Aarts, Lambertus Maria (Strengen 6, RN Berghem, NL-5351, NL)
| 1. | Method for estimating a specific position defined by a carcass part of livestock, comprising the processing steps of: A) determining a specific first reference position defined by the carcass part, B) determining a specific second reference position defined by the carcass part, C) estimating on the basis of a data collection a specific third, as yet undefined reference position defined by the carcass part on the basis of the two reference positions determined with processing steps A) and B), D) determining the third reference position, and E) modifying the data collection on the basis of the comparison of the estimated and the determined third reference position. |
| 2. | Method as claimed in claim 1, characterized in that at least one of the first two reference positions is determined mechanically by having a reference member engage on a bone. |
| 3. | Method as claimed in claim 2, characterized in that the reference member engaging on the bone also performs an operation on the carcass part. |
| 4. | Method as claimed in any of the foregoing claims, characterized in that the third reference position is estimated in accordance with processing step D) while making use of supplementary data in addition to the first and second reference position. |
| 5. | Method as claimed in claim 4, characterized in that at least one dimension relating to the carcass part is taken for the purpose of carrying out processing step D), this dimension functioning as supplementary information. |
| 6. | Method as claimed in claim 4 or 5, characterized in that at least one reference relating to the carcass part is inputted for the purpose of carrying out processing step D). |
| 7. | Method as claimed in any of the foregoing claims, characterized in that the first two reference positions are defined by the same bone. |
| 8. | Method as claimed in any of the claims 16, characterized in that the first two reference positions are defined by different bones forming part of the carcass part. |
| 9. | Method as claimed in any of the foregoing claims, characterized in that the third reference position is defined by a bone. |
| 10. | Method as claimed in any of the claims 18, characterized in that the third reference position is defined by a connection of different muscle tissues. |
| 11. | Apparatus for estimating a specific third reference position which is defined by a bone in a carcass part of livestock, comprising: means for determining a specific first and a specific second reference position which are defined by the carcass part, a data processing unit connecting to the reference determining means, means for automated processing of the carcass part which also connect to the data processing unit, which processing means are at least partly controlled by the data processing unit, and means connecting to the dataprocessing unit for determining a specific third reference position. |
| 12. | Apparatus as claimed in claim 11, characterized in that the dataprocessing unit connects to drive means for displacing the means for determining any of the reference positions. |
| 13. | Apparatus as claimed in claim 11 or 12, characterized in that the apparatus is provided with measuring means for determining a length measure of the carcass part, which measuring means connect to the dataprocessing unit. |
| 14. | Apparatus as claimed in any of the claims 1113, characterized in that the apparatus is provided with measuring means for determining the weight of the carcass part, which measuring means connect to the dataprocessing unit. |
| 15. | Apparatus as claimed in any of the claims 1114, characterized in that the apparatus is provided with input means connecting to the dataprocessing means for inputting carcass partdependent data. |
| 16. | Apparatus as claimed in any of the claims 1115, characterized in that the means for automated processing of the carcass part comprise cutting means. |
| 17. | Apparatus as claimed in any of the claims 1116, characterized in that the means for automated processing of the carcass part are integrated with the means for determining a specific third reference position which connect to the dataprocessing unit. |
The invention relates to a method for estimating a specific position defined by a carcass part of livestock, comprising of the processing step based on determining a first reference position defined by the carcass part. The invention also relates to an apparatus for estimating a specific position defined by a carcass part of livestock.
Due to the work load and the difficult working conditions, among other factors, the processing of slaughtered animals takes place to a considerable extent in at least partly mechanized manner. A carcass is herein normally divided into segments, such as for instance half-carcasses which can then be further subdivided into front end, middle piece and rear end. The thus obtained segments are then usually further divided or severed. The dimensions of the carcass parts for processing vary, which makes automatic processing of the carcass parts more difficult. The automatic control of a processing member such as a knife has the drawbacks, among others, that this can result in damage to meat and/or bone material and that only a limited efficiency can be achieved. A requirement that only very small quantities of bone material are permitted in the deboned meat can thus result for instance in a relatively large amount of meat remaining on the bones after deboning. Losses can also occur when mutually connecting muscle tissue parts are separated from each other when the separation does not take place exactly at the separating surface (for instance at the position where the tissues are mutually separated by one or more membranes).
The present invention therefore has for its object to provide a method and an apparatus, as a result of which carcass parts can be processed in automated manner with an increased efficiency and/or a reduced chance of damage to meat and/or bone material.
