Robotics in Meat, Fish and Poultry Processing

The past decade has seen growing interest in the use of robotic technology in the food sector. There is a strong indication that this sector and, in particular, industries dealing with meat, fish and poultry products, would make even more use of robotics if such technology were better suited to the specific needs of the food production environment. Clearly the poten­ tial is high. This book aims to provide the reader with the state of robotic technology currently under development. For the first time a series of chapters, written by leading international authors, brings together a range of topics in robotics as applicable to meat, fish and poultry processing. The contents will interest researchers, managers, manufacturing engin­ eers, consultants and students. Manufacturers and suppliers of robotic technology or food machinery are strongly recommended to examine the content and exploit the potential benefits described. The co-operation and indeed the full active involvement of research establishments, manufac­ turers and food producers in teams, is essential in order to achieve the maximum use of robotics.

1 Capabilities and potential of robotics.- 1.1 Robotic technology and capability.- 1.2 Current robotic devices in use in the food sector.- 1.3 Production of primal cuts from carcasses.- 1.3.1 Manual methods for pig and sheep butchery.- 1.3.2 Primal cuts and the need for automation.- 1.3.3 Robotics and vision integration for the production of primal cuts.- 1.3.4 Automatic handling and constraints in manipulation.- 1.3.5 System trials and successes in automated production of primal cuts.- 1.4 Concluding remarks.- References.- 2 Fish processing using computer vision and robots.- 2.1 Introduction.- 2.2 Current procedures in fish processing.- 2.2.1 Work procedure.- 2.2.2. Production control.- 2.3 Implementation aspects.- 2.3.1 Fish characteristics.- 2.3.2 Image acquisition.- 2.3.3 Computer vision algorithms.- 2.3.4 Robotic manipulator.- 2.3.5 End-effectors.- 2.3.6 The environment.- 2.4 Robotic and vision systems in use for fish processing.- 2.4.1 Vision systems.- 2.4.2 Robots.- 2.5 New applications and technological needs.- 2.5.1 Handling.- 2.5.2 Sorting.- 2.5.3. Inspection.- 2.6 Concluding remarks.- References.- 3 Robotics and the poultry processing industry.- 3.1 Introduction.- 3.2 The typical poultry processing operation.- 3.3 Issues impacting the potential for robotics in poultry processing.- 3.4 Evolution of automation in processing plants.- 3.5 Traypack workcell.- 3.5.1 Manual operation.- 3.5.2 Cell design.- 3.5.3 System programming/path planning.- 3.5.4 End-effector design.- 3.5.5 Discussion.- 3.6 Parts transfer/loading workcell.- 3.6.1 Current operation.- 3.6.2 Workcell design.- 3.6.3 Gripper design.- 3.6.4 Software design/programming.- 3.6.5 Cycle time optimization.- 3.6.6 Grip reliability.- 3.6.7 Discussion.- 3.7 Vision for quality and machine control.- 3.7.1 Introduction.- 3.7.2 Grey-scale analysis.- 3.7.3 Color analysis.- 3.7.4 Machine guidance.- 3.7.5 Discussion.- 3.8 Future directions and development needs.- References.- 4 Robotic packaging of poultry products.- 4.1 Introduction.- 4.2 The end-effector.- 4.2.1 Parallel action base.- 4.2.2 Finger assemblies.- 4.3 The vision system.- 4.3.1 Object recognition.- 4.3.2 Recognition algorithms.- 4.3.3 Comparison of recognition algorithms.- 4.4 Vision system software.- 4.4.1 Training and recognition.- 4.4.2 Sensitivity.- 4.4.3 Grey-scale resolution.- 4.4.4 Threshold setting.- 4.4.5 Bruise detection.- 4.5 Robot system integration.- 4.6 Poultry weight saving simulation.- 4.6.1 The product type simulated.- 4.6.2 FWFP production without a picking strategy.- 4.6.3 FWFP production using a picking strategy.- 4.6.4 Results of the simulation programs.- 4.6.5 Refinement of the picking strategy.- 4.7 Conclusions.- Acknowledgements.- References.- 5 Robotic cutting of beef and deboning.- 5.1 Introduction.- 5.2 Robotic butchery system requirements.- 5.3 Butchery system operation scheme.- 5.3.1 Forequarter clamping.- 5.3.2 Cutting scheme.- 5.3.3 Forequarter database (FQDB).- 5.3.4 Cutting devices.- 5.3.5 Cutting trials.- 5.3.6 Cutting control algorithm.- 5.4 Further work.- 5.5 Conclusions.- Acknowledgements.- Appendix 1: Cutting scheme definition.- Appendix 2: Forequarter measurement points.- References.- 6 Automation in the production of pork meat.- 6.1 Processes in pig carcass production and handling.- 6.1.1 Handling and stunning.- 6.1.2 Sticking, bleeding and surface treatment.- 6.1.3 Evisceration and trimming.- 6.1.4 Meat inspection and carcass classification.- 6.1.5 Chilling, selection and further processing.- 6.2 Current trends in mechanisation and automation in the pork industry.- 6.2.1 Single process automation.- 6.2.2 Transport and handling automation.- 6.2.3 Integrated systems.- 6.3 Potential for improving quality by automation.- 6.3.1 Welfare and meat quality.- 6.3.2 Hygiene and process control.- 6.3.3 Potential for classification technology.- 6.4 Automatic grading system and description of a current system in use.- 6.4.1 Measurement of anatomical dimensions.- 6.4.2 Probe positioning system.- 6.4.3 Islands of measurements.- 6.4.4 Automatic branding.- 6.4.5 Optical sensor system.- 6.4.6 Probe unit.- 6.4.7 Interpretation and prediction technology.- 6.4.8 Control and system operation.- 6.4.9 Practical experience.- 6.5 Information management system for slaughterhouse companies.- 6.5.1 Company system architecture.- 6.5.2 Data network.- 6.6 Future potential for robotics in pig slaughtering and cutting.- 6.6.1 Intelligent automation systems.- 6.6.2 Strategic possibilities.- 146 Reference.- 7 The grading of meat carcasses.- 7.1 Introduction.- 7.2 Automated grading of meat carcasses.- 7.3 Methods of instrumental grading of pig carcasses.- 7.4 Methods of instrumental grading of beef and sheep carcasses.- 7.4.1 Beef grading.- 7.4.2 Sheep grading.- 7.5 Video image analysis and carcass grading.- 7.6 Automation.- 7.7 Future developments.- References.- 8 Automated analysis of meat quality.- 8.1 Introduction.- 8.2 Trends in quality development.- 8.3 Market trends.- 8.4 Requirements and techniques for quality control of pork.- 8.5 Functional requirements.- 8.6 State-of-the-art techniques.- 8.7 Integration between slaughtering and measuring processes.- 8.8 A robotic analysis centre integrated with sampling in a pork plant.- 8.8.1 System function.- 8.8.2 Analysis system.- 8.8.3 Sampling.- 8.8.4 Technical description.- 8.8.5 Control system.- 8.9 Practical experience and system development.- 8.10 Future needs in automated pork quality control.- 8.11 Integration and limitations.- 9 Flexible assembly and packaging automation in food production― study tour report.- 9.1 Introduction.- 9.2 Characteristics of the food industry.- 9.3 Consumer trends.- 9.4 Trends in global food manufacturing.- 9.5 Elements of industrial scale food manufacturing systems.- 9.6 Research and development.- 9.7 Study tour report―period April to December 1991.- 9.7.1 Benelux.- 9.7.2 Denmark.- 9.7.3 Japan.- 9.7.4 Australia and New Zealand.- 9.7.5 United States and Canada 206 References.