• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This invention relates to a detection system, a removal system and a control system for identification, removal and control of contaminations on an animal carcass.
    公开号:DK201901036A1
    申请号:DKP201901036
    申请日:2019-09-02
    公开日:2021-04-16
    发明作者:Andreas Holger Dirac Paul；Bager Christensen Lars；Toftelund Madsen Niels；Hjort Hansen Rikke；Gunner Brink Nielsen Glenn；Seidelin Dam Jeppe
    申请人:Teknologisk Inst；
    IPC主号:
    专利说明:

    DK 2019 01036 A1 1AUTOMATIC REMOVAL OF CONTAMINATION ON CARCASSES
    TECHNICAL FIELD This invention relates to a detection system, a removal system and a control system for identification, removal and control of contaminations on an animal carcass.
    BACKGROUND ART Slaughter carcasses, e.g. bovine and porcine, may be contaminated during the slaughter process. Contaminations can originate from the animal, e.g. faeces, bile or hair, or from the production environment, e.g. grease oil.
    Contaminations on the carcass must be removed to ensure consumer safety and health, and to ensure product shelf life and for aesthetic reasons.
    The task of ensuring contamination free carcasses requires first detecting the presence of contamination and then removing the contamination, e.g. using steam and suction, or using a knife to trim away contaminated carcass parts. Today operators perform these detection and removal operations. The detecting operator is typically a veterinary inspector who must look for animal sickness, abscesses, broken bones, etc. in addition to detecting contamination. If contamination is detected it is removed by the veterinary inspector or by another operator. This manual approach has several drawbacks: Inspectors may be distracted or become tired and miss contamination during inspection. E.g. if one part of the carcass needs attention, contamination on another part may be overlooked.
    Manual inspection is inherently subjective and will vary over time, between inspectors, and between slaughterhouses and countries.
    If the contamination is removed by another operator than the detecting operator, the removing operator must re-locate the contamination, which is inefficient.
    Manual inspection and removal are labour intensive and therefor costly. To reduce the risk of missing a contamination, inspectors are typically highly trained and have relatively short duty cycles to avoid fatigue and loss of concentration.
    Automation of the process removal of contamination would therefore be advantageous.
    WO9945138 describes a method and an apparatus for detecting ingesta or faecal contamination on an animal carcass using fluorescent spectroscopy.
    WO2010103264 describes methods for analysing an animal carcass, meat obtained therefrom, or product produced by or obtained from an animal for the presence or absence of faecal matter.
    DK 2019 01036 A1 2 However, the system and method described herein, for identification, removal and control of contaminations an animal carcass, have never been disclosed.
    SUMMARY OF THE INVENTION This invention relates to a detection system, a removal system and a control system for the identification, removal and control of contaminations on an animal carcass.
    The method of the invention involves the use of a detection system to determine the existence and location of contaminations, and to report the existence and location to an IT-system (i.e. a processing means), to guide a removal tool to the location of the contamination and remove the contamination, and finally to control and verify that any contamination is adequately removed, and to report the result of the control to an IT- system so that the carcass may be released or retained for further corrective actions according to the control result.
    Other objects of the invention will be apparent to the person skilled in the art from reading the following detailed description and accompanying drawings.
    BRIEF DESCRIPTION OF THE DRAWINGS The present invention is further illustrated by reference to the accompanying drawing, in which: Fig. 1 shows a schematic overview of the system of the invention, wherein: (A) illustrates the detection system of the invention, in which (3) illustrates one or more camera(s), and (4) illustrates the one or more light sources; (B) illustrates the removal system of the invention, in which (5) illustrates the removal tool for use according to the invention, and (6) illustrates a robot comprising a robotic arm (6a) for use according to the invention; and (C) illustrates the control system of the invention, wherein (3) illustrates one or more camera(s), (4) illustrates the one or more light sources; (2) illustrates the object/animal carcass to be analysed; and (7) illustrates the processing means for use according to the invention.
    DETAILED DISCLOSURE OF THE INVENTION In its first aspect, the present invention provides a system for identification, removal and control of contaminations an animal carcass, which system may be characterised by comprising:
    DK 2019 01036 A1 3 i. a detection system (A), in communication with a processing means (7), and capable of identifying the presence, and of determining and location of any contamination in a three-dimensional (3D) space; ii. a removal system (B), in communication with a processing means (7), and capable of removing any contamination as determined by the detecting system (A) of the invention, and/or capable of trimming away any contaminated areas of the carcass; iii. a control system (C), in communication with a processing means (7), and capable of identifying the presence, and of determining the location of any contamination; and iv. a processing means (7).
    Detection system The detection system (A) of the invention may be characterised by comprising one or more cameras (3) aimed to cover the entire carcass (2) with sufficient resolution, and capable of resolving even small contaminations.