The invention provides for this purpose a method for estimating a specific position defined by a carcass part of livestock, comprising the processing steps of: A) determining a specific first reference position defined by the carcass part, B) determining a specific second reference position defined by the carcass part, C) estimating on the basis of a data collection a specific third, as yet undefined reference position on the basis of the two reference positions determined with processing steps A)
and B), D) determining the third reference position, and E) modifying the data collection on the basis of the determined third reference position. On the basis of two known specific reference positions, which can for instance be defined by a single bone or by a plurality of connected bone parts, an estimate can be made of the location of a third reference position, which can likewise be defined by a bone but which may also be defined by other components of the carcass part such as muscle tissue parts. The third reference position can thus be determined by a bone for which at least a first or second reference position has been determined, but it may also be a bone other than that for which the first or second reference position has been determined but which is connected to a bone for which a reference position has been determined. It thus becomes possible to estimate a position which is concealed from outside the carcass part (for instance by meat, cartilage, membranes or other material), which makes it possible in a subsequent operation to take account of the estimated third reference position. It will be apparent that it is desirable for the estimation of the third reference position to take place as accurately as possible in order to thus optimize the precision of a subsequent operation. With the present invention it becomes possible to substantially increase the accuracy of estimation of the third reference position due to the feedback of the result following from the comparison of the estimated and the determined third reference position. A "self-learning" system is thus created, as a result of which it becomes possible, after performing processing steps A)-E) a number of times, to precisely estimate the third reference position. When processing a determined batch of carcass parts, it is thus possible for instance, after processing several carcass parts, to carry out a correction relative to the average properties of carcass parts known in the system; the system "learns" that on average a specific batch has one property deviating from the norm, which results in an increased accuracy when processing subsequent carcass parts forming part of the same batch. It is noted that the carcass part can also be a whole carcass.
Livestock is understood to mean cattle, pigs, sheep, goats, but optionally also other larger or smaller mammals or poultry which are processed in larger quantities. The increased accuracy in estimating the third reference position makes it possible to process the carcass part more accurately, which can enhance both the quantity and the quality of the remaining slaughter products (including deboned meat), with the result of increased yields. The fed-back data of the detected third reference position can be
processed in various statistical ways, several practical examples hereof being quadratic regression analysis and linear programming.
At least one of the first two reference positions can be determined mechanically by having a reference member, such as for instance a clamp, jaw, knife and/or pin, engage on for instance, but not necessarily, a bone. Alternatively a reference position can also be determined in contactless manner, for instance visually or by means of a radiation passing though the carcass part. On the other hand it is also possible for an engaging reference member to also fulfil another function, such as for instance fixing, sawing or cutting. This is particularly advantageous in determining the third reference position, since this is normally difficult to access without affecting the state of the carcass part.
An even greater accuracy in estimating the third reference position can be obtained if it is estimated in accordance with processing step D) while using supplementary data in addition to the first and second reference position. At least one dimension relating to the carcass part (for instance length, width or thickness, weight) can thus be taken for the purpose of carrying out processing step D), this dimension functioning as supplementary information. It is also possible that in order to carry out processing step D) at least one reference relating to the carcass part is inputted, for instance information dependent on the carcass part relating to breed, age, gender, breeding data, behaviour, producer, geographic origin, fat percentage and so on. Such variables can influence the build of a slaughtered animal to a greater or lesser extent, and can thus result in an increase in the accuracy with which the third reference position can be estimated.
It is possible that the first two reference positions are defined by the same bone, but they can also be defined by different bones forming part of the carcass part. In the latter case there must of course be a relation between the relative positioning of these bones, for instance in that they are joined to each other via joints or cartilage connections. At least one of the first two reference positions of a bone possibly defining the third reference position can already have been predetermined, but it is also possible that a reference position of a bone defining the third reference position has not been predetermined. On the other hand, it is also possible that the third reference position is defined by a connection of different muscle tissues; it may be desirable to make a cut at such a
separating surface (usually provided with one or more membranes). The more accurately such muscle tissues are separated from each other, the higher the yield. The present invention also relates to an apparatus for estimating a specific third reference position in a carcass part of livestock, comprising: means for determining a specific first and a specific second reference position which are defined by the carcass part, a data processing unit connecting to the reference-determining means, means for automated processing of the carcass part which also connect to the data-processing unit, which processing means are at least partly controlled by the data-processing unit, and means connecting to the data-processing unit for determining a specific third reference position. The advantages as already described above with reference to the method according to the present invention can be realized using such an apparatus. The first and/or second reference position can be determined using contactless or mechanically engaging sensors (for instance in the form of a clamp with which a bone is engaged). An operation can then be performed with for instance a cutting member, wherein a third reference position, known only approximately up to this point, is determined precisely upon detection of a specific resistance or specific change in movement of the cutting member. This determined third reference position is compared to the estimated third reference position, and a feedback of the results found takes place so as to enable a third reference position to be estimated again with an, if possible, even greater reliability during a subsequent operation. Conversely, it is also possible to carry out an operation (for instance cutting or sawing) wherein the estimated third reference position is taken into account. After the operation has been performed, the third reference can then be determined with a separate sensor (optionally the sensor with which the first and/or second reference position was also determined), since this reference has become more readily accessible as a result of the operation. The determined third reference position is then fed back to the data-processing unit (for instance in the form of a computer).
