Carcass cutting methods and apparatus
Methods of automated meat processing including an end to end processing method in which carcasses are cut into major portions at a first robotic processing station and into minor portions at robotic processing sub-stations. In one processing method carcass portions are acquired by a robotic arm, imaged and then cuts performed without transfer. In another a first series of processing steps are performed by rotating carcass portions through a plurality of processing stations and a second series of processing steps are performed as carcass portions are advanced along a linear conveyor. In another processing method a plurality of clamps are employed to stabilize a saddle section during a flap cut. In another processing method split pins are used to position a saddle section for a vertebrae cut. In another method a spinal cord is removed by applying a pressurized fluid stream against one end of the spinal cord and applying suction at the other end of the spinal cord.
1. A method of processing a portion of a carcass including the steps of:
a. holding a portion of a carcass using a robotic arm;
b. imaging the carcass portion whilst held by the robotic arm;
c. determining one or more cut paths based on the imaging; and
d. the robotic arm having plural degrees of freedom and moving the carcass with respect to a cutting tool to cut the carcass along the one or more cut paths, wherein the portion of a carcass is held by the robotic arm throughout processing.
2. A method as claimed in claim 1 wherein the carcass portion is moved to a plurality of positions to obtain multiple images of the carcass from different perspectives.
3. A method as claimed in claim 2 wherein a three dimensional image of the carcass portion is generated from the images obtained.
4. A method as claimed in claim 1 wherein structured light is scanned over the carcass portion as the images are obtained.
5. A method as claimed in claim 1 wherein a datum referencing element is provided on the robotic arm so that during imaging the carcass portion and datum referencing element are captured and the datum referencing element is used to determine the position and orientation of the carcass with respect to the robotic arm.
6. A method as claimed in claim 5 wherein the datum referencing element consists of 3 reference points orthogonally disposed with respect to the robotic arm.
7. A method as claimed in claim 1 wherein an X-ray image of the carcass portion is obtained prior to processing using the robotic arm and the X-ray image is combined with imaging of the carcass portion whilst held by the robotic arm to form a composite model of the carcass portion.
8. A method as claimed in claim 7 wherein cut paths are determined based on the composite model.
9. A method as claimed in claim 1 wherein multiple cuts are performed whilst the carcass portion is continuously held.
10. A method as claimed in claim 9 wherein the carcass portion is a fore-quarter section of a carcass.
11. A method as claimed in claim 10 wherein the cuts are selected from the group consisting of knuckle cut, neck cut, brisket cut, shank cut and vertebrae split.
12. A method as claimed in claim 1 wherein the cutting tool is a bandsaw.
13. A method as claimed in claim 1 wherein the carcass portion is gripped by clamps.
14. A method as claimed in claim 1 wherein the carcass is secured to a movable conveyor and moved on the conveyor between a plurality of positions at which the carcass is cut.
15. A method of performing a plurality of sequential cuts on a carcass using a robotic arm having plural degrees of freedom and a cutting tool including the steps of:
a. imaging the carcass whilst it is held by the robotic arm to obtain imaging information;
b. determining cutting co-ordinates for the carcass based on the imaging information; and
c. maintaining geometric reference between the carcass and cutting tool to perform the sequence of cuts based on the imaging information by the robotic arm retaining hold.
16. A method as claimed in claim 15 wherein the imaging includes optical imaging.
17. A method as claimed in claim 15 wherein the imaging includes X-ray imaging.
18. A method as claimed in claim 15 wherein geometric reference between the carcass and cutting apparatus is maintained by retaining hold of the carcass portion by the robotic arm throughout the performance of imaging and cutting steps.
19. A method as claimed in claim 15 wherein geometric reference between the carcass and cutting apparatus is maintained by maintaining the carcass portion in a known position and orientation with respect to a conveyor throughout processing.
20. A method as claimed in claim 15 wherein cuts are performed according to selected cut specifications.
21. A method as claimed in claim 15 wherein the cuts performed on a carcass portion can be dynamically adjusted.