005] In a preferred embodiment the at least one intelligent process control unit is also controlling the distance of the upper gripper and a lower gripper of the meat piece holders. By actively controlling the position of the grippers the process is even more controlled and it enables to adapt the individual position of each meat pieces so to optimise to processing (cutting) of the meat pieces.

[0006] Preferably at least one of the upper and lower gripper of a meat piece holder, preferably at least the lower gripper, is operable between an engaging and a releasing position. An operable gripper, for instance an opening and closing beak, enables the active engagement of a meat piece, for instance to engage, preferably automatically, a lower part of a meat piece with a lower gripper after that meat piece is already held by an upper gripper. An operable gripper also enables a simple and preferably automated release of a meat cut after the meat piece has been separated in cuts.

[0007] The upper gripper of a meat piece holder may be embodied as is a stationary hook. Such construction is simple, easy to use, easy to clean and not very susceptible to failure. It is also possible to use an automatic loader and / or off loader in combination with the stationary hooks to automatically load and / or off load the hooks with meat pieces / meat cuts.

[0008] The position of the upper grippers of the meat piece holders relative to the endless conveyor may be variable and may be controlled by the at least one intelligent process control unit. A variable and controlled height of the meat upper grippers ofthe piece holders enables the positioning of the meat pieces to be cut relative to the cutting element of the cutting section, which may for instance be advantageous to prevent the cutting element to move relative long distances in the relative short time period (which could results in relative heavy loads on the cutting section and thus to increased wear) between two subsequent meat pieces to be cut. It is also possible to only vary the position of the meat pieces and to keep the cutting element of the cutting section stable. Even more control may be realised when the relative position of the upper gripper and the lower gripper of the meat piece holders is controlled by the at least one intelligent process control unit. When the position of both the grippers (upper and lower) is fully controlled the positioning, and thus the processing, of the meat pieces is even more controlled, which for instance also enables to feedforward vary the tension of the stretching of the meat pieces and / or to use the information of the tension on the meat pieces as additional feedback information in the process control.

[0009] The at least one cutting element is preferably a rotatable cutting knife enabling reliable cuts / incisions without applying significant forces on the meat pieces during the cutting process which is beneficial as the influence of position changes of the meat pieces during the cutting process may be limited.

[0010] The meat cutting device may comprise at least two cameras for determining dimensions of the individual pieces of meat transported by the endless conveyor and at least two cutting sections arranged along the transport path of the endless conveyor, whereby at least a first camera is positioned in the transport direction of the endless conveyor before the first cutting section and at least a second camera is positioned in the transport direction of the endless conveyor between the first and second cutting sections. Plural camera’s and plural cutting sections enable to divide the meat pieces in three or more different cuts. For instance a poultry wing may be stretched after which stretching a wing tip is cut off. The cut off wing tip may then be released by the lower gripper after which releasing the lower gripper may grip on the remaining wing piece again to stretch this remaining wing piece and to subsequently cut it for a second time to separate the drumette section and the midwing section.Below the at least one endless conveyor a least one collector may be provided for collecting separated meat cuts. After separating the meat pieces in meat cuts the separated cuts may be collected; preferably different types of meat cuts (like for instance in case of a poultry wing the drumette cut, the mid-wing cut and the wingtip cut) separated from each other. Such a collector may be a bin-type of collector but also the use of conveyor belts may be advantageous. Such a collector may also be provided with a scale for weighing the meat cuts to have further information enabling process improvement and / or providing feedforward information for further handling / packaging the meat cuts and / or the collector may be provided with a selector for differentiating various graded meat cuts.

[0011] To further limit manual labour and / or to improve hygiene the meat cutting device may also comprise a loader for automatically loading meat pieces to the meat piece holders of the endless conveyor. With such a loader the whole process of operating the meat cutting device according to the present invention may be automated.

