CONTROLLING ANGULAR SPEED OF ECCENTRIC MOVEMENT OF CIRCULAR BLADE

Abstract

A cutting apparatus for cutting a food object includes at least one circular blade being rotatable around a first axis through a center of the circular blade. The circular blade is rotatable around a second axis, such that the second axis is parallel and non-coaxial with respect to the first axis. The apparatus includes a measurement device for determining a position of at least a part of the surface of the food object to be cut, such as a height profiler arranged for determining a height profile of the food object, and a processor arranged for controlling an angular speed of the circular blade around the second axis based on the position of at least a part of the surface of the food object to be cut, such as the height profile.

Claims

1.-15. (canceled)

16. A cutting apparatus for cutting a food object, said apparatus comprising: at least one circular blade being rotatable around a first axis through a center of the circular blade, and wherein the at least one circular blade is rotatable around a second axis, wherein the second axis is parallel and non-coaxial with respect to the first axis, said apparatus further comprising: a measurement device for determining a position of at least a part of a surface of the food object to be cut, such as a height profiler arranged for determining a height profile of the food object, and a processor arranged for controlling an angular speed of the at least one circular blade around the second axis based on the position of at least a part of the surface of the food object to be cut, such as the height profile.

17. The cutting apparatus according to claim 16, wherein the processor is arranged for: determining based on the position of at least a part of the surface of the food object to be cut, such as the height profile, a first angular position at which one of the at least one circular blade makes contact with the food object upon rotation of the at least one circular blade around the second axis.

18. The cutting apparatus according to claim 16, wherein the processor is arranged for: determining based on the position of at least a part of the surface of the food object to be cut, such as the height profile, a second angular position at which one of the at least one circular blade finishes cutting the food object upon rotation of the at least one circular blade around the second axis.

19. The cutting apparatus according to claim 16, wherein the processor is arranged for: determining based on the position of at least a part of the surface of the food object to be cut, such as the height profile, a third angular position at which one of the at least one circular blade loses contact with the food object upon rotation of the at least one circular blade around the second axis.

20. The cutting apparatus according to claim 17, wherein the processor is further arranged for: ensuring that an angular speed of the at least one circular blade around the second axis does not exceed a first threshold value at the first angular position.

21. The cutting apparatus according to claim 17, wherein the processor is further arranged for: ensuring that an angular speed of the at least one circular blade around the second axis exceeds and/or increases above a first threshold value after having passed the first angular position.

22. The cutting apparatus according to claim 16, wherein the cutting apparatus is arranged so that a cut-off part of the food object fulfils a pre-defined criteria, such as thickness, such as wherein slices have a thickness of less than or equal to 10 mm, such as wherein slices have a mass of less than or equal to 1000 gram.

23. The cutting apparatus according to claim 17, wherein an angular speed at the first angular position, such as an angular speed profile between the first angular position and the second angular position, such as between the first angular position and a third angular position, is pre-defined depending on the nature, condition and/or type of food product.

24. The cutting apparatus according to claim 16, wherein the measurement device comprises: an imaging system for acquiring image data of the food object.

25. The cutting apparatus according to claim 16, wherein one of the at least one circular blade is a first circular blade, which defines a cutting plane, and wherein the cutting apparatus is further comprising: a second circular blade being rotatable around a third axis through a center of the second circular blade, wherein the third axis is parallel and non-coaxial with respect to each of the first axis and the second axis and wherein the second circular blade is substantially within, such as within, the cutting plane, wherein the second circular blade is rotatable around the second axis.

26. The cutting apparatus according to claim 16, wherein the at least one circular blade defines a cutting plane, and wherein the cutting apparatus is further comprising: a conveyor for conveying the food object from: a first position wherein the food object does not intersect the cutting plane, to a second position wherein the food object intersects the cutting plane, and wherein the food object will be cut upon rotation of one of the at least one circular blade around the second axis.

