Patent Description:
Various methods of processing carcasses to obtain meat exist. Manual processing may allow a high degree of control over cut position and shape, but it is slow and expensive to scale up to commercial meat processing volumes.

Mechanised processing may be faster and more suited to commercial-scale implementation than manual processing. However, mechanised systems may be relatively limited with regard to how carcasses are cut.

Robotic arms may be used to cut a carcass at various angles. However, these may require articulated components with many degrees of freedom and sophisticated control algorithms. These may therefore be costly and complex. Robotic arm-based systems may also not be suited to cutting right through a carcass on a conveyor to separate the carcass into pieces.

<CIT> discloses a cutting apparatus for cutting food objects into smaller food products. The cutting apparatus includes an infeed conveyor and a conveyor system that define a slit therebetween. A cutting unit having a cutting plane that extends through the slit is controlled by a control unit to cut food objects conveyed by the infeed conveyor into smaller food products. The slit and the cutting plane of the cutting unit form an angle to an axis perpendicular to the conveying direction.

<CIT> discloses an apparatus including a mechanical robotic arm with a circular saw end effector. Hanging carcasses are conveyed vertically along a track to the robotic arm. A camera and computer are used to determine the size and position of the meat carcasses during movement along the track. The computer controls the mechanical robot arm to cut the carcass whilst in motion.

<CIT> discloses an animal carcass cutter having a combination of serrated and non-serrated blades. Hanging carcasses are conveyed vertically along a track and are presented to the cutter. An optical sensing means determines the position and angle at which the cutter should cut each animal carcass. A computer system then positions the carcass cutter appropriately before actuating the cutter. <CIT> discloses a method and system for trimming cuts of meat. Meat portions are conveyed and scanned with an electronic ultrasonic sensor to locate and identify the natural physical makeup of the meat portion. A controller controls the position and angle of a trimming blade to trim the meat portion based on the output of the electronic ultrasonic sensor.

According to the invention there is provided a meat processing system according to claim <NUM>, comprising: a blade configured to cut a carcass or section of carcass into pieces, the blade lying substantially in a blade plane; a blade movement assembly; a controller; and a conveyor configured to convey the carcass or section of carcass along a first axis; wherein the controller is configured to control the blade movement assembly to rotate the blade or a portion of the blade to vary an angle between the blade plane and the first axis.

Embodiments may be implemented according to any one of the dependent claims.

According to the invention there is also provided a method of operating a meat processing system according to claim <NUM>, comprising: conveying a carcass or section of carcass along a first axis; controlling a blade movement assembly to rotate a blade or a portion of a blade that lies in a blade plane to vary an angle between the blade plane and the first axis; and cutting the carcass or section of carcass into pieces while the carcass or carcass is conveyed along the first axis and while the blade plane is at an angle to the first axis.

The accompanying drawings, which are incorporated in and constitute part of the specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description of embodiments given below, serve to explain the principles of the invention.

In mechanised meat processing systems in which a carcass or section of carcass is cut while being conveyed, it may be useful to be able to control the path taken by a blade through the carcass. This is because carcasses can be disposed in various orientations and positions while being conveyed past the blade. If a blade is fixed with respect to the conveyor, it will cut different sections of carcass differently depending on their respective orientations and positions. This may result in wasted meat and inconsistent sizes and shapes of cut pieces.

A blade could move laterally with respect to the direction that a carcass on a conveyor moves past the blade to cut along a path at an angle to the direction of movement. However, because the blade is generally planar (at least in the region that performs the cut), there are problems associated with moving it laterally because the plane in which the blade sits is at a fixed angle, such as <NUM>°, to the direction of movement of the carcass. These problems include increased resistance to cutting at an angle; large lateral forces between the carcass and the blade due to the broad side of the blade moving through the carcass; limitation of the maximum angle that the blade can follow through the carcass due to the carcass's resistance to the blade moving laterally at high speeds; and wastage of meat. These problems occur because the plane of the blade is not aligned with the cutting path and presents a wide leading surface as it moves along the cutting path through the carcass.