[0012] The invention also provides a method for cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts, preferably by using the cutting device according to the present invention and as described above, comprising the steps of: A) individually positioning or loading meat pieces to be cut, directly or indirectly, onto upper grippers of spaced apart meat piece holders of an, along a transport path driven, endless conveyor of a meat cutting device; B) gripping the meat pieces held by the upper grippers with lower grippers below the upper grippers; C) stretching out the individual meat pieces each held by an upper gripper and a lower gripper of a meat piece holder by moving apart the upper gripper and a lower gripper; D) determining dimensions of the individual meat pieces transported by the endless conveyor by at least one camera; E) feeding the data generated by the at least one camera to an intelligent process control unit; F) cutting the stretched out meat pieces at an individually controlled location into separate cuts, by intelligent process control unit controlled moving at least one cutting element of a cutting section in a specific cutting position; and G) releasing at least the lower grippers of the cut meat pieces and releasing the separated lower meat cuts. With this method the cutting of meat pieces as already described above in relation to the cutting device according to the present invention may be executed and the advantages and possibilities as described in relation to the cutting deviceare herewith incorporated by reference also in relation to the cutting method according to the invention. The method according to the present invention enables effective and efficient automatically cutting up meat pieces by attaching the meat pieces to be cut onto a meat piece holder such that the meat piece is attached on two positions (at a higher position by an upper gripper and at a lower position by an upper gripper). After attaching the meat piece at two positions the grippers may exert a tensioning force upon the meat piece due to the moving apart of the gripper. As a result the meat piece to be cut is thus stretched out so that the meat piece is easier and / or more accurate to cut. After stretching out an incision will be made in the meat piece by a cutting element of a cutting section. During the whole process of attaching the meat piece onto the meet piece holder and during and after the meat piece is stretched at least one, but preferably more, camera(‘s) will detect the dimensions (and optionally also other characteristics) of the induvial meat pieces as the meat pieces will varying in seize en geometry. The information gathered by the camerafs) will be processed by an intelligent process control unit that subsequently controls the individualised cutting of the individual meat pieces. The individualised cutting of the individual meat pieces includes an individual relative positioning of the meat piece to be cut and the cutting element (that is possible by adjusting the position of the cutting element, the meat piece to be cut or both) and optionally also other cutting characteristic (like cutting depth, choice of cutting element, or other cutting characteristics). After the meat piece has been cut into two (or more) meat cuts at least the lower cut will be released by the lower gripper. The higher gripper may also release the upper meat cut, preferably at a different location then where the lower gripper releases the lower meat cut to separate the lower meat cuts form the upper meat cuts.

[0013] After releasing the lower cut meat cuts according to method step G) the remaining meat cuts may be gripped again with the lower grippers below the upper grippers according to method step B) and the method steps C) - E) are repeated to cut the remaining meat cuts a subsequent time by a subsequent cutting element of a subsequent cutting section in further separated cuts. This method enables to cut meat pieces in three (or more) cuts as after a first cutting step the remaining meat cut is gripped again by the lower gripper enabling the remaining meat cut to be separated again in a subsequent step to be divided again in two meat cuts, resulting in the original meat piece to be divided in three different cuts; with a firstcut a lower meat cut (e.g. wingtip) is separated and in a second cut an upper meat cut (e.g. drumette section) is separated from the middle cut (e.g. mid-wing section) of the original single bodied meat piece. It is not only possible to mechanise such cutting method but the method according to the invention also enhances the accuracy of the cutting process due to both the stretching of the meat pieces in combination with the intelligent use of meat piece dimension information.

[0014] The dimensions of the individual meat pieces transported by the endless conveyor may be determined at several locations along the transport path of the endless conveyor. Use of more camara’s will enhance the quality of the dimension information. Camera’s may for instance be (optical) vision camera’s but also other observations systems may be used.

[0015] The dimensions of the individual meat pieces transported by the endless conveyor may at least be determined in a stretched out orientation of the meat pieces. As the at least one cut / incision is made in a stretched out orientation of the meat pieces the most accurate dimension information for the cutting process is from the orientation wherein the cutting process takes place.

[0016] After finalising the cutting process the meat cuts held by the upper grippers may be released from the meat piece holders, preferably automatically released. Further processing of the cut meat cuts requires normally the transfer of the separated meat cuts to a subsequent processing station (e.g. a packaging unit).

