Patent Publication Number: US-2023136982-A1

Title: Method of mechanically harvesting inner and outer meat fillets from poultry carcass breast caps, and a device for carrying out the method

Description:
FIELD OF THE INVENTION 
     The invention relates to a method of mechanically harvesting inner and outer meat fillets from a poultry carcass breast cap, and a device for carrying out the method. 
     BACKGROUND 
     Method and devices for filleting poultry breast caps are known. In particular applicants&#39; U.S. Pat. No. 9,078,453 patent relates to a method and device for deboning poultry breast caps to obtain breast fillets therefrom. This method and device has been successful in harvesting breast fillets, butonly with the inner and outer fillets remaining together. It is however sometimes also required to have the inner and outer breast fillets as separate meat products. In such instances it has been necessary to separate the inner and outer breast fillets manually. 
     SUMMARY 
     It is an object of the present invention to propose, and embodiments of the present invention seek to provide, an improved method and device for mechanically harvesting inner and outer meat fillets from poultry carcass breast caps, when such is required. In a more general sense it is an object of the invention to overcome or reduce at least one of the disadvantages of the prior art. It is also an object of the present invention to provide alternative solutions which are less cumbersome in assembly and operation and which moreover can be made relatively inexpensively. Alternatively, it is an object of the invention to at least provide a useful alternative. 
     To this end the invention provides an improved method of mechanically harvesting inner and outer meat fillets from a poultry carcass breast cap, and an improved device for carrying out the method as defined in the appended claims. 
     In the method of mechanically harvesting inner and outer meat fillets from a poultry carcass breast cap a poultry breast cap is conveyed while it is supported inversed to its natural position on a carrier through a path of conveyance. In this method the outer fillet is cut along a keel bone of the poultry breast cap, the inner and outer fillets are separated, and the carcass remains are discarded. Such a method can further include providing an endless conveyor including the carrier and continuously moving the breast cap supported on the carrier through the path of conveyance. Optionally, a measuring system can detect and generate information regarding the size, such as, e.g. approximate, length and/or width of each breast cap. The measuring system can include a three-dimensional, 3D, imaging system, such as a 3D camera, configured for obtaining a three-dimensional, 3D, image of an outer surface of the poultry carcass/poultry breast cap. The measurement system can e.g. include a triangulation based 3D laser scanner. Additionally, a furcular bone removing apparatus can be provided and a further step of conveying the poultry breast cap for engagement by the furcular bone removing apparatus for removing the furcular bone. 
     The method may also further comprise providing a first breast fillet working unit having laterally movable tunnel plates, and a step of engaging meat of the breast cap by the tunnel plates. Effectively the tunnel plates act as scrapers and scrape between the inner and outer fillets to promote harvesting a subsequent stage. As an additional step the method can comprise providing a breast fillet cutter for performing cutting the outer fillet along the keel bone of the poultry breast cap. Effectively the breast fillet cutter splits the outer fillet to allow harvesting thereof in two halves. 
     Optionally a step can be included of providing a second breast fillet working unit with a guide structure and an up-and-down movable engagement member connected to the guide structure, thereby allowing the guide structure to pass centrally over the carrier and to position the engagement member at an appropriate level. Effectively the engagement member acting as a scraper plate prepares a front portion of the outer fillet for being gripped. The engagement member is lifted by engagement with the carrier. 
     The method according to the invention can also include a step of providing an inner and outer fillet separator, and performing separation of the outer fillet from the inner fillet of the breast cap meat. Effectively the inner and outer fillet separator harvests the now loosened outer fillets halves by allowing guide rods to act as grippers. A tissue and/or tendon cutter can be provided having cutting knifes capable of being moved inwardly and outwardly in a direction transverse to the path of conveyance, and cutting tissue can thereby be performed by moving the cutting knives inwardly into engagement with the breast cap. Effectively the cutting knives cut between the carcass and inner fillet for promoting a cleaner harvesting of same. 
     The method can also further comprise a step of providing a third breast fillet working unit having inwardly and outwardly movable guides, and enabling removing the inner fillet by moving the guides outwardly after having engaged the breast cap meat. The third breast fillet working unit effectively acts as a centering unit, e.g. directly preceding an optionally provided carcass separator, allowing a step of operating the carcass separator for lifting the inner fillet from the carcass remains on the carrier, and thereby preparing the carcass remains for subsequent discarding by a carcass unloader or like implement. 
     The 3D imaging system 3D is configured to obtain a 3D image of an outer surface of the poultry carcass/poultry breast cap. A processor, e.g. of the 3D imaging system or controller or control system, can be configured to generate a 3D model of the poultry carcass/poultry breast cap on the basis of the 3D image. The processor can be configured to determine a length and/or width and/or height of the poultry carcass/breast cap from the 3D image and/or from the 3D model. Alternatively, or additionally, the processor can be configured to determine specific dimensions and/or relative locations of anatomical landmarks of the poultry carcass/breast cap from the 3D image and/or from the 3D model. The controller or control system can be configured to adjust a position of movable parts of the first fillet working unit, the breast fillet cutter, the second fillet working unit, the inner and outer fillet separator, the tissue and/or tendon cutting unit, the third fillet working unit, the carcass separator, and/or the carcass unloader. 