    The cameras (3) for use according to the invention may be multi-spectral, i.e. they may be able to spectrally resolve several wavelengths to form a multispectral image of the carcass of parts of it. The cameras may be placed in housings that are suitable to protect them from disturbances from slaughterhouse procedures, e.g. from operators in the vicinity, and from cleaning.
    To ensure adequate lighting of the carcass (2), so that clear images can be recorded with shutter times short enough to avoid detrimental motion blur in the images, the system of the invention comprises one or more light sources (4). The light for use according to the invention shall have the appropriate wavelengths represented to ensure detection of contamination, and shall also ensure, that different types of contamination can be distinguished by multispectral imaging.
    The light sources (4) may be based on light emitting diodes of selected wavelengths. Timing of emission from the different wavelengths may be used to acquire multispectral images, such that one or more wavelengths illuminates the carcass for a very short time, while a camera acquires an image, immediately followed by another image where one or more (other) wavelengths illuminate the carcass.
    Images obtained by the cameras (3) are analysed using image analysis algorithms.
    In one embodiment, images are analysed to determine the existence of possible contaminations. Algorithms may e.g. determine the type of contamination, e.g. faecal or oil.
    DK 2019 01036 A1 4 In another embodiment, algorithms are used to categorise contaminations according to which tool is best suited for removal of the contamination in question, e.g. steam vacuum suction or knife trimming.
    In a further embodiment, algorithms are used to determine the best path of the removal tool in order to safely remove the contamination.
    The algorithms used in data analysis may be a combination of classical image analysis algorithms, artificial neural networks, deep convolutional networks, and reinforcement learning, and machine learning algorithms such as Random Forest, k- Nearest Neighbours, or Support Vector Machines.
    The detection system (A) of the invention also comprises means to determine the location of contaminations in the three-dimensional space, e.g. by using stereo vision, structured light, time-of-flight depth measurements, or combinations thereof.
    The determination of the 3D location of the contamination may be based on the same cameras that detect the contamination, or it may be based on separate 3D measurement sensors/cameras. In the latter case, the detection cameras and the 3D measurement sensors/cameras must be calibrated, so the location on the 2D detection images can be transform into a 3D location in space.
    If the carcass is moving, e.g. on an overhanging rail or on a conveyor belt, the systems may have means to predict the location of the contamination in question at future times after detection, e.g. by measuring the speed of the carcass, or by using information about the speed of the carcass transport means in the slaughterhouse, and/or by means of identity-based tracking systems, such as radio frequency identifiers.
    Removal system The removal system (B) of the invention comprises one or more removal tools (5) appropriate for removing any contamination, and/or for trimming away any contaminated areas of the carcass. Removal tools (5) for use according to the invention may e.g. be in the form of steam vacuum suction devices, and/or knifes, e.g. knife blades or rotating wizard knives.
    The removal tools (5) for use according to the invention shall be directed to the location of the contamination and shall be moved along a path to remove the contamination by means of a mechanical transport device, equipped with one or more removal tools. The device may e.g. be in the form of one or more robotic arms (6a).
    The transport device may also be equipped with one or more cameras and/or sensors (3). The cameras/sensors (3) may be used to detect and/or locate the contamination on the carcass, and/or to increase the precision of a predetermined location.
    DK 2019 01036 A1 Cameras/sensors (3) may also be used to determine the distance of the transport device and/or removal tool from the carcass. The sensors (3) may in particular be distance sensors and/or force sensors.
    Control system The control system (C) of the invention comprises one or more cameras (3) aimed to cover the entire carcass (2), with sufficient resolution to be able to resolve even small contaminations. The cameras (3) for use according to the invention may be multi-spectral, i.e. they may be able to spectrally resolve several wavelengths to form a multi-spectral image of the carcass, or of parts of it.
    The cameras (3) for use according to the invention may be placed in housings that are suitable to protect them from disturbances from slaughterhouse procedures, e.g. from operators in the vicinity, and/or from cleaning.
    In one embodiment, the cameras (3) are placed on one or more transport devices, e.g. on a robotic arm (6a), and may be programmed to inspect the locations of any previously detected and removed contaminations.
    In another embodiment, the control system (C) may be the same as the removal system (B), so that the removal system (B) performs both removal and control of removal. Method for identification, removal and control In another aspect the present invention provides a method for the identification, removal and control of contaminations on an animal carcass, which method comprises the subsequent steps of: a. subjecting an object (2) to a detection step for identification of any contaminations using the detection system (A) of the invention; b. subjecting the object (2) to a removal and/or trimming step using the removal system (B) of the invention; and c. subjecting the object (2) to a control step using the control system (C) of the invention.
    The object to be analysed (2) according to the method of the invention may be static or may be moving, e.g. along an overhead rail or on a conveyor belt.