27. The cutting apparatus according to claim 26, wherein the processor is further arranged for controlling a conveying speed of the conveyor based on a third angular value, such as the third angular value and the first angular value.

28. Use of the apparatus according to claim 16 for cutting, such as slicing (such as wherein slices have a thickness of less than or equal to 10 mm.

29. A method for cutting a food object, said method comprising: rotating at least one circular blade around a first axis through a center of the circular blade, rotating the at least one circular blade around a second axis, wherein the second axis is parallel and non-coaxial with respect to the first axis, determining a position of at least a part of the surface of the food object to be cut, such as a height profile of the food object, and controlling an angular speed of the rotation of the at least one circular blade around the second axis based on the position of at least a part of the surface of the food object to be cut, such as the height profile.

30. The method according to claim 29, wherein the food object is fresh or frozen, such as non-frozen and/or non-undercooled and/or non-crust-frozen, and/or a temperature of the food object is above 0° Celsius or frozen and/or undercooled and/or a temperature of the food object is below 0° Celsius.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0050] The cutting apparatus, use and method for cutting a food object according to the invention will now be described in more detail with regard to the accompanying figures. The figures show one way of implementing the present invention and is not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.

[0051] FIG. 1 shows a cutting apparatus with an imaging system and a conveyor.

[0052] FIG. 2 shows a schematic of angular movement of the circular blade around the second axis.

[0053] FIGS. 3-6 show schematics of angular movement of the circular blade around the 2.sup.nd axis.

[0054] FIG. 7 shows a schematic of angular speed of the circular blade around the second axis and conveyor speed as a function of angular value of the circular blade around the second axis.

[0055] FIG. 8 shows a cutting system with two circular blades.

[0056] FIG. 9 shows graphs of angular movement of circular blade around the second axis and the conveyor belt speed.

DETAILED DESCRIPTION OF AN EMBODIMENT

[0057] FIG. 1 shows a cutting apparatus 100 with an imaging system 116, 118 and a conveyor 126, and more particularly a cutting apparatus 100 for cutting a food object 120, 124, said apparatus comprising a circular blade 102 being rotatable around a first axis 103 through a centre of the circular blade, and wherein the circular blade 102 and in particular the first axis 103, is rotatable around a second axis 107, wherein the second axis is parallel and non-coaxial with respect to the first axis. The rotation of the first axis 103 around second axis 107 thus defines a circle 106 and the area swept by the circular blade 102 has a circular outer limit 108. The circular blade 102 in the present embodiment is a first circular blade, which defines a cutting plane, and wherein the cutting apparatus is further comprising a second circular blade 104 being rotatable around a third axis 105 through a centre of the second circular blade, wherein the third axis is parallel and non-coaxial with respect to each of the first axis 103 and the second axis 107, wherein the second circular blade 104 is substantially within, such as within, the cutting plane, and wherein the second circular blade (104) is rotatable around the second axis. Both of the first circular blade 102 and the second circular blade 104 is arranged on a common member and arranged for making a planetary movement around a common axis 107. The apparatus is further comprising a measurement device 110 for determining a position of at least a part of the surface of the food object 120, 124 to be cut and more particularly a height profile of the food object. The measurement device 110 is a height profiler comprising line lasers 112, 114 and an imaging system with cameras 116, 118 for acquiring image data of lines of the line lasers and thereby of the food object 120, 124 (in the present embodiment there is a plurality of each of cameras and line lasers, more particularly three of each where only two are visible in the figure). The apparatus also comprises a processor (not shown) arranged for controlling an angular speed (w) of the circular blade 102 around the second axis 107 based on the position of at least a part of the surface of the food object to be cut, such as the height profile. The cutting apparatus further comprises a conveyor 126 for conveying the food object from a first position wherein the food object 120 (where food object 120 is shown in the first position and moving in a conveying direction as indicated by arrow 122) does not intersect the cutting plane to a second position wherein the food object 124 (where food object 124 is shown in the second position and kept still or moved at a low speed (such as a speed of movement being 0-2 mm/second, such as 0-1 mm/second) for cutting by the first circular blade 102) intersects the cutting plane, and wherein the food object will be cut upon rotation (in a counter-clockwise direction as observed from the first position) of the circular blade 102 around the second axis 107. The cutting apparatus furthermore comprises a second conveyor 128 for conveying one or more sub-cuts (piece(s) cut of the food object) away from the cutting plane.