     The device in accordance with the invention comprises means for performing at least the steps of conveying, separating inner and outer breast fillets, and discarding carcass remains. The means for performing at least the steps of conveying, separating inner and outer breast fillets, and discarding carcass remains can comprise: an endless conveyor extending along a defined path of conveyance; at least one breast cap carrier arranged for being moved through the predefined path of conveyance by an endless conveyor; a first breast fillet working unit positioned in the path of conveyance; an optional breast cutter downstream of the first breast fillet working unit in the path of conveyance; a second fillet working unit downstream of the breast cutter in the path of conveyance; an inner and outer fillet separator unit downstream of the breast cutter in the path of conveyance; a tissue cutting unit downstream of the inner and outer fillet separator in the path of conveyance; a third fillet working unit downstream of the tissue cutting unit in the path of conveyance; and a carcass separator unit downstream of the third fillet working unit in the path of conveyance. Such a device can further comprise a carcass unloader downstream of the carcass separator unit in the path of conveyance defined by the conveyor. 
     Optionally, the device can further comprise a common frame beam extending parallel to the path of conveyance for mounting one or more of the means for performing at least the steps of conveying, separating inner and outer breast fillets, and discarding carcass remains, while attaching same by mounting strips engaging over the common frame beam. 
     A measuring system, e.g. as described above, also can be provided along the path of conveyance of the poultry carcasses, downstream from a loading point or station at which the poultry carcasses/poultry breast caps are loaded onto the carriers. The measuring system generally can include a camera or similar imaging device that can capture an image of each poultry carcass. The image will be communicated to a controller that can determine start and end points and/or an approximate size of each carcass for use in controlling actuation of downstream cutting stations, and/or for potentially adjusting operative elements (i.e., cutting blades, guides, etc. . . . ) thereof. 
     In the device according to the invention, the first breast fillet working unit can comprise a pair of opposite arm elements each carrying a tunnel plate, together forming a pair of laterally movable tunnel plates, and opposite pneumatic cylinders for moving the opposite tunnel plates to and from one another. The first breast fillet working unit, acting as an outer fillet scraper, with its tunnel plates scrapes between the inner and outer fillet, which enhances harvesting by the second breast fillet working unit acting as an outer fillet harvester. 
     The optional breast cutter can comprise a motor drive unit for rotatably driving the double circular cutting blades and/or the double circular cutting blades are height adjustable with respect to the path of conveyance. The optional breast cutter, acting as a breast fillet splitter, cuts the fillet in half so that two halves of outer fillets can be harvested. 
     In addition, a dynamic guide bar system can be used with the optional breast cutter, or with other cutting stations such as the first and/or second breast fillet working stations. In one embodiment, the dynamic guide bar system can include one or more wheels or other rotatable members mounted adjacent the cutting blades of the optional breast cutter. The wheels rotate with the cutting blades and, as they rotate, they carry a series of flexible fingers or guide bars into engagement with the poultry carcass. The flexible guide bars or fingers engage and urge the meat of the breast away from the keel bone so that as the breast meat is cut away from the keel bone by the cutting blades, an increased portion of the meat can be maintained with the breast fillets, leaving less meat remaining with the carcass. Still further, adjustable tender guides, each having cutting blades or knives attached thereto can be located adjacent the optional breast cutter. The adjustable tender guides can be moved between a first, retracted or non-engaging position and a second, extended or engaging position as needed or desired for selectively cutting the tender portions of the breast meat with the outer breast fillets as the beast fillets are cut away from the carcass. 
     The second breast fillet working unit can have an up-and-down movable engagement member connected to a guide structure, and wherein the guide structure is arranged for engagement by the at least one breast cap carrier for positioning of the engagement member. The second breast fillet working unit, acting as an outer fillet scraper, loosens the front part of the outer fillet for later gripping by the inner and outer fillet separator, effectively acting as an outer fillet harvester. An engagement member acting as a scraper plate is mechanically lifted when it is engaged by a passing carrier. 
     The inner and outer fillet separator can comprise pivotable guide rods operated by pneumatic actuators for separation of the outer fillet from the inner fillet of the breast cap meat. The inner and outer fillet separator acts as an outer fillet harvester by means of the two pivotable guide rods engaging the loose hanging outer fillet and harvests the outer fillet halves by unloading after the carrier has passed. 
     The tissue cutter can comprise inwardly and outwardly movable cutting knives capable of being moved in a direction transverse to the path of conveyance and thereby are arranged for cutting tendon tissue when in use the cutting knives are moved inwardly into engagement with the breast cap. The tissue cutter, thus acting as an inner fillet tendon cutter, cuts between the carcass and the inner fillet to enable a cleaner harvesting by the carcass separator, which separates and harvests the inner fillet. 
     The third breast fillet working unit amongst others can comprise inwardly and outwardly movable guides arranged for removing the inner fillet by movement of the inwardly and outwardly movable guides outwardly when engaging the breast cap meat. The third breast fillet working unit, which directly precedes the carcass separator, centers the inner fillet by pressing two forwardly protruding bones of the carcass for engagement by the associated carcass separator for harvesting the inner fillet. 
