Computer controlled portioning machine

• US 6,164,174 A
• Filed: 02/13/1998
• Issued: 12/26/2000
• Est. Priority Date: 02/13/1997
• Status: Expired due to Term

• Current Assignee: Marel Hf
• Original Assignee: H F Marel Limited
• Inventors: Sigurdsson, Arni, Sigurdsson, Arni G., Hjalmarsson, Helgi, Arnarson, Hordur
• Primary Examiner(s): Rachuba, M.
• Assistant Examiner(s): PRYOR, SEAN AUGUSTUS
• Application Number:
  US09/023,072
• Time in Patent Office: 1,047 Days
• Field of Search: 83/13, 83/365, 83/367, 83/77, 83/75, 83/74, 83/370, 83/932
• US Class Current: 83/13
• CPC Class Codes: A22C 25/18 Cutting fish into portions
• CPC Class Codes: B26D 7/30 for weighing cut product
• CPC Class Codes: Y10S 83/932 Edible
• CPC Class Codes: Y10T 83/04 Processes
• CPC Class Codes: Y10T 83/148 Including means to correct the sensed operation
• CPC Class Codes: Y10T 83/182 With means to weigh product
• CPC Class Codes: Y10T 83/533 With photo-electric work-sensing means
• CPC Class Codes: Y10T 83/536 Movement of work controlled
• CPC Class Codes: Y10T 83/541 Actuation of tool controlled in response to work-sensing means

Abstract

The invention involves a method and apparatus for automatic portioning of objects. More specifically, the invention utilizes both weighing and imaging data in order to calculate an estimated weight distribution of objects being processed. One or more weighing units, which weigh one or more parts of the objects, are installed before and/or after a cutting unit to obtain the weighing data. A computer system controls cutting based on the imaging data and the weighing data.

Claims

1. A method for automatically cutting objects into portions, comprising:

conveying a present object to be cut;

taking image data for the entire present object to be cut;

processing at least one estimated physical characteristic established for previously cut objects and the image data for the entire present object to be cut to establish estimated portion weights into which the entire present object is to be cut prior to any cutting step;

directing a cutting unit to cut the entire present object into portions having the estimated portion weights, the estimated portion weights not necessarily being uniform;

weighing each of the cut portions to establish an actual weight for each of the cut portions;

comparing the actual weight for each portion with the estimated portion weight thereof; and

processing a plurality of such comparisons for re-estimating the at least one estimated physical characteristic for use in cutting future objects.

2. A method according to claim 1, wherein the at least one estimated physical characteristic comprises an estimated formline for the entire object to be cut.

3. A method according to claim 1, wherein the at least one estimated physical characteristic comprises an estimated density for the entire object to be cut.

4. A method according to claim 1, wherein the image data comprises height and width information of the entire object to be cut.

5. A method according to claim 1, further comprising the step of:

determining a velocity of the conveyor to enable the cutting unit to cut at locations defining the estimated portion weights.

6. A method according to claim 4, wherein the image data further comprises length information of the entire object to be cut.

7. A method for automatically cutting objects into portions, comprising:

conveying an object to be cut;

weighing the entire object to be cut to establish an actual weight for the entire object to be cut;

taking image data for the entire object to be cut;

processing the actual weight and the image data to establish an estimated weight distribution for the entire object to be cut prior to any cutting step; and

cutting the object based on the estimated weight distribution for the entire object to be cut, the portions not necessarily having a uniform weight.

8. A method according to claim 7, wherein the image data is used to estimate a total volume and a volume distribution of the entire object to be cut, and the estimated total volume and estimated volume distribution are processed in conjunction with the actual weight to establish the estimated weight distribution.

9. A method according to claim 8, wherein the estimated total volume and the actual weight is used to estimate the density of the entire object to be cut, and the estimated density and the estimated volume distribution are processed to establish the estimated weight distribution.

10. A method according to claim 8, wherein the image data is used to calculate the estimated total volume, and the estimated volume distribution comprises height, width, and length information of the entire object to be cut.