<FIG> illustrates a meat processing system <NUM> according to an example embodiment. This system <NUM> includes three main sections: a feeder <NUM> that receives the carcass to be processed and feeds it to the rest of the system <NUM>; a machine vision system <NUM> that analyses the position and orientation of the carcass and of its bones; and a cutting section <NUM> that cuts the carcass into pieces. The imaging components of the machine vision system <NUM> are covered by canopy <NUM>, which may assist imaging of the carcass by excluding ambient light and which may also shield operators from stray emissions, such as X-rays, from the imaging components. Extending between the feeder <NUM>, machine vision system <NUM> and cutting section <NUM> is a conveyor <NUM>, which carries the carcass through each section in series. The conveyor <NUM> carries the carcass in a direction indicated by the axis <NUM>. In this example, the conveyor carries the carcass from the feeder <NUM>, through the machine vision system <NUM>, to the cutting section <NUM>.

The system <NUM> is suitable for cutting various carcasses or sections of carcass. In one example, the system <NUM> may be used to cut a side of an animal into three pieces, known as primals. In one example, the section of carcass to be processed is a pork side. References to carcass throughout the specification may refer to a substantially whole carcass or a section of a carcass, for example a side of a carcass.

The cutting section <NUM> includes a blade <NUM> (shown in <FIG> and <FIG>) and blade movement assembly <NUM>. The blade <NUM> lies in a blade plane <NUM>. The blade plane <NUM> is indicated in outline but in reality the plane <NUM> extends across the outlined area and continues in a plane beyond the outline. It will be understood that real blades have some thickness in a direction orthogonal to the blade plane and may have some features that project out of the plane. The blade plane <NUM> is the plane that best aligns with the generally planar shape of the portion of the blade <NUM> that is arranged to cut the carcass and does not require perfect planarity of the blade <NUM>.

The meat processing system <NUM> rotates the blade <NUM> to adapt to different cut paths through carcasses that may be positioned or oriented differently from each other. When it is determined that a carcass should be cut at an angle to the direction of movement of the carcass on the conveyor <NUM>, the blade <NUM> may be rotated with respect to the direction of movement such that, when the blade <NUM> is moved parallel to axis <NUM> during cutting, the blade plane <NUM> is aligned with the cut path to present the least resistance to cutting at this angle. This may reduce resistance to cutting, reduce lateral forces on the blade <NUM> and carcass during cutting, and increase the maximum angle at which a cut can be made.

The specific rotation of the blade <NUM> of this system <NUM> will be further detailed with reference to <FIG>. In this figure, the blade (not shown in this view) lies in blade plane <NUM>. In this plan view, the blade plane <NUM> appears as a line because it is oriented vertically. In some scenarios, the blade plane <NUM> could be oriented at an angle to the vertical. The carcass moves along axis <NUM> towards the cutting section <NUM>. The blade movement assembly <NUM> is operated to rotate the blade such that the angle <NUM> between blade plane <NUM> and the axis <NUM> varies. In the case in which the intended cut path is parallel to the axis <NUM>, the blade would not move laterally with respect to the axis <NUM> during cutting and the angle <NUM> would be set to <NUM>°. In a case in which the intended cut path is at an angle to the axis <NUM>, the blade may be translated parallel to axis <NUM> during cutting and the angle <NUM> may be set to match the angle of the intended cut path taken by the blade through the carcass.

In the embodiment shown in <FIG> and <FIG>, the conveyor <NUM> supports the carcass in a horizontal orientation on the conveyor <NUM> and conveys the carcass along the horizontal axis <NUM> towards a blade that can translate horizontally parallel to axis <NUM> during cutting. In this embodiment, the blade plane <NUM> extends largely in the vertical direction and the angle <NUM> is largely in the horizontal plane. In alternative embodiments, these orientations could be different. For example, a carcass could be conveyed along a horizontal path while hanging from a hook, with the carcass hanging substantially vertically during cutting. In this embodiment, the blade may be oriented largely horizontally and translated in the vertical direction during cutting. The variable angle between the blade plane and the axis along which the carcass is conveyed would be largely in the vertical plane in such an embodiment.