[0058] FIG. 2 shows a schematic of angular movement of the circular blade 202a-d around the second axis 107. The schematic shows the circular blade 202a-d in four different angular positions during angular movement counter-clockwise around the second axis 107 as observed from a position away the cutting plane (such as a position corresponding to the first position of the food object 120 in FIG. 1). Each angular position is shown as measured with respect to horizontal axis 228. The four positions include: [0059] a) The circular blade 202a at the first angular position 230a where the circular blade 202a makes contact at point 232 with the food object 124 and initiates cutting. [0060] b) The circular blade 202b at the second angular position 230b where the circular blade 202b cuts the last connection at point 234 between parts of the food 124 which are separated by the cutting and hence angular position 230b is the angular position at which cutting is finished (but where circular blade 202b is still in the way of the remaining part of the food object 124, such as there is still an overlap between the remaining part of food object 124 and the circular blade 202b as seen in this view). [0061] c) The circular blade 202c at the third angular position 230c where the circular blade loses contact at point 236 with the food object 124 (i.e., where circular blade 202c is no longer in the way of the remaining part of the food object 124, such as there is no longer an overlap between the remaining part of food object 124 and circular blade 202c as seen in this view). [0062] d) The circular blade 202d at the fourth angular position 230d where the circular blade 202d is yet to make contact with the food object 124 and initiate cutting. This angular position may be the position, at which: [0063] a) The circular blade 202d is “parked” if the food object is not yet in place for (next) cutting, [0064] b) Deceleration of an angular rotation of the circular blade 202d around the second axis 107 is initiated, so that an angular speed does not exceed a first threshold value at the first angular position 230a, and/or [0065] c) Deceleration of a speed of the conveyor 126 is initiated so that a conveyor speed is zero or below a conveyor threshold value during cutting.

[0066] FIGS. 3-6 show schematics of angular movement of the circular blade 202a-d around the second axis 107. More particularly, FIGS. 3-6 correspond to FIG. 2, except that in each of FIGS. 3-6, elements of FIG. 2 have been removed to more clearly illustrate, respectively, the first, second, third and fourth angular position.

[0067] FIG. 7 shows a schematic of angular speed (co) of the circular blade around the second axis and conveyor speed (v) as a function of angular value (0) of the circular blade around the second axis.

[0068] In more detail, the figure shows an upper graph (a) with angular value (0) on the first axis 742 and angular speed (co) on the second axis 744. The graph furthermore shows an angular speed curve 740 depicted as a function of angular value. The curve shows that an angular speed of the circular blade around the second axis 107 does not exceed a first threshold value 746 at the first angular position 230a (where the angular speed is exactly the first threshold value 746). The first threshold value could be at least 100°/second, such as at least 200°/second and/or at most 400°/second, such as at most 300°/second, such as within 100-400°/second, such as within 200-300°/second, such as 250°/second. The curve furthermore shows that an angular speed of the circular blade around the second axis 107 increases to a value above the first threshold value 746 after having passed the first angular position 230a. The curve is monotonically increasing until the second angular value 230b, but in an alternative embodiment an angular speed of the circular blade around the second axis subsequent to exceeding the first threshold value after having passed the first angular position is reduced before reaching the second angular position. The curve furthermore shows that an angular speed of the circular blade around the second axis 107 increases to a value above a second threshold value 748 after having passed the second angular position 230b. The second threshold value could be at least 500°/second, such as at least 650°/second and/or at most 1000°/second, such as at most 850°/second, such as within 500-1000°/second, such as within 650-850°/second, such as 750°/second. The curve furthermore shows that an angular speed of the circular blade around the second axis 107 decreases (in the present embodiment starts decreasing between the second angular position 230b and the third angular position 230c) so the angular speed of the circular blade around the second axis 107 also does not exceed the first threshold value 746 next time a first angular position is reached, such as when a subsequent cut is initiated (note that the next ‘first angular position’ may have a different angular value, because a height profile of the food object may change from cut to cut). In an alternative embodiment where the food object has not reached the cut position, e.g. because of a low conveyor speed or large portion, the angular speed would, after third angular position 230c, be reduced to substantially zero, such as zero, and reach the park position (fourth angular position 230d), a position whose quantitative angular value is given by the height profile of the next cut and arranged so that the first threshold value 746 can be reached in the (next) first angular position 230a. It is noted that the fourth angular position in FIG. 7 is shown to both be coincident with a “park position” of the circular blade and the position where the conveyor starts decelerating, and this may or may not be the case in embodiments, i.e., the park position can be different from or coincident with a position where a change of the conveyor speed and/or acceleration takes place.