11. A method for automatically cutting objects into portions, comprising:

conveying an object to be cut;

weighing the entire object to be cut to establish an actual weight for the entire object to be cut;

obtaining dimensional information on the entire object to be cut by imaging the entire object;

processing the actual weight and the dimensional information to establish cutting control signals prior to any cutting step; and

cutting the entire object based on the cutting control signals so that the entire object is cut into a plurality of pieces based on the actual weight and the dimensional information of the entire object, the actual weight of the pieces not necessarily being uniform.

12. A method for automatically cutting objects into portions, comprising:

conveying a present object to be cut;

obtaining dimensional information on the entire present object to be cut by imaging the entire object prior to any cutting step;

cutting the entire present object into present pieces based on the dimensional information on the entire present object and on an actual weight of cut pieces from previously cut objects, the pieces not necessarily being uniform; and

weighing the present pieces for use in cutting future objects.

13. A method for automatically cutting objects into portions, comprising:

conveying a present object to be cut;

taking image data in at least one image plane for the present object to be cut;

processing at least one estimated physical characteristic established for previously cut objects and the image data for the present object to be cut to establish estimated portion weights into which the present object is to be cut;

directing a cutting unit to cut the present object along at least one line intersecting with the at least one image plane into portions having the estimated portion weights;

weighing each of the cut portions to establish an actual weight for each of the cut portions;

comparing the actual weight for each portion with the estimated portion weight thereof; and

processing a plurality of such comparisons for re-estimating the at least one estimated physical characteristic for use in cutting future objects.

14. A method for automatically cutting objects into portions, comprising:

conveying an object to be cut;

weighing the object to be cut to establish an actual weight for the object to be cut;

taking image data in at least one image plane for the object to be cut;

processing the actual weight and the image data to establish an estimated weight distribution for the object to be cut; and

cutting the object based on the estimated weight distribution along at least one line intersecting with the at least one image plane.

15. A method for automatically cutting objects into portions, comprising:

conveying an object to be cut;

weighing the object to be cut to establish an actual weight for the object to be cut;

obtaining dimensional information on the object to be cut by imaging the in at least one imaging plane;

processing the actual weight and the dimensional information to establish cutting control signals; and

cutting the object based on the cutting control signals so that the object is cut based on the actual weight and the dimensional information of the object along at least one line intersecting with the at least one image plane.

16. A method for automatically cutting objects into portions, comprising:

conveying a present object to be cut;

obtaining dimensional information on the present object to be cut by imaging the object in at least one imaging plane;

cutting the present object into present pieces along at least one line intersecting with the at least one imaging plane based on the dimensional information on the present object and on an actual weight of cut pieces from previously cut objects; and

weighing the present pieces for use in cutting future objects.

17. An apparatus for automatic cutting of objects into pieces, comprising:

a conveyor that conveys the objects;

imaging equipment that takes image data for an entire present object to be cut into a plurality of pieces as the object is conveyed on the conveyor and that generates output signals representative of the image data;

a computer system that processes the output signals representative of the image data of the entire object to establish presently measured dimensional information for the entire present object to be cut, that calculates an estimated weight distribution for the entire present object to be cut based upon at least one estimated physical characteristic established by a plurality of previously cut objects and the presently measured dimensional information for the entire present object to be cut, and that processes the estimated weight distribution to pre-calculate an estimated weight for each of the pieces into which the entire present object is to be cut prior to any cutting operation;

a cutting unit, responsive to output from the computer system, that cuts each entire object into the pieces based on at least the estimated weight distribution for each entire object, the pieces not necessarily having a uniform weight; and

a weighing unit disposed after the cutting unit that determines an actual weight for each cut piece and transmits data on the actual weight of each cut piece to the computer system;

wherein the computer system compares the actual weight of each cut piece to the estimated weight for each piece, stores the comparison, periodically re-estimates the at least one estimated physical characteristic based upon a plurality of previously stored comparisons, and implements the at least one re-estimated physical characteristic for use with future image data to establish estimated weight distributions for future objects to be cut.