     The carcass separator, which is in association with the third breast fillet working unit, can comprise a pneumatically operated lifting arm arranged for lifting the carcass remains from the carrier. The carcass separator, acting effectively as an inner fillet harvester, scrapes the now almost loose inner fillet completely loose from the carcass by severing the remaining tendon tissue. 
     The described setup also allows harvesting of half breast fillets with the inner and outer fillet parts attached to one another. This is accomplished by the various implements for performing the breast cap working steps allowing ready rearrangement for this purpose. 
     The least one breast cap carrier can include a spring biased clamp for holding a poultry breast cap on the carrier. 
     It will be appreciated that all features and options mentioned in view of the method apply equally to the device, and vice versa. It will also be clear that any one or more of the above aspects, features and options can be combined. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Advantageous aspects of the invention will become clear from the appended description and in reference to the accompanying drawings, in which: 
         FIG.  1 A  is an isometric view of a breast filleting machine. 
         FIGS.  1 B- 1 C  are views of an upper portion of the breast filleting machine, illustrating a measuring system for detecting and generating measurements of poultry breast caps loaded into the machine. 
         FIG.  2    is an assembly for incorporation into the breast filleting machine of  FIG.  1    for performing the method of the invention. 
         FIG.  3    is a side elevation of the assembly of  FIG.  2   . 
         FIG.  4    is a carrier for use with the machine and assembly in a position ready to receive a poultry breast cap. 
         FIG.  5    is the carrier of  FIG.  4    with the poultry breast cap in position. 
         FIG.  6    is a first breast fillet working unit. 
         FIG.  7    is a breast fillet cutter. 
         FIG.  8    is a second breast fillet working unit. 
         FIG.  9    is an inner and outer fillet separator. 
         FIG.  10    is a tissue cutter. 
         FIG.  11    is a third breast fillet working unit. 
         FIG.  12    is a carcass separator. 
         FIGS.  13 A- 13 G  are sequential views illustrating a dynamic guide bar system for engaging and guiding portions of the meat of a poultry carcass being conveyed through the machine for cutting and harvesting of the meat. 
         FIGS.  14 A- 14 D  are views illustrating a dynamic guide bar system for engaging and guiding portions of the meat of a poultry carcass being conveyed through the machine for cutting and harvesting of the meat. 
         FIG.  15    is a perspective view of the adjustable tender guides. 
         FIG.  16    is a picture showing outer breast fillets with tender portions maintained therewith and removed. 
     
    
    
     DETAILED DESCRIPTION 
     The machine  1  illustrated in  FIG.  1    is generally of a type described in applicant&#39;s U.S. Pat. No. 9,078,453 patent. It comprises a main frame  3 , to which are attached a front cabinet  5  and a rear cabinet  7 . The front and rear cabinets  5 , 7  can be closed by hatches  9 ,  10 ,  11 . Behind the hatches on the rear cabinet  7  is housed an inner and outer breast filleting assembly  13 . The inner and outer breast filleting assembly is shown in greater detail in  FIGS.  2  and  3    and cooperates with an endless conveyor  15 , which carries a plurality of breast cap carriers  17  through a path of conveyance extending along the machine  1 . For clarity only one breast cap carrier  17  is shown in  FIGS.  2  and  3   , but the arrangement is well known and described in applicant&#39;s U.S. Pat. No. 9,078,453 as referred to above. On the right hand side of  FIGS.  2  and  3    is shown a furcula removing apparatus  19 . This apparatus removes the furcula or wishbone from the carcass but is not part of the present invention. The furcula removing apparatus  19  is described in detail in applicant&#39;s patent application NL 2015436, entitled “Apparatus, system and method for removing furculae from poultry breast caps”. As shown in  FIGS.  4  and  5    the carrier body or mandrel  17  has a spring biased clamp  21  for holding a poultry breast cap  23  in an inverted position.  FIG.  4    shows the breast cap  23  before being positioned on the carrier body  17 , and  FIG.  5    shows the breast cap  23  engaged over the carrier  17  while it is being held by the spring biased clamp  21 . 
     As shown in  FIGS.  1 B and  1 C , a measurement system  16  can be mounted along the path of conveyance extending through the machine  1 . The measurement system  16  can generally be located along an upper portion of the frame of the machine, e.g. adjacent a loading area  18  at which the poultry carcasses/poultry breast caps are loaded onto each of the breast cap carriers  17 . The measurement system  16  generally will include a camera  20  or other, similar imaging device. More specifically the measurement system  16  includes a three-dimensional, 3D, imaging system, such as a 3D camera, configured for obtaining a three-dimensional, 3D, image of an outer surface of the poultry carcass/poultry breast cap. In this example the measurement system includes a triangulation based 3D laser scanner. A projected laser line is illustrated at  22  in  FIGS.  1 B- 1 C . However, alternative 3D imaging systems can be employed, such as stereo cameras, structured light imaging systems, or the like. The measurement system  16  in this example is mounted facing downwardly over the path of conveyance of the breast cap carriers. The measurement system  16  can be configured, and in a position, to detect a leading or first portion of each poultry breast cap and a second, rear or trailing end portion thereof. The measurement system  16 , e.g. the camera or other imaging device  20 , further can include a laser or similar detector or measurement sensor that detects the first or leading end of the poultry breast cap and the second or trailing end thereof, such as illustrated at  22  in  FIGS.  1 B- 1 C . 