    In one embodiment, if the carcass is moving, the system comprises means to predict the location of contamination at future times after detection, e.g. by measuring the speed of the moving carcass, by using information about the speed of the carcass transport means used in the slaughterhouse, and/or by means of an identity-based tracking system, e.g. using radio frequency identifiers.
    In another embodiment, the removal system (B) employed in step b may be able to perform both removal and control of any contaminations identified on the animal
    DK 2019 01036 A1 6 carcass (2), thus obviating step c, i.e. the control system (C) may be the same as the removal system (B) so that the removal system (B) performs both removal and control of removal.
    The object to be analysed (2) according to the method of the invention may be an animal carcass, or meat obtained therefrom, or products produced by or obtained from an animal.
    The contaminations sought identified and removed by the method of the invention or by using the system of the invention may originate from the animal, and may e.g. be faeces, bile or hair, or from the production environment, e.g. grease oil, which contaminations should be removed to ensure consumer safety and health, and to ensure product shelf life and for aesthetic reasons.
    Any combination of two or more of the embodiments described herein is considered within the scope of the present invention.
    List of reference signs In the figures, identical structures, elements or parts that appear in more than one figure are generally labelled with the same numeral in all the figures in which they appear.
    1. The system of the invention
    2. Object to be analysed/animal carcass
    3. Camera/sensor 4, Light source
    5. Removal tool
    6. Robot 6a. Robotic arm
    7. Processing means
    权利要求:
    Claims (10)
    [1] 1. A system for identification, removal and control of contaminations an animal carcass, which system comprises: i. a detection system (A), in communication with a processing means (7), and capable of identifying and determining the presence and location of any contamination in a three-dimensional (3D) space; ii. a removal system (B), in communication with a processing means (7), and capable of removing or trimming away any contamination as determined by the detecting system (A); iii. a control system (C), in communication with a processing means (7), and capable of identifying the presence, and of determining the location of any contamination; and iv. a processing means (7).
    [2] 2. The system of claim 1, wherein the detection system comprises: a. one or more cameras (3), in communication with a processing means (7); and b. one or more light sources (4), optionally in communication with the processing means (7).
    [3] 3. The system of claim 1, wherein the removal system comprises: a removal tool (5), mounted on a robotic arm (6a), guided by a robot (6) in communication with the processing means (7).
    [4] 4. The system of claim 1, wherein the control system comprises: a. one or more cameras (3) in communication with the processing means (7); and b. one or more light sources (4), optionally in communication with the processing means (7).
    [5] 5. The system of any one of claims 1-4, wherein the control system (C) is included in the removal system (B), so that the removal system (B) performs both removal of any contaminations, and control of this removal.
    [6] 6. The system of any one of claims 1-5, which system comprises means to predict the location of contamination on an incoming animal carcass at future times after detection.
    DK 2019 01036 A1 2
    [7] 7. A method for the identification, removal and control of contaminations on an animal carcass, which method comprises the subsequent steps of: a. subjecting an object (2) to a detection step for identification of any contaminations using the detection system (A) of the invention; b. subjecting the object (2) to a removal and/or trimming step using the removal system (B) of the invention; and c. subjecting the object (2) to a control step using the control system (C) of the invention.
    [8] 8. The method of claim 7, wherein the object to be analysed (2) may be static or may be moving.
    [9] 9. The method of claim 8, wherein, if the carcass is moving, the system comprises means to predict the location of contamination at future times after detection, e.g. by measuring the speed of the moving carcass, by using information about the speed of the carcass transport means, and/or by means of an identity-based tracking system.
    [10] 10. The method of any one of claims 7-9, wherein the removal system (B) employed in step b performs both removal and control of contaminations on the animal carcass, thus obviating step c.
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    同族专利:
    公开号 | 公开日
    DK180441B1|2021-04-23|
    WO2021043747A1|2021-03-11|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5914247A|1998-03-03|1999-06-22|The United States Of America As Represented By The Secretary Of Agriculture|Method and system for detecting fecal and ingesta contamination on the carcasses of meat animals|
    WO2009138083A1|2008-05-16|2009-11-19|Slagteriernes Forskningsinstitut|Carcass cleaning method, device and machine|
    GB0904024D0|2009-03-09|2009-04-22|Univ Aberystwyth|Faecal markers|
    US9551616B2|2014-06-18|2017-01-24|Innopix, Inc.|Spectral imaging system for remote and noninvasive detection of target substances using spectral filter arrays and image capture arrays|
    法律状态:
    2021-04-16| PAT| Application published|Effective date: 20210303 |
    2021-04-23| PME| Patent granted|Effective date: 20210423 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201901036A|DK180441B1|2019-09-02|2019-09-02|Automatic removal of contamination on carcasses|DKPA201901036A| DK180441B1|2019-09-02|2019-09-02|Automatic removal of contamination on carcasses|
    PCT/EP2020/074301| WO2021043747A1|2019-09-02|2020-09-01|Automatic removal of contamination on carcasses|
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