The feeder <NUM> of <FIG> and <FIG> includes a tray <NUM>, pusher bars <NUM> for removing the carcass from a gambrel, panels <NUM> and tilt tables <NUM>. The carcass is initially brought to the feeder <NUM> suspended from a hook, known as a gambrel. When it reaches the pusher bars <NUM> it is pushed off the gambrel. The panels <NUM> may prevent the carcass moving too far sideways during removal from the gambrel. Once the carcass is removed from gambrel by the pusher bars <NUM>, it falls to the tilt tables <NUM>. The tilt tables <NUM> are able to tilt from the horizontal position, in which they receive the carcass, to an angled position to deposit the carcass onto the conveyor <NUM> below. The tilt tables may deposit the carcass on the conveyor with the carcass substantially perpendicular to the first axis, e.g. lying sideways across the conveyor.

The conveyor <NUM> is arranged to transport the carcass past the blade <NUM> of the cutting section <NUM>. In this embodiment, the conveyor <NUM> forms a support surface for supporting the carcass while it is conveyed. The support surface is substantially horizontal to support a lying carcass. The conveyor <NUM> may include one or more belts and/or rollers. In the case of more than one belt or rollers, the upper surfaces of the belts and/or rollers taken together may make up the horizontal support surface. In the embodiment of <FIG> and <FIG> the conveyor <NUM> includes a set of belts <NUM> that each cover a portion of the full conveyor path and at least one roller near each blade of the cutting section <NUM>. The belts <NUM> are placed in series along the conveyor path close enough to each other to pass the carcass from one belt to the next. In this example, there are two rows of belts <NUM> placed side-by-side. The belts <NUM> are placed side-by-side close enough to each other to prevent the carcass falling between the belts <NUM>.

<FIG> shows the cutting section <NUM> in more detail. The cutting section <NUM> includes blade <NUM> and blade movement assembly <NUM>. The conveyor also extends through the cutting section <NUM> to convey the carcass past the blade. In this example, the conveyor includes belts <NUM> located at least partly behind the blade <NUM>. The conveyor also includes at least one roller <NUM> located at the outer side of each blade <NUM>, i.e. the side away from the centre line of the conveyor. The roller(s) <NUM> may help support the carcass during cutting so that the carcass is supported on both sides of the blade <NUM>. The cutting section <NUM> of <FIG> also includes a second blade <NUM>' and second blade movement assembly <NUM>'. The second blade <NUM>' and second blade movement assembly <NUM>' are similar to the blade <NUM> and blade movement assembly <NUM> defined in detail herein. In particular, the second blade <NUM>' lies in a second blade plane and the second blade movement assembly <NUM>' may rotate the second blade <NUM>' to vary the angle between the second blade plane and the axis along which the carcass is conveyed and translate the second blade <NUM>' to move the second blade plane transverse to the axis. Alternatively, the second blade <NUM>' may be fixed or may only rotate or may only translate.

The blade movement assembly <NUM> in this example is carried on rails <NUM> to allow it to translate laterally with respect to the axis along which the carcass is conveyed. In the case that the cutting section <NUM> includes a second blade <NUM>' and second blade movement assembly <NUM>', the second blade movement assembly <NUM>' may also be carried on the rails <NUM>.

An exemplary blade movement assembly <NUM> is depicted in detail in <FIG>. The blade movement assembly in this example includes a blade carrier assembly that carries the blade. Different blade carrier assemblies will be suited to different types of blades. In the case of a band blade, the blade carrier assembly could include two or more wheels that the blade passes around. In the case of a rotary blade, the blade carrier assembly could include a spindle and a bearing for the spindle. In the case of the rotary blade, a motor for driving the blade may also be mounted on the blade movement assembly so that the motor translates and/or rotates along with the blade.