[0017] The stretching out the individual meat pieces each by moving apart the upper gripper and a lower gripper of process step C) may be controlled by the intelligent process control unit as an accurate control of the “stretching process” is highly relevant for the outcome of the cutting process. Also the meat cuts released from the meat piece holders may be automatically graded, simplifying the further processing of the meat cuts.

[0018] The detection of the meat pieces to be cut may besides dimension detection also include the detection of other individual characteristics of the meat pieces. Some examples of other than dimension characteristics may be for instance and not limitative surface irregularities, contaminant and / or other differences.The present invention will be further elucidated on the basis of the non-limitative exemplary embodiments shown in the following figures. Herein shows:

[0019] figure 1 a perspective schematic view on a meat cutting device according to the present invention;

[0020] figure 2 a perspective view on meat piece holder having an upper gripper and a lower gripper for cooperative holding the pieces of meat at at least two spaced apart positions as part of a cutting device according to the present invention;

[0021] figure 3 a perspective view on a cutting section as part of a cutting device according to the present invention; and

[0022] figures 4A - G a schematic view on the subsequent processing steps of a method for cutting pieces of meat according to the invention.

[0023] Figure 1 shows a device 1 for cutting pieces of meat into separate cuts according to the present invention, wherein an endless conveyor 2 for transporting pieces of meat along a transport path 3, carrying spaced out meat piece holders 4. Each meat piece holder 4 has an upper gripper 5 and a lower gripper 6 for cooperative holding the pieces of meat at two positions the distance of which upper and lower grippers 5, 6 is adjustable. The meat cutting device 1 also has two vision camera’s 7 for determining the dimensions of meat pieces held by the meat piece holders 4 that are allocated along the transport path 3 of the meat pieces that is dictated by the endless conveyor 2. Along the transport path 3 is also a cutting section 8 arranged, which cutting section 8 has a cutting element, here embodied as a rotating saw blade 9, for cutting the pieces of meat transported along the transport path 3 into separate cuts. The rotating saw blade 9 is movable to the transport path 3 of the meat pieces by a robot arm 10. The information generated by the camera’s 7 is transferred to an intelligent process control unit (computer) 11 that controls the movements of the robot arm 10 relative to the transport path 3 of the meat pieces. Below the transport path 3 and (in transport direction) behind the cutting section 8 a collector 11 is provided for catching and transporting the detached lower meat cuts that are released by the meat piece holders 4.Figure 2 shows a a perspective view on meat piece holder 20 having an upper gripper 21 and a lower gripper 22 for cooperatively holding pieces of meat at two spaced apart positions, whereby a larger number of these meat piece holders 20 may be part of a cutting device according to the present invention. The upper gripper 21 is of a fixed type, what refers to a gripper's mouth 23 having an unchanging shape. The lower gripper 22 in contrast has two rotatable lower gripper beaks (jaws) 24 that are operable between a more or less closed engaging position and an (as shown in figure 2) open releasing position. The lower gripper 22 is attached to two sledges 25, 26, which sledges 25, 26 are slideable along guide rods 27. By moving the sledges 25, 26 simultaneously and synchronously along the guiding rods 27 the distance between the upper gripper 21 and the lower gripper 22 is changeable thus enabling to stretch a meat piece that is gripped on positions located apart from each other. He relative movement of the sledges 25, 26 operates the opening and closing of the lower gripper beaks 24. The drive(s) for moving the sledges 25, 26 are not included in the meat piece holder 20 as illustrated here, but may for instance be provided by stationary guide tracks that are built together with a support structure of an endless conveyor (as illustrated for instance in figure 1), at which endless conveyor top end guide rollers 28 may connect.

[0024] Figure 3 shows a a perspective view on a cutting section 30 which may be part of a cutting device according to the present invention (see figure 1). The cutting section 30 comprises a cutting element, here embodied as driven rotatable cutting knife 31. The rotatable knife 31 together with a knife drive 32, are held by a manipulator 33 providing the knife 31 to move with several degrees of movement (see for instance X, Z and R) enabling the knife 31 to move relative to the transport path of the meat pieces (see figure 1).