In a preferred variant, the data-processing unit connects to drive means for displacing the means for determining a third reference position. The displacement of the cutting member (and therefore at least a part of the processing of the carcass part) can thus be automated.
Favourable results can also be achieved in estimating the third reference position if the apparatus is provided with measuring means (for instance using a vision system) for
determining a length measure and/or the weight of the carcass part, which measuring means connect to the data-processing unit. It is also possible for the apparatus to be provided with input means connecting to the data-processing means for inputting carcass part-dependent data (for instance batch-dependent data relating to producer, age of the slaughtered animals, average physical characteristics, breed, gender and so on). It is also possible to collect extra data by arranging a coupling to production means which have performed previous operations on the carcass or the carcass parts.
The means for automated processing of the carcass part preferably comprise cutting means such as an elongate knife or a rotatable circular knife. It is also efficient if the means for automated processing of the carcass part are integrated with the means for determining a specific third reference position which connect to the data-processing unit.
The present invention will be further elucidated on the basis of the non-limitative exemplary embodiments shown in the following figures. Herein: figure 1 shows a schematic representation of the apparatus according to the present invention, figures 2A and 2B show cut-away views of two hams being processed according to the present invention, figure 3 shows a cross-section through a carcass of a pig, and figure 4 shows a view of a shoulder part of a pig carcass schematically processed according to the present invention.
Figure 1 shows a schematically represented apparatus 1 with a clamp with stop 2 which engages on a bone 3 of a ham 4. The position of the clamp with stop 2 (the first reference position) is determined by schematically shown operating means 5, and the position in which the clamp with stop 2 is situated is transmitted to a central control unit 7 via a signal line 6. A knife 8 is inserted into ham 4 such that it lies against a specific second reference position (for more detail here see also following figure 2A). The position of knife 8 is determined by schematically shown operating means 9 of knife 8 and the position in which knife 8 is situated is transmitted to a central control unit 7 via a signal line 10. On the basis of the information relating to clamp 2 and knife 8, a rotatable saw 13 (or rotatable knife) is now displaced by associated operating means 14
via a signal line 11. For the best possible operation of saw 13, an estimate is made by central control unit 7 of the position of at least one location of a bone part which is situated in ham 4 and which is not (yet) externally accessible. After performing one or more operations with saw 13, the third reference position can be determined with a sensor 15 which is displaceable as a result of schematically shown operating means 16. Both the displacement of sensor 15 and the feedback of the determined third reference position to central control unit 7 take place via a signal line 17.
Figures 2A and 2B show a ham 20 in cut-away state. Figure 2A shows ham 20 in a view from the inside and figure 2B shows ham 20 in a view from the outside. A clamp with stop 22 determining a first reference position engages on a protruding bone ("tibia" 21). A knife 23 is then inserted into ham 20 until it is stopped by the assembly of two connected bones (the connection between "tibia" 21 and "fibula" 24). The second reference position is thus also determined. On the basis of the first and second reference position an estimate can now be made of the position of a specific opening (the estimated third reference position) in a bone 25 ("pubic bone" 25) which has to be engaged by a hook- like sensor 26 for further fixation of the ham 20. The hook- like sensor 26 can now be automatically placed in the desired engaging position due to the estimation of the position thereof. After sensor 26 has actually engaged the opening in bone 25, the third reference position is determined precisely and the position thereof will be fed back to a control system not shown in this figure.
Figure 3 shows a pig half-carcass 30 in a longitudinal cross-section. The half-carcass 30 is usually divided into three segments, ham 31, middle part 32 and front end 33. The half-carcass 30 or the parts 31,32,33 of which half-carcass 30 is made up are highly suitable for processing with the method according to the present invention.
Figure 4 finally shows meaty pig shoulder 40. A first reference position can be determined by means of an engaging member 41 on the outer end of a shank 42 (also referred to as "ulna" 42 or foreleg 42), and transmitted to a control unit 44 by control means 43 of engaging member 41. A second reference position is determined by placing a sensor pin 45 into contact with a receding part of shoulder 40. Control means 46 of sensor pin 45 then also transmit this second reference position to control unit 44. On the basis of the thus obtained information, control unit 44 will actuate a knife 48 via a
control system 47, whereby different muscle tissue parts 49, 50 are separated from each other.
Next Patent: CARRIER FOR ELECTRICAL COMPONENTS WITH SOLDERED-ON COOLING BODY