The blade <NUM> in this example is a band blade. The band blade <NUM> could be a band knife blade or band saw blade. The blade <NUM> could include teeth or serrations. In this example, the band blade <NUM> is carried on wheels <NUM> and <NUM> such that wheels <NUM> and <NUM> make up the blade carrier. Wheel <NUM> is a driven wheel and wheels <NUM> are idler wheels. Wheel <NUM> is driven by motor <NUM>. The idler wheels <NUM> are located above the support surface of the conveyor and the driven wheel <NUM> is located below the support surface of the conveyor. This means that the blade <NUM> extends above and below the support surface between the idler and driven wheels, which may enable it to cut right through the carcass to cut it into pieces rather than cut only part way into the carcass. The blade <NUM> is located between two successive sections of the conveyor, such as between two successive belts. This may allow the blade <NUM> to pass through the level of the support surface of the conveyor without interfering with the conveyor. Because the gap between belts extends laterally across the conveyor in this example, the blade <NUM> also has room to translate laterally (i.e. transverse to the direction of conveyance of the carcass) without interfering with the conveyor.

The blade movement assembly <NUM> may rotate the blade <NUM> by rotating the whole blade carrier assembly (possibly along with other elements such as the motor <NUM> and any blade guides) or by rotating the blade <NUM> or a part of the blade <NUM>.

Rotating the blade <NUM> or a part of the blade <NUM> may involve rotating a guide through which the blade <NUM> passes, thereby rotating the part of the blade <NUM> that extends through the guide. In the example of <FIG>, the blade movement assembly <NUM> includes two rotatable blade guides <NUM>. Each of these blade guides <NUM> includes rollers <NUM> either side of the blade <NUM> that restrain the blade <NUM> and set the angle of the portion of blade extending through and between the guides <NUM>. The angle of the blade guides <NUM>, and hence of the blade <NUM>, can be controlled by the cylinders <NUM> which are each attached to a respective blade guide <NUM> at a point offset from the axis of rotation of the blade guide <NUM>. Extending and contracting the cylinder <NUM> can rotate the blade guide <NUM> around this axis of rotation. In one example, the cylinders <NUM> are operated in concert with each other to set the blade <NUM> to a uniform angle between the blade guides <NUM>.

Also provided in blade movement assembly <NUM> of <FIG> are fixed blade guides <NUM>. Similar to the rotatable blade guides <NUM>, these include rollers <NUM> either side of the blade <NUM> that restrain it at a particular angle. The fixed blade guides <NUM> in this example do not rotate to change the angle of the portion of blade <NUM> passing through them. Instead, they are set at a suitable angle for guiding the blade <NUM> onto and off of the wheels <NUM>, <NUM>. This means that the portion of the blade <NUM> between the rotatable blade guides <NUM> may be rotated through a range of angles by twisting of the blade <NUM> between the rotatable blade guides <NUM> and the fixed blade guides <NUM>. The rest of the blade <NUM> beyond the fixed blade guides <NUM> may be substantially unaffecting by the twisting so that the blade <NUM> lies flat on the wheels <NUM>, <NUM>.

In an alternative embodiment, the blade carrier assembly as a whole may rotate to vary the angle of the blade. In this embodiment, the frame <NUM> may include a rotatable subframe on which is mounted the wheels <NUM>, <NUM>. In this example, there may be no need for rotatable guides <NUM>. Fixed guides <NUM> may still be useful for controlling the angle or twist of the blade adjacent the wheels <NUM>, <NUM>.