     The image or other measurement information captured by the measurement system  16 , e.g. the camera, will be used to generate or determine an approximate length of each poultry breast cap prior to engagement by a first cutting module or station. In addition, other measurements such as a width and/or height of each poultry breast cap further can be determined based upon the image of each poultry breast cap taken by the measurements system  16 , e.g. the camera. This information can be provided to a controller or control system for the machine  1 , which can calculate or determine a size, e.g. an approximate size, e.g. a length and/or width, of each breast cap. 
     The 3D imaging system 3D is configured to obtain a 3D image of an outer surface of the poultry carcass/poultry breast cap. A processor, e.g. of the 3D imaging system or controller or control system, can be configured to generate a 3D model of the poultry carcass/poultry breast cap on the basis of the 3D image. For example, a model of the breast cap can be generated, substantially approximating the size and/or configuration of each poultry breast cap. Using this information, the operation of the various downstream modules or cutting stations can be initiated (e.g. started and stopped) and/or otherwise controlled to help enhance the accuracy of the cutting therein. In addition, various adjustments to such modules also potentially can be made, such as adjusting guides or cutting blades thereof, to accommodate for variations in the sizes and/or configurations of each poultry breast cap. More specifically, the processor can be configured to determine a length and/or width and/or height of the poultry carcass/breast cap from the 3D image and/or from the 3D model. Alternatively, or additionally, the processor can be configured to determine specific dimensions and/or relative locations of anatomical landmarks of the poultry carcass/breast cap from the 3D image and/or from the 3D model. The controller or control system can be configured to adjust a position of movable parts of a first fillet working unit  29 , a breast cutter  31 , a second fillet working unit  33 , an inner and outer fillet separator unit  35 , a tissue cutting unit  37 , a third fillet working unit  39 , an associated carcass separating unit  41 , and/or a carcass unloader  43 . 
     Returning now to  FIGS.  2  and  3    it is to be understood that each carrier  17  with a breast cap  23  in position thereon moves along the assembly  13  of  FIGS.  2  and  3    from the right hand side to the left hand side in the direction of arrow  25 . A breast cap  23 , after its furcular bone has been removed by the apparatus  19 , first engages a guide structure  27  which guides the meat of the breast cap for engagement by a first fillet working unit  29  (shown in  FIG.  6   ). After passing the first fillet working unit  29  the carrier  17  moves the breast cap to a breast cutter  31  (shown in  FIG.  7   ). From the breast cutter  31 , which cuts the breast cap meat along its keel bone, the breast cap is moved to a second fillet working unit  33  (shown in  FIG.  8   ). Upon passing the second fillet working unit  33 , the breast cap engages an inner and outer fillet separator unit  35 . From the inner and outer fillet separator unit  35  the breast cap progresses to tissue cutting unit  37  (shown in  FIG.  10   ) and thence to a combination of a third fillet working unit  39  (shown in  FIG.  11   ), and an associated carcass separating unit  41  engaging the remaining breast cap meat forming the inner fillet or tender (further shown in  FIG.  12   ). Effectively the third fillet working unit  39  acts as a guiding implement for the carcass separating unit  41 , which removes the inner fillet or tender. Finally, the breast cap carcass after removal of the inner and outer meat fillets is unloaded by the carcass unloader  43 . The successive units are all mounted on a common frame beam  40 . 
     Having now regard to  FIG.  6   , the first breast fillet working unit  29  is seen to have a pair of opposite tunnel plates  45 ,  47  each mounted on a respective arm element  49 ,  51 . The arm elements  49 ,  51  are each pivoted about a vertically extending axis, so that the tunnel plates  45 ,  47  can be moved to and from the position shown in  FIG.  6    by opposite pneumatic cylinders  53 ,  55 . The controller or control system can be configured to operate the pneumatic cylinders  53 ,  55  on the basis of the 3D image and/or 3D model. For instance, the position relative to a leading end of the breast cap where the arm elements  49 ,  51  start engaging the breast cap can be controlled on the basis of the 3D image and/or 3D model. Mounting strips  57  are provided for mounting of the first breast fillet working unit  29  to the common frame strip  40  (shown in  FIGS.  2  and  3   ). The first breast fillet working unit  29  acts as an outer fillet scraper, by scraping with the tunnel plates  45 ,  47  between the inner and outer fillet. This loosens the outer fillet and enhances harvesting by the second breast fillet working unit  33 , which will act as an outer fillet harvester. 
     The breast cutter  31  as shown in  FIG.  7   , is seen to have a motor drive unit  59  for driving a shaft  61 , which carries the double circular cutting blades  63 . The double circular cutting blades  63  cut the meat on each side of the keel bone of the breast cap, and are height adjustably mounted on an outrigger  65 . Height adjustment is by means of knurled wheel  67  in this example. Alternatively, the height adjustment can be performed using an automated actuator (not shown). The controller or control system can be configured control the height of the double circular cutting blades  63  on the basis of the 3D image and/or 3D model. The breast cutter  31 , which is optional, splits the outer breast fillet in half so that the outer fillets can be harvested in two halves. 