18. The apparatus according to claim 17, wherein the at least one estimated physical characteristic comprises an estimated formline for the entire object to be cut.

19. The apparatus according to claim 17, wherein the at least one physical characteristic comprises an estimated density of the entire object to be cut.

20. The apparatus according to claim 17, wherein the imaging equipment comprises a linescan camera which takes a series of consecutive images of the entire object to be cut from a plurality of angles.

21. The apparatus according to claim 17, wherein the weighing unit comprises at least one load cell operatively connected to the computer system.

22. The apparatus according to claim 17, wherein the dimensional information comprises height and width information of the entire object.

23. The apparatus according to claim 18, wherein the dimensional information comprises height and width information of the entire object.

24. The apparatus according to claim 22, wherein the dimensional information comprises length information of the entire object.

25. The apparatus according to claim 17, wherein the computer system determines a velocity of the conveyor to establish, in conjunction with the dimensional information, a relative position of the entire object to be cut on the conveyor.

26. An apparatus for automatic cutting of an object into pieces, comprising:

a conveyor that conveys the objects;

a weighing unit that obtains an actual weight of the entire object;

imaging equipment that takes image data for the entire object as it is conveyed on the conveyor;

a computer system that receives signals from the imaging equipment based upon image data for the entire object to estimate a total volume and a volume distribution of the entire object, and that processes the estimated volume distribution, the estimated total volume, and the actual weight to pre-calculate an estimated weight distribution for the entire object prior to any cutting operation; and

a cutting unit, disposed after the weighing unit and operatively connected to the computer system, that cuts the entire object at locations based on at least the estimated weight distribution for the entire object, the cutting unit cutting the entire object into pieces that are not necessarily uniform in weight.

27. The apparatus according to claim 26, wherein the computer system processes the actual weight and the estimated total volume of the entire object to be cut to estimate the density for the entire object to be cut, the estimated density and the volume distribution being processed to calculate the estimated weight distribution for the entire object to be cut.

28. The apparatus according to claim 26, wherein the imaging equipment comprises a linescan camera which takes a series of consecutive images of the entire object to be cut from a plurality of angles.

29. The apparatus according to claim 26, wherein the weighing unit comprises at least one load cell operatively connected to the computer system.

30. The apparatus according to claim 26, wherein the image data comprises height and width information of the entire object to be cut.

31. The apparatus according to claim 27, wherein the image data comprises height and width information of the entire object to be cut.

32. The apparatus according to claim 31, wherein the image data further comprises length information of the entire object to be cut.

33. The apparatus according to claim 26, wherein the computer system determines a velocity of the conveyor to establish, in conjunction with the image data, a relative position of the entire object to be cut on the conveyor.

34. An apparatus for automatic cutting of objects into pieces, comprising:

a conveyor that conveys the objects;

imaging equipment that takes image data for an entire present object to be cut into a plurality of pieces as the entire object is conveyed on the conveyor and that generates output signals representative of the image data;

a cutting unit that cuts the objects on the conveyor into pieces;

a weighing unit before the cutting unit that determines a total actual weight for the entire present object to be cut;

a weighing unit after the cutting unit that determines an actual weight for each cut piece, and that transmits output data representing the actual weight of each cut piece; and

a computer system that processes the output signal representative of the image data of the entire object and a current estimated formline to establish an estimated volume distribution and estimated total volume for the entire present object to be cut, that calculates an estimated density of the entire present object to be cut based upon the estimated total volume of the entire object to be cut and the actual total weight of the entire present object to be cut, that calculates an estimated weight distribution for the entire present object to be cut based upon the estimated density of the entire present object to be cut and the presently measured estimated volume distribution for the entire present object to be cut, and that processes the estimated weight distribution to pre-calculate an estimate weight for each of the pieces into which the entire present object is to be cut prior to any cutting operation;

wherein the cutting unit, responsive to output from the computer system, cuts each object into the pieces based on at least the estimated weight distribution for that entire object, the pieces not necessarily having a uniform weight;

wherein the computer system compares the actual weight of each cut piece to the estimated weight for that piece to establish a percentage error therebetween stores the percentage error, and periodically utilizes a plurality of previously calculated percentage errors and the current estimated formline to establish a re-estimated formline for use with future image data to establish total volumes and estimated volume distributions for future objects to be cut.