The blade movement assembly may translate the blade by translating the whole blade carrier assembly or by translating the blade or a part of the blade. Translating the blade or a part thereof could involve translating blade guides. In the example of <FIG>, the blade movement assembly <NUM> includes a frame <NUM>, on which the wheels <NUM> and <NUM> of the blade carrier assembly are mounted, that can move along the rails (shown at <NUM> in <FIG>) to translate the blade <NUM>. The frame may include bearings to allow it to move along the rails <NUM>. The blade movement assembly <NUM> also includes a linear drive <NUM> to drive the movement along the rails <NUM>. In this example, the linear drive <NUM> includes a servo motor <NUM> driving a belt <NUM> that is carried by pulleys <NUM>. The servo motor <NUM> and pulleys <NUM> are mounted to the rest of the cutting section (not shown in <FIG>). Clamp plates <NUM> connect the frame <NUM> to the belt <NUM> such that the frame <NUM> and elements <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> that are ultimately mounted on the frame <NUM> move back and forth along the rails <NUM> as the servo motor <NUM> drives the belt clockwise and anticlockwise around the pulleys <NUM>.

Also shown in this Figure is one of the rollers <NUM> which may support the carcass during cutting.

In the alternative arrangement of <FIG>, the blade is a rotary blade <NUM>. The rotary blade <NUM> may be a rotary knife or a rotary saw. The rotary blade <NUM> may have serrations or teeth. The blade movement assembly <NUM> in this example may be in the form of a turntable on which the rotary blade <NUM> is mounted via motor <NUM>. The angle of the rotary blade <NUM> may be varied by rotating the turntable <NUM>. In <FIG>, the rotary blade <NUM> is at a first angle which would correspond to a <NUM>° angle <NUM> between the blade plane <NUM> and the axis <NUM> along which the carcass is conveyed by the conveyor. In <FIG>, the rotary blade <NUM> is at a second angle which would correspond to a non-zero angle <NUM> between the blade plane <NUM> and the axis <NUM> along which the carcass is conveyed by the conveyor.

The blade movement assembly of a rotary blade may also be able to translate the blade laterally with respect to the axis along which the carcass is conveyed by the conveyor. In the example of <FIG>, the turntable <NUM> may be mounted on rails <NUM> provided in the cutting section. The turntable <NUM> may then move along the rails <NUM> to translate the motor <NUM> and the rotary blade <NUM>. In another example, the blade motor may be mounted to the turntable on rails provided on the turntable. The motor may then move along the rails to translate the blade while the turntable stays in a fixed position.

In the example of <FIG>, the conveyor includes rollers <NUM> to convey the carcass past the rotary blade <NUM>. The rollers <NUM> together define the horizontal support surface that supports the carcass. The rotary blade <NUM> is located between rows of rollers <NUM> and protrudes upwards above the rollers <NUM> to a position suitable for cutting the carcass as it is conveyed on the rollers <NUM>. The rollers <NUM> are movable within the plane of the horizontal support surface so that, when the angle or position of the rotary blade <NUM> varies, the rollers <NUM> move to accommodate the rotary blade <NUM> at different angles and/or positions. Specifically, the rollers <NUM> may move to maintain a separation between each roller <NUM> and the rotary blade <NUM> that is between a minimum allowed value and a maximum allowed value. When a portion of the rotary blade <NUM> moves towards a roller <NUM>, that roller <NUM> may move away to maintain at least the minimum separation. When a portion of the rotary blade <NUM> moves away from a roller <NUM>, that roller <NUM> may move towards the rotary blade <NUM> to keep the separation at or below the maximum separation. The rollers may roll on telescoping shafts that can extend or retract to move the rollers towards and away from the blade.

This movement of the rollers <NUM> may be driven by movement of the turntable <NUM>, such as translation or rotation. The rotation may be about an axis passing through the blade, for example through the centre of the blade. In one example, the rollers <NUM> may be mounted separately on linear guideways. The rollers <NUM> may be slid back and forth on the guideways by parallel motion linkages connected to the turntable <NUM> to convert rotation and/or translation of the turntable <NUM> into translation of the rollers. In an alternative example, the linkages may be connected to another part of the rotary blade assembly to cause movement of the rollers <NUM> upon rotation and/or translation of the blade <NUM>.