     The second breast fillet working unit  33  shown in  FIG.  8    has a central body  69 , which height adjustably depends from an overhead mounting base  71 , which is attachable to the common frame beam  40  by means of mounting strips  57 . The central body  69  has anchored thereto opposite parallel pivot arms  73 , which carry an engagement member  75  for up-and-down movement parallel to the central body  69 . The engagement member  75  has a guide structure  77 , which passes centrally over the breast cap carrier  17 . The second breast fillet working unit  33  scrapes the outer fillet and loosens a front part thereof for subsequent gripping by the inner and outer fillet separator  35  for harvesting the outer fillet halves. The engagement member  75  acts as a scraper plate and is mechanically lifted when it is engaged by a passing breast cap carrier  17 . Alternatively, the vertical position of the engagement member  75  can be controlled using an automated actuator (not shown). The controller or control system can be configured control the vertical position of the engagement member  75  on the basis of the 3D image and/or 3D model. The engagement member  75  can e.g. be controlled to follow a path relative to the breast cap. The processor can be arranged to estimate a position of lower side of the outer fillet halves on the basis of the 3D image of the 3D model, even though the lower side of the outer fillet halves is not visible in the 3D image of the outer surface of the breast cap. The relationship between the outer surface of the breast cap and the lower side of the outer fillets can easily be determined by some simple experimentation, e.g. by manually removing outer fillets on a number of breast caps positioned on a breast cap carrier. The path can be a, e.g. curved, path following the estimated vertical position of the lower side of the outer fillet halves. 
     The inner and outer fillet separator  35  shown in  FIG.  9    has a mounting bracket  79  for mounting over the common frame beam  40 . Depending opposite side frames  81 ,  83  are height adjustably mounted to the mounting bracket  79 , and each carry a respective guide block  85 ,  87 . Mounted on each guide block  85 ,  87  is a pivotable guide rod  89 ,  91 . The pivotable guide rods  89 ,  91  can each be pivoted by means of a respective pneumatic actuator  93 ,  95 . The pivotable guide rods  89 ,  91  separate the inner and outer fillets of the breast cap meat. The inner and outer fillet separator  35  harvests an outer fillet by means of its two pivotable guide rods  89 ,  91  engaging the now loose hanging outer fillet and harvests the outer fillet halves by unloading after the breast cap carrier  17  has passed. Alternatively, the vertical position of the inner and outer fillet separator  35  can be controlled using an automated actuator (not shown). The controller or control system can be configured control the vertical position of the inner and outer fillet separator  35  on the basis of the 3D image and/or 3D model. Also, the controller or control system can be configured to operate the pneumatic actuators  93 ,  95  on the basis of the 3D image and/or 3D model. For instance, the position relative to a leading end of the breast cap where the pivotable guide rods  89 ,  91  start engaging the breast cap can be controlled on the basis of the 3D image and/or 3D model. 
     The tissue cutter  37  shown in  FIG.  10    attaches to the common frame beam  40 , by means of a base block  97  and mounting strip  57 . The base block  97  forms an attachment for opposite actuator carriers  99 ,  101 , which are height adjustably mounted thereto. The vertical position of the actuator carriers  99 ,  101  can be controlled using an automated actuator (not shown). The controller or control system can be configured control the vertical position of the actuator carriers  99 ,  101  on the basis of the 3D image and/or 3D model. Bell cranks  103 ,  105  are pivotally mounted to the opposite actuator carries  99 ,  101  and can be actuated by respective pneumatic actuator  107 ,  109  to move tissue cutting knives  111 ,  113  inwardly and outwardly. The tissue cutter  37  is effective as an inner fillet tendon cutter, and cuts between the carcass and the inner fillet to enable a cleaner harvesting by the carcass separating unit  41 , which will finally separate the carcass from the inner fillet and harvests the inner fillet. Also, the controller or control system can be configured to operate the pneumatic actuators  107 ,  109  on the basis of the 3D image and/or 3D model. For instance, the position relative to a leading end of the breast cap where the cutting knives  111 ,  113  start engaging the breast cap can be controlled on the basis of the 3D image and/or 3D model. 
     The third fillet working unit  39  as shown in  FIG.  11    has a very similar arrangement as the tissue cutter of  FIG.  10   . The third fillet working unit  39  uses an identical mounting block  97  carrying identical opposite actuator carriers  99 ,  101  and bell cranks  103 ,  105 . The bell cranks  103 ,  105  can be moved by similar pneumatic actuators  107 ,  109 . At their lower ends, however, the bell cranks  103 ,  105  carry opposite guides  115 ,  117 , which can be moved in and out by the actuators  107 ,  109 . Also, the controller or control system can be configured to control the third fillet working unit  39  similarly to the tissue cutter  37  on the basis of the 3D image and/or 3D model. The third breast fillet working unit  39 , which directly precedes the carcass separator  41  associated therewith, centers the inner fillet by pressing against two forwardly protruding bones of the carcass for engagement by the associated carcass separator  41  for enhancing harvesting of the inner fillet. 