[0025] Figures 4A - G show the subsequent steps of a schematic view on the subsequent processing steps of the method for cutting pieces of meat according the present invention, here in particular by cutting poultry wings 40 (or “prime-wings”), into separate cuts 41 ,42, 43, more in particular separated in a wing tip 41 , mid-wing section 42 and a larger drumette section 43. In figure 4A the poultry wing 40 is attached (manually or automated) to an upper gripper 45 that may for instance actively clamp (see arrows Ai, A2) on a part of the poultry wing 40 and also beaks46 of a lower gripper may actively grasp (see arrows A3, A4) a lower part of the poultry wing 40.

[0026] In figure 4B is shown that the beaks 46 of the lower gripper are moved away (downwards in the figure) relative to the upper gripper 45 (see arrow As) resulting in the stretching out / lengthening of the poultry wing 40. A vision camera 47 is used to determine the properties of the poultry wing 40 enabling the controlled movement of a cutting knife 48 (see arrows As, A?) towards the poultry wing 40. The movement of the cutting knife 48 results in the poultry wing 40 to be cut at a location whereby the wing tip 41 is released from a remaining part 49 of the poultry wing 40.

[0027] In figure 4C is shown that the lower gripper beaks 46 are moved apart (see arrow As) so that the poultry wing tip 41 falls down onto a wing tip collector 48 to be moved away (see arrow A9). The beaks 46 are also moved towards the upper gripper 45 (see arrow A10) to position the beaks for a subsequent cutting step.

[0028] In figure 4D the beaks 46 of the lower gripper are brought in a gripping contact with the remaining part 49 of the poultry wing and moved away from the upper gripper 45 again (see arrow An) top stretch the remaining part 49 of the poultry wing.

[0029] In figure 4E the remaining part 49 of the poultry wing is stretched out due to the downward movement of the beaks 46 of the lower gripper (see arrow A12). A second vision camera 50 is used to determine the properties of the remaining part 49 of the poultry wing enabling the controlled movement of a second cutting knife 51 (see arrows A13, A14) towards the remaining part 49 of the poultry wing. The movement of the cutting knife 51 results in the remaining part 49 of the poultry wing to be cut at a location whereby the mid-wing section 42 is released from a drumette section 43.

[0030] In line with the process stap as shown in figure 4C in figure 4F the lower gripper beaks 46 are opening up (see arrow A15) so that the mid-wing section 42 falls down onto a mid-wing collector 52 to be moved away (see arrow Aie). The mid-wing collector 52 has a scale 53 for registering the weight of the individual cut off mid-wing sections 42. Subsequently the mid-wing parts 42 are moved away (see arrow A17).

[0031] Finally in figure 4G is shown that the upper gripper 45 is opening up (see arrows Ais) thereby releasing the drumette section 43 to fall onto a drumette collector 54 to be moved away (see arrow A19).

Claims

Claims1. Device for cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts, comprising:- at least one endless conveyor for transporting pieces of meat, preferably pieces of poultry, in particular poultry wings, along a transport path, provided with spaced out meat piece holders, each meat piece holder having an upper gripper and a lower gripper for cooperative holding the pieces of meat at at least two spaced apart positions and whereby the distance of the upper gripper and lower gripper is adjustable;- at least one camera for determining dimensions of the individual pieces of meat transported by the endless conveyor;- at least one cutting section arranged along the transport path of the endless conveyor, said cutting section comprising at least one cutting element for cutting the pieces of meat transported along the transport path into separate cuts, and which cutting element is relative movable to the transport path of the meat pieces; and- at least one intelligent process control unit controlling the relative position of the at least one cutting element relative to the transport path of the meat pieces, at least partially based on data provided to the process control unit by the at least one camera.

2. Meat cutting device according to claim 1 , characterised in that the at least one intelligent process control unit is also controlling the distance of the upper gripper and a lower gripper of the meat piece holders.