Operation of the meat processing system may be coordinated by a controller in combination with sensors and actuators. In the embodiment of <FIG>, a controller <NUM> is in communication with the feeder <NUM>, conveyor <NUM>, machine vision system <NUM> and cutting section <NUM> to control operation of the system.

The controller <NUM> includes memory <NUM>, processing circuitry <NUM> and user interface <NUM>. The memory <NUM> may store machine-readable instructions for carrying out any of the operations of the controller <NUM> or operations of the other parts of the system under control of the controller <NUM>. The memory <NUM> may be any suitable machine-readable medium, may be volatile or non-volatile and may store the instructions in a transitory or non-transitory form. The processing circuitry <NUM> may be any suitable device or circuitry for carrying out the instructions stored in the memory <NUM> and may be made up of a single device or an array of devices. The user interface <NUM> may include hardware, software or a combination of hardware and software. The user interface <NUM> may include input or output devices. The input devices may include switches, buttons, keypads or touchscreens, for example. The output devices may include visual display screens or speakers.

The feeder <NUM> of <FIG> includes a movable platform actuator <NUM> that drives the movable platform (shown as <NUM> in <FIG>) from the carcass-receiving position toward the tilt tables to deposit the carcass on the tilt tables. The controller <NUM> may control this operation of the movable platform actuator. The controller <NUM> may control the actuator <NUM> to move the platform upon detection of a carcass being located on the movable platform, for example using sensor <NUM>, or at predetermined times at which a carcass is expected on the movable platform.

The feeder <NUM> also includes a tilt table actuator <NUM> that drives the tilt table between the horizontal disposition in which it supports the carcass and the tilted disposition in which it dumps the carcass onto the conveyor <NUM>. The controller <NUM> may control the tilt table actuator to tilt the table based on one or more of: detection of a carcass on the tilt table; detection that there is no carcass on a portion of the conveyor near the tilt table; or at predetermined times.

The conveyor <NUM> includes a conveyor motor <NUM> and a speed sensor <NUM>. The controller <NUM> may control the conveyor motor <NUM> to start or stop the conveyor <NUM>. In one example, this could be under manual control of a human operator via the user interface <NUM>. The controller <NUM> may also set the speed of the conveyor <NUM>. Different speeds may be suitable for different types of blade, carcasses of difference species, frozen or fresh carcasses, or different intended cut angles. The controller <NUM> may use feedback from the speed sensor <NUM> to regulate the speed of the conveyor motor <NUM> about a set point. For example, the controller <NUM> may include a proportional-integral-derivative control algorithm to produce drive signals to the motor <NUM> based on differences between the desired set point and the output of the speed sensor <NUM>.

The machine vision system <NUM> includes a laser scanner <NUM> and an X-ray system <NUM>. The machine vision system <NUM> may also include a visible light camera <NUM>. The laser scanner <NUM> and X-ray system <NUM> may operate continuously, periodically, or upon detection of a carcass by presence sensor <NUM>. The controller <NUM> may control the operation of the laser scanner <NUM> and X-ray system <NUM> to produce scan data and X-ray data. The laser scanner data may be used to determine the <NUM>-dimensional shape of the surface of the carcass using laser ranging techniques. The laser scanner <NUM> may use an infra-red laser. The X-ray system <NUM> may be used to image the bones of the carcass. In one example, the X-ray system <NUM> includes two X-ray imaging devices. This may enable relatively small, commonly available X-ray devices to image the full length of a relatively long carcass, such as that of a pig. This may also allow the positions and orientations of the bones to be determined in three dimensions if the two X-ray imaging devices image the same portion of the carcass from different perspectives. The machine vision system <NUM> may also include a cut imaging device <NUM> arranged to image the carcass and blades of the cutting section <NUM> as the carcass reaches the blades. The controller <NUM> may use this image data to determine when the carcass reaches each blade. The controller <NUM> may also use this image data to monitor the cutting operation, for example to ensure that the blade is tracking along the cut path correctly and/or to ensure the position or orientation of the carcass does not change too much during cutting. The controller <NUM> may use object-recognition algorithms to identify the blades and carcass in the image data.