     The carcass separator  41  shown in  FIG.  12    is directly associated with the preceding third fillet working unit  39 , and has a mounting base  119  for mounting to the common frame beam  40  by means of mounting strips  57 . The mounting base  119  again height adjustably carries first and second frame elements  121 ,  123 . The vertical position of the second frame elements  121 ,  123  can be controlled using an automated actuator (not shown). The controller or control system can be configured control the vertical position of the second frame elements  121 ,  123  on the basis of the 3D image and/or 3D model. The second frame element  123  is extended upwardly to provide anchorage for a pneumatic actuator  125 . The pneumatic actuator  125  acts on an arm  127 , which pivots a lifting arm  129  for lifting the carcass remains from the breast cap carrier when it passes underneath the carcass separator  41 . The lifting arm  129  is pivoted about a transverse shaft  131 . The carcass separator  41  harvests the inner fillet by scraping the now almost loose inner fillet completely loose from the carcass by severing the last remaining tendons retaining to the carcass. Also, the controller or control system can be configured to operate the pneumatic actuator  125  on the basis of the 3D image and/or 3D model. For instance, the position relative to a leading end of the breast cap where the lifting arm  129  start engaging the breast cap can be controlled on the basis of the 3D image and/or 3D model. 
     Hence there is described a method and device for carrying out the method of mechanically harvesting inner and outer meat fillets from a poultry carcass breast cap. A poultry breast cap  23  is conveyed while being supported inversed to its natural position on a carrier  17  through a path of conveyance  25 . The outer fillet is cut along a keel bone of the poultry breast cap  23  to enable separation of the inner and outer fillets. After separation and successive harvesting of the outer and inner breast fillets the carcass remains are discarded. The machine and device  1 ,  13  for carrying out the method comprises one or more of the various means  15 ,  17 ,  29 ,  31 ,  33 ,  35 ,  37 ,  39 ,  41 ,  43  as described above for performing at least the steps of conveying, separating and harvesting inner and outer breast fillets, and discarding carcass remains. 
     An additional feature for assisting in the cutting of poultry carcasses and harvesting of meat from poultry carcasses is illustrated in  FIGS.  13 A- 15   . In one example, a dynamic guide bar system  100  ( FIGS.  13 A- 13 G ) and  110  ( FIGS.  14 A- 14 D ) is provided for assisting with the guiding and presentation of portions of a poultry carcass being conveyed through the machine  1  so as to dynamically control the positioning of a poultry carcass and/or portions of the meat of the poultry carcass as the poultry carcass is engaged by cutting blades of the machine to enable enhanced precision or closer cutting of the poultry carcass. 
     While in one aspect, as shown in  FIGS.  13 A- 13 G and  14 A- 14 D , examples of the dynamic guide bar system  100 / 110  are shown in use with the breast cutter  31  of the machine  1  for engaging and assisting in the cutting of the breast meat from poultry carcass breast caps, it will be understood by those skilled in the art that the dynamic guide bar system illustrated herein can be used in conjunction with a variety of different cutting stations, modules or systems. For example, the dynamic guide bar system  100 / 110  can be used with cutting/harvesting stations such as the first or second breast fillet working units  29 / 33  of the machine  1 , and/or in other cutting applications wherein it is desirable to manipulate and/or separate portions of the meat of a poultry carcass to enable closer or more precise cutting of the poultry breast cap  23  or other portions of a poultry carcass for harvesting of additional quantities of meat therewith. Still further, the dynamic guide bar system also can be used in other types of poultry or other cutting systems or processing lines, such as for use in splitting or separating whole poultry carcasses. 
     As generally illustrated in  FIGS.  13 A- 13 G , in this example, the dynamic guide bar system  100  generally can comprise a pair of wheels or similar rotatable members  101 . In the example illustrated in the figures, the wheels  101  are shown as being rotatably mounted on the driveshaft  61  for the cutting blades  63  of the breast cutter  31  so as to be rotatable therewith. However, the wheels  101  can also be positioned on separate drive shafts. The separate drive shafts can e.g. be positioned coaxial with the drive shaft of the cutting blades. Alternatively, the separate drive shafts can be positioned upstream or downstream and/or higher or lower than the drive shaft of the cutting blades. Preferably, the separate drive shafts are substantially parallel to the drive shaft of the cutting blades. The separate drive shafts are preferably offset relative to the drive shaft of the cutting blades by 10 cm or less, more preferably 5 cm or less, such as 2 cm or less. The wheels generally are spaced from the cutting blades  63 , on each side thereof, with each wheel  101  typically being spaced laterally from its adjacent cutting blades by approximately  2  cm, though this spacing can vary as needed to ensure close cutting along the keel bone of the carcass. As further illustrated, each of the wheels  101  includes a series of flexible fingers or other, similar guide bars/members  102 . In the example illustrated in  FIGS.  13 A- 13 G , the fingers can be mounted in spaced series about the circumference of each wheel  101 , extending radially outwardly therefrom. 