3. Meat cutting device according to claim 1 or 2, characterised in that at least one of the upper and lower gripper of a meat piece holder, preferably at least the lower gripper, is operable between an engaging and a releasing position.

4. Meat cutting device according to one of the preceding claims, characterised in that the upper gripper of a meat piece holder is a stationary hook.

5. Meat cutting device according to one of the preceding claims, characterised in that the position of the upper grippers of the meat piece holders relative to the endless conveyor is variable and controlled by the at least one intelligent process control unit.

6. Meat cutting device according to one of the preceding claims, characterised in that the relative position of the upper gripper and the lower gripper of the meat piece holders is controlled by the at least one intelligent process control unit.

7. Meat cutting device according to one of the preceding claims, characterised in that the at least one cutting element is a rotatable cutting knife.

8. Meat cutting device according to one of the preceding claims, characterised in that the meat cutting device comprises at least two cameras for determining dimensions of the individual pieces of meat transported by the endless conveyor and at least two cutting sections arranged along the transport path of the endless conveyor, whereby at least a first camera is positioned in the transport direction of the endless conveyor before the first cutting section and at least a second camera is positioned in the transport direction of the endless conveyor between the first and second cutting sections.

9. Meat cutting device according to one of the preceding claims, characterised in that below the at least one endless conveyor a least one collector is provided for collecting cut off meat pieces.

10. Meat cutting device according to claim 9, characterised in that the collector is provided with a scale for weighing the cut of meat pieces.

11. Meat cutting device according to claim 9 or 10, characterised in that the collector is provided with a selector for differentiating various graded cut off meat pieces.

12. Meat cutting device according to one of the preceding claims, characterised in that the meat cutting device also comprises a loader forautomatically loading meat pieces to the meat piece holders of the endless conveyor.

13. Method for cutting pieces of meat, preferably pieces of poultry, in particular poultry wings, into separate cuts, preferably by using the device according to any of the claims 1-12, comprising the steps of:A) individually positioning or loading meat pieces to be cut, directly or indirectly, onto upper grippers of spaced apart meat piece holders of an, along a transport path driven, endless conveyor of a meat cutting device; B) gripping the meat pieces held by the upper grippers with lower grippers below the upper grippers;C) stretching out the individual meat pieces each held by an upper gripper and a lower gripper of a meat piece holder by moving apart the upper gripper and a lower gripper;D) determining dimensions of the individual meat pieces transported by the endless conveyor by at least one camera;E) feeding the data generated by the at least one camera to an intelligent process control unit;F) cutting the stretched out meat pieces at an individually controlled location into separate cuts, by intelligent process control unit controlled moving at least one cutting element of a cutting section in a specific cutting position; andG) releasing at least the lower grippers of the meat cuts, and releasing the lower meat cuts.

14. Cutting method according to claim 13, characterised in that after releasing the lower separated meat cuts according to method step G) the remaining meat cuts are gripped again with the lower grippers below the upper grippers according to method step B) and the process steps C) - E) are repeated to cut the remaining meat cuts a subsequent time by a subsequent cutting element of a subsequent cutting section in separate cuts.

15. Cutting method according to claim 13 or 14, characterised in that the dimensions of the individual meat pieces transported by the endless conveyor are determined at several locations along the transport path of the endless conveyor.

16. Cutting method according to any of the claims 13 - 15, characterised in that the dimensions of the individual meat pieces transported by the endless conveyor are at least determined in a stretched out orientation of the meat pieces.

17. Cutting method according to any of the claims 13 - 16, characterised in that after finalising the cutting process the meat cuts held by the upper grippers are released from the meat piece holders.

18. Cutting method according to any of the claims 13 - 17, characterised in that the stretching out the individual meat pieces each by moving apart the upper gripper and a lower gripper of process step C) are controlled by the intelligent process control unit.

19. Cutting method according to any of the claims 13 - 18, characterised in that the cut meat cuts released from the meat piece holders are automatically graded.

20. Cutting method according to any of the claims 13 - 19, characterised in that besides dimensions also other individual characteristics of the meat pieces are (e.g. camera) detected.

Images