Upon receiving the scan data and X-ray data, the controller <NUM> may analyse these data to determine the position and orientation of the carcass, including the positions and orientations of bones of the carcass. Based on the position and orientation of the carcass and/or bones, the controller <NUM> may determine a suitable cut path through the carcass. This analysis and cut path determination may be performed autonomously by the controller <NUM> or based on input from a user. For example, the controller <NUM> may present information from one or more of the laser scanner <NUM>, X-ray system <NUM> and visible light camera <NUM> on a display screen of the user interface <NUM> and allow a user to input a desired cut path based on the information. In one example, this may involve presenting a 3D model of the carcass showing the bone positions and allowing a user to draw a desired cut path on the model. A second cut path may also be determined in the case that the cutting section <NUM> includes a second blade, and so on for further blades and cut paths.

Once the cut path is determined, the controller <NUM> controls the operation of the cutting section <NUM> to cut along the cut path. The cutting section includes, as part of the blade movement assembly detailed previously, servo motor <NUM>, blade guide rotation cylinders <NUM>, position sensor <NUM> and blade angle sensor <NUM>. The controller <NUM> controls the servo motor <NUM> to translate the blade to the correct starting point for cutting along the cut path. The controller <NUM> may use feedback from the position sensor <NUM> to determine when the blade is at its correct starting point. The controller <NUM> controls the cylinders <NUM> to rotate the blade and set the correct initial angle between the blade plane and the axis along which the carcass is conveyed. The controller <NUM> may use feedback from the blade angle sensor <NUM> to determine when the blade is at the correct angle. The controller <NUM> may control the servo motor <NUM> to start translating the blade to follow the cut path when the controller <NUM> determines that the carcass has reached the blade. The carcass reaching the blade may be determined from image data produced by the cut imaging device <NUM>, from back emf of the blade motor <NUM>, from timing data based on the expected travel time of the carcass between an upstream part of the system (such as the machine vision system or the tilt table) at which the carcass was previously known to be present and the blade, or from the output of an object detector such as a laser beam-break sensor with a beam directed in front of the blade.

In the alternative embodiment in which the blade is a rotary blade, the angle of the blade may be controlled by a mechanism other that the cylinders <NUM>. For example, the rotary blade may be mounted on a turntable as shown in <FIG> and the turntable may be rotated, under control of the controller <NUM>, to control the angle of the blade. Similarly, the turntable may translated to translate the blade, or the blade may be translated with respect to the turntable, under control of the controller <NUM>.

The speed at which the servo motor <NUM> translates the blade during cutting may be controlled based on the angle of the cut path and the speed of the conveyor <NUM>.

The direction that the servo motor <NUM> operates to drive the blade is also controlled such that the translation is in the right direction for the blade to follow the cut path. The controller <NUM> may use the output of the speed sensor <NUM> and the desired angle of the current portion of the cut path to control the speed of translation of the blade according to the formula: <MAT> where vt is the speed of translation; vc is the conveyor speed; and Θ is the angle of the relevant portion of the cut path. The controller <NUM> may use successive measurements from the position sensor <NUM> over time to determine the actual speed of translation of the blade. The controller <NUM> may use the determined actual speed as feedback to control the drive signals to the servo motor <NUM> to regulate the speed about vt.

The angle of the blade may be set to the angle of the current portion of the cut path.

As mentioned previously, the cut path may be non-linear so the speed of translation and angle of the blade may change during the cutting process. In this case, the speed of translation vt and blade angle may change as Θ changes along the cut path. The speed of the conveyor vc may also change during the cutting process, for example due to resistance between the carcass and the blade being transferred to the conveyor. In this case, the speed of translation vt may change as vc changes during the cutting process.