     The fingers  102  and the wheels  101  generally are formed from a food grade rubber or similar flexible food quality material. The fingers also are sufficiently flexible so that as the poultry carcass/breast cap  23  enters the breast cutter  31 , the rotation of the fingers  102  will move the fingers into engaging contact with the meat of the breast on either side of the keel bone of the poultry carcass, for example, as illustrated in  FIGS.  13 A- 13 B , generally without tearing or otherwise damaging the meat 
     The number, size, and/or length of the fingers can vary. For example, in some examples, the fingers  102  can be separately mounted to each wheel  101  (e.g., as shown in  FIGS.  13 A- 13 G ; or the fingers  112  can be formed with the wheels  111  (e.g., as shown in  FIGS.  14 A- 14 D ). The fingers further can range from approximately 4-6 cm in some examples, to between about 4-10 cm in other examples, and the number of fingers used also can vary depending on the size of the wheels and the application of use (e.g. varying depending on the sizes of carcasses being processed. In this example, the fingers, when fully extended, project beyond an outer edge of the cutting blade, e.g. by 2 to 4 cm. In addition, as indicated in  FIGS.  14 A- 14 D , the fingers generally are configured to flex and can be spaced apart so as to catch and/or receive portions of the breast meat therebetween. 
     As the poultry carcass continues its movement through the breast cutter  31 , as illustrated in FIGS. 
       13 C- 13 E, the flexible fingers  102  of each of the guide wheels  101  will press against and urge the breast meat of the poultry carcass upwardly and outwardly. As a result, the breast meat on either side of the keel bone is urged away from the centerline of the keel bone. Such separation and/or stretching of the breast meat helps ensure that the cutting of the breast fillets is generally maintained substantially in the middle thereof, and helps enable a cleaner and/or more precise cut of the breast meat along and away from the keel bone of the poultry carcass. The poultry breast thus can be cut closer to the keel bone of the poultry carcass to enable more meat to be harvested with each of the breast fillets, while leaving less, potentially wasted meat on the carcass. For example, in some examples, upwards of approximately 10 grams of additional breast meat can be conserved with the breast fillets and harvested from the poultry carcass. 
     As illustrated in  FIG.  13 F- 13 G , as the poultry carcass continues its movement along the path of conveyance  25  through and thereafter downstream and away from the breast cutter  31 , the fingers of the dynamic guide bar system  100  generally will release from engagement with the breast meat. If the breast meat has been cut sufficiently to separate fillets therefrom, the fillets can drop of fall into a collection bin or other container. Alternatively, the breast meat can be substantially separated from the carcass, and conveyed, hanging downwardly therefrom, to downstream cutting stations. For example, the poultry carcass can be passed through the downstream second breast fillet working unit (as shown in  FIG.  8   ), and the inner and outer fillet separator  35  ( FIG.  1   ) for further cutting and separation of the breast meat from the carcass and filleting of the breast as described above. 
       FIGS.  14 A- 14 D  illustrate an additional example of a dynamic guide bar system  110 . Again, while the example of the dynamic guide bar system  110  of  FIGS.  14 A- 14 D  is illustrated as generally in use with the optional breast cutter  31  of  FIG.  1    of the machine  1 , it will be understood by those skilled in the art that this example of the dynamic guide bar system  110  further can be utilized with a variety of different cutting stations or apparatus, as well as for use with different cutting systems, including cut up lines or systems for separating or splitting whole carcasses. 
     In the example illustrated in  FIGS.  14 A- 14 D , the dynamic guide bar system  110  is shown with a pair of wheels  111 , each of which has a series of fingers or flexible guide bars  112  substantially integrally formed therewith. The flexible fingers  112  extend radially outwardly from a center hub portion  113  of each wheel, which hub portion generally is mounted along the driveshaft  61  of the cutting blades  63  so that the wheels rotate with the rotation of the cutting blades  63 . Each of the wheels also will be spaced apart from the cutting blades, for example, by approximately 2 cm, with such spacing further generally being maintained with any adjustments of the cutting blades. For example, if the cutting blades are adjusted or spaced further or closer apart, the spacing between the cutting blades and the wheels of the dynamic guide bar system generally will be maintained. 
     As further illustrated in  FIGS.  14 A- 14 D , the flexible fingers  112  will extend radially outwardly from the hub portions  113  of the wheels  111 . The fingers can extend for approximately between 4 to 6 cm, although greater or lesser lengths can be used. In this example, the fingers, when fully extended, reach approximately to the outer edge of the cutting blade. It will be appreciated that the fingers can also project beyond the edge of the cutting blade, or remain within the contour of the cutting blade. In addition, the number of fingers projecting from each wheel can vary, with the fingers also being spaced apart so as to define a series of recesses  114  therebetween. The recesses  114  generally can be configured so as to receive portions of the meat of the poultry carcass/breast cap therebetween. As a result, portions of the breast meat on either side of the keel bone of the poultry breast cap can be engaged and substantially captured between adjacent fingers within in the recesses  114  defined between such adjacent fingers. Thereafter, as the wheels  111  are rotated with the rotation of the cutting blades, the portions of the breast meat on either side of the keel bone of the poultry breast cap can be lifted, being urged upwardly and being substantially stretched and/or urged outwardly and away from the keel bone so as to help ensure the cutting blades will engage and cut through the middle of the breast meat and substantially along the keel, to help maximize the amount of breast meat that is cut away from the keel bone with the breast fillets, and minimize potentially wasted meat being left along the carcass of the poultry breast. 