35. An apparatus for automatic cutting of objects into pieces, comprising:

a conveyor that conveys the objects;

imaging equipment that takes image data in at least one image plane for a present object to be cut as the object is conveyed on the conveyor and that generates output signals representative of the image data;

a computer system that processes the output signals representative of the image data to establish presently measured dimensional information for the present object to be cut, that calculates an estimated weight distribution for the present object to be cut based upon at least one estimated physical characteristic established by a plurality of previously cut objects and the presently measured dimensional information for the present object to be cut, and that processes the estimated weight distribution to calculate an estimated weight for each of the pieces into which the present object is to be cut;

a cutting unit, responsive to output from the computer system, that cuts each object along at least one line intersecting with the at least one image plane into the pieces based on at least the estimated weight distribution for each object; and

a weighing unit disposed after the cutting unit that determines an actual weight for each cut piece and transmits data on the actual weight of each cut piece to the computer system;

wherein the computer system compares the actual weight of each cut piece to the estimated weight for each piece, stores the comparison, periodically re-estimates the at least one estimated physical characteristic based upon a plurality of previously stored comparisons, and implements the at least one re-estimated physical characteristic for use with future image data to establish estimated weight distributions for future objects to be cut.

36. An apparatus for automatic cutting of an object into pieces, comprising:

a conveyor that conveys the objects;

a weighing unit that obtains an actual weight of the object;

imaging equipment that takes image data in at least one image plane for the object as it is conveyed on the conveyor;

a computer system that receives signals from the imaging equipment based upon the image data to estimate a total volume and a volume distribution of the object, and that utilizes the estimated volume distribution, the estimated total volume, and the actual weight to calculate an estimated weight distribution for the object; and

a cutting unit, disposed after the weighing unit and operatively connected to the computer system, that cuts the object along at least one line intersecting with the at least one image plane based on at least the estimated weight distribution for the object.

37. An apparatus for automatic cutting of objects into pieces, comprising:

a conveyor that conveys the objects;

imaging equipment that takes image data in at least one image plane for a present object to be cut as the object is conveyed on the conveyor and that generates output signals representative of the image data;

a cutting unit that cuts the objects on the conveyor into pieces;

a weighing unit before the cutting unit that determines a total actual weight for the present object to be cut;

a weighing unit after the cutting unit that determines an actual weight for each cut piece and that transmits output data representing the actual weight of each cut piece; and

a computer system that processes the output signal representative of the image data and a current estimated formline to establish an estimated volume distribution and estimated total volume for the present object to be cut, that calculates an estimated density of the present object to be cut based upon the estimated total volume of the object to be cut and the actual total weight of the present object to be cut, that calculates an estimated weight distribution for the present object to be cut based upon the estimated density of the present object to be cut and the presently measured estimated volume distribution for the present object to be cut, and that processes the estimated weight distribution to calculate an estimate weight for each of the pieces into which the present object is to be cut;

wherein the cutting unit, responsive to output from the computer system, cuts each object along at least one line intersecting with the at least one image plane into the pieces based on at least the estimated weight distribution for that object;

wherein the computer system compares the actual weight of each cut piece to the estimated weight for that piece to establish a percentage error therebetween stores the percentage error, and periodically utilizes a plurality of previously calculated percentage errors and the current estimated formline to establish a re-estimated formline for use with future image data to establish estimated total volumes and estimated volume distributions for future objects to be cut.