An exemplary method of operating the processing system proceeds as follows. Reference is made to features of <FIG> and <FIG>. Initially, a carcass is delivered to the feeder <NUM> on a gambrel. The carcass is pushed from the gambrel by pusher bars <NUM> and panels <NUM> and falls onto the tilt table <NUM>. The tilt table <NUM> then tilts to deposit the carcass on the conveyor <NUM>. The conveyor <NUM> conveys the carcass along axis <NUM> towards the machine vision system <NUM>. In the machine vision system <NUM>, the presence of the carcass is detected by the presence detector <NUM>. This is reported to the controller <NUM>, which then controls the laser scanner <NUM> to take measurements of the surface of the carcass and the X-ray system <NUM> to image the bones of the carcass. The controller <NUM> analyses the outputs of the laser scanner <NUM> and X-ray system <NUM> to determine the position and orientation of the carcass and the positions and orientations of certain bones in the carcass or other features of the carcass. Based on this determination, the controller <NUM> determines a suitable cut path through the carcass. This may be based on anatomical information relating the locations of certain muscle groups or cuts of meat for the particular species of animal to the determined positions of bones of the animal. This may also be based on optimal cut angles with respect to the orientation of the carcass or of certain bones. The controller <NUM> also determines the location of the cut path in space based on the determined location of the carcass on the conveyor <NUM>. The controller <NUM> may also determine a second cut path for a second blade.

The carcass is conveyed from the machine vision system <NUM> to the cutting section <NUM> and past the blade <NUM> to be cut into pieces. During cutting, the blade movement assembly <NUM> is controlled to translate the blade plane <NUM> transverse to the axis <NUM> parallel to axis <NUM> such that the blade <NUM> follows the cut path. Prior to and/or during cutting the controller <NUM> controls the blade movement assembly <NUM> to rotate the blade <NUM> such that its blade plane <NUM> is aligned with the cut path throughout the cutting process. Specifically, the controller <NUM> determines the required speed and direction of translation of the blade <NUM> based on the angle of the portion of the cut path that the blade <NUM> is currently at. If the angle of the cut path changes along the path, the speed of translation will correspondingly change, as will the angle <NUM> of the blade <NUM>. If the speed of the conveyor <NUM> changes, the speed of translation will correspondingly change. The controller <NUM> may also control the second blade movement assembly <NUM>' to follow the second cut path. As the blade <NUM> completes the cut path, the blade exits the carcass, which has now been cut into separate pieces. In the case of a side of an animal cut by two blades <NUM> and <NUM>', the side may be cut into three primals. The pieces may now be collected for packaging or further processing.

Claim 1:
A meat processing system (<NUM>) comprising:
a blade (<NUM>, <NUM>'; <NUM>) configured to cut a carcass or section of carcass into pieces, the blade (<NUM>, <NUM>'; <NUM>) lying substantially in a blade plane (<NUM>);
a blade movement assembly (<NUM>, <NUM>'; <NUM>);
a controller (<NUM>); and
a conveyor (<NUM>) configured to convey the carcass or section of carcass along a first axis (<NUM>), wherein the conveyor (<NUM>) defines a substantially horizontal support surface on which the carcass or section of carcass is supported while being conveyed;
characterised in that the blade (<NUM>, <NUM>'; <NUM>) extends above and below the support surface and the controller (<NUM>) is configured to control the blade movement assembly (<NUM>, <NUM>'; <NUM>) to:
translate the blade (<NUM>, <NUM>'; <NUM>) to move the blade (<NUM>, <NUM>'; <NUM>) transverse to the first axis (<NUM>); and
rotate the blade (<NUM>, <NUM>'; <NUM>) or a portion of the blade (<NUM>, <NUM>'; <NUM>) to vary an angle (<NUM>) between the blade plane (<NUM>) and the first axis (<NUM>) and to align the blade plane (<NUM>) with a predetermined non-linear cut path through the carcass or section of carcass.