     In addition, as further illustrated in  FIGS.  14 A- 15   , a pair of adjustable tender guides  120  further can be mounted along each side of the breast cutter  31 , generally being arranged slightly downstream from the cutting blades  63  of the breast cutter  31 . Each of the tender guides  120  can include a pivoting linkage or arm  121  mounted along a support  122  that can be attached to the frame of the machine  1 . Each of the pivoting linkages or arms generally will be pivotally attached to its associated support  122 , typically along a mid-portion  123  thereof, and further can be attached at rear end or portion  124  thereof to an actuator  126 . For example, as illustrated in  FIGS.  14 A- 15   , in some embodiments, the actuator  126  can include a pneumatic cylinder  127  having an extensible cylinder rod  128  that is pivotally attached to the rear or second end  122  of its associated pivoting linkage  121 . In addition, other types of actuators such as solenoids or other, similar actuators also can be used. The controller or control system can be configured to operate the tender guides  120  on the basis of the 3D image and/or 3D model. 
     As further illustrated in  FIG.  15   , a second or forward end of each of the pivoting linkages or arms  121  can include a cutting blade  130  attached thereto. As the actuators  126  of each tender guide  120  are engaged, the cutting blades  130  attached to the forward or second ends of each of the pivoting linkages or arms will be moved between first, retracted or non-engaging position, and a second, extended or engaging position, whereby the cutting blades will be moved into a position projecting into the path of travel of the poultry breast cap. As the poultry breast caps are moved further downstream through the breast cutter  31 , with the breast fillets being cut along the keel bone thereof, the tender portions of the breasts also can be cut and thus maintained with the breast fillets when the cutting blades of the tender guides are in their extended, engaging positions. Alternatively, if, depending upon the application, the tenders are not to be maintained with the breast fillets, but rather are to be cut away separately, the cutting blades of the tender guides  120  can be moved to their retracted, non-engaging positions out of the path of conveyance of the breast caps so that the tender portions of the breast meat can be left with the carcass of the poultry breast cap for later harvesting downstream. 
     An example of a poultry breast in which the tender portions of the breast fillets are separated therefrom, as compared with breast fillets in which the tender portions are maintained with the breast fillets, is illustrated in  FIG.  16   . The breast fillet indicated at B 1  on the left side of  FIG.  16    is shown without a tender portion attached therewith. On the right side of  FIG.  16   , the breast fillets B 2  are shown with tender portions T maintained therewith. 
     It further will be understood that while examples of the dynamic guide bar system  100  and  110  have been illustrated as including a pair of wheels each having a series of spaced, radially extending flexible fingers or guide bars, various other wheel and/or flexible finger configurations also can be used. As noted, the wheels of the dynamic guide bar system generally will be formed from a flexible food grade material that typically can have a degree of flexibility or compressibility to engage and urge the breast meat of the carcass upwardly and away from the keel bone thereof, but with sufficient resiliency to compress so as to substantially avoid tearing or inappropriate shifting of the breast meat. The dynamic guide bar system further is generally adapted to control or substantially locate the portions of the breast meat away from the keel bone of the poultry carcass, so as to help ensure that the cutting of the breast meat away from the poultry carcass is done substantially along the keel bone, and to avoid portions of the breast meat being inadvertently shifted from one side to the other of a centerline extending along the keel bone, which could result in undesirable cutting of the breast meat that can thus stay with the carcass. 
     While a setup has been described for separately harvesting outer and inner fillets, it is to be understood that the various implements for performing the breast cap working steps can also be arranged to enable harvesting of half breast fillets with the inner and outer fillet parts attached to one another. 
     It is thus believed that the operation and construction of the present invention will be apparent from the foregoing description and drawings appended thereto. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described. It will be clear to the skilled person that the invention is not limited to any example herein described and that modifications are possible which may be considered within the scope of the appended claims. 
     Also kinematic inversions are considered inherently disclosed and can be within the scope of the invention. In the claims, any reference signs shall not be construed as limiting the claim. The terms ‘comprising’ and ‘including’ when used in this description or the appended claims should not be construed in an exclusive or exhaustive sense but rather in an inclusive sense. Thus expression as ‘including’ or ‘comprising’ as used herein does not exclude the presence of other elements, additional structure or additional acts or steps in addition to those listed. Furthermore, the words ‘a’ and ‘an’ shall not be construed as limited to ‘only one’, but instead are used to mean ‘at least one’ and do not exclude a plurality. Features that are not specifically or explicitly described or claimed may additionally be included in the structure of the invention without departing from its scope. 
     Expressions such as: “means for . . . ” should be read as: “component configured for . . . ” or “member constructed to . . . ” and should be construed to include equivalents for the structures disclosed. The use of expressions like: “critical”, “preferred”, “especially preferred” etc. is not intended to limit the invention. To the extent that structure, material, or acts are considered to be essential they are inexpressively indicated as such. Additions, deletions, and modifications within the purview of the skilled person may generally be made without departing from the scope of the invention, as determined by the claims.