[0069] FIG. 8 shows a cutting apparatus 100 with two circular blades 102, 104, though e.g. three or four circular blades may also be positioned around the second axis 107. The circular blades are positioned in the same plane and thus being capable of cutting in the same plane e.g. in between a space between two conveyor belts. One of the at least one circular blades is a first circular blade 102, and is rotatable around a first axis 103 extending through a centre of the first circular blade 102, and a second circular blade 104 is rotatable around a third axis 105 extending through a centre of the second circular blade 104, both the first circular blade 102 and the second circular blade 104 are rotatable around a third axis 107, wherein the third axis is parallel and non-coaxial with respect to each of the first axis 103 and the second axis 105. In the embodiment the first circular blade 102 defines a cutting plane and the second circular blade 104 is within this cutting plane. Illustrated is also a food object 124, which during rotation of the first circular blade 102 and second circular blade 104 around the second axis 107 will be cut first by the first cutting blade 102 and afterwards (when a conveyor (not shown) has moved the food object further in the transport direction) by the second cutting blade 104. Each of the first circular blade 102 and second circular blade 104 may be running continuously and at a constant speed, and the angular speed i.e. the speed of the first circular blade 102 and the second circular blade 104 around the second axis 107 may be as described elsewhere herein. When the first circular blade 102 cuts in a food object 124 the second circular blade 104 is not cutting but is on its way around the second axis 107 to get in position to cut again. The circular blades, e.g. 2, 3, 4 or 5 circular blades preferably have same distance from the centre of the circular blade to the second axis 107.

[0070] FIG. 9 illustrates possible data for the system when cutting a food object. In graph “A” the knife velocity measured as deg/s is illustrated as a function of time measured in ms. The knife velocity is the velocity of a knife (e.g. 102) rotating around the second axis 107. The high velocity of the knife is used for bringing the knife in position between cutting food object. In the graph “B” the corresponding belt velocity measured in m/s is illustrated as a function of time measured in ms. A low belt velocity corresponds to a period where a food object is being cut. Illustrated by the graphs are how the angular knife velocity is adjusted in respect of the cutting process and the presence of a food object in the cutting plane. The knife velocity is high when there is no food object in the cutting plane.

[0071] In more detail, the figure shows a lower graph (b) with angular value (0) on the first axis 743 and speed (v) of the conveyor 126 on the second axis 745. The graph furthermore shows a speed curve 750 depicted as a function of angular value. The curve shows that a speed of the conveyor does not exceed a first conveyor speed value 752 when the circular blade is at the first angular position 230a (where the conveyor speed is exactly the first conveyor speed value 752). The curve furthermore shows that a speed of the conveyor increases to a value above the first conveyor speed value 752, in fact increases to a second conveyor speed value 754 after the circular blade has passed the third angular position 230c. The curve furthermore shows that a conveyor speed decreases (in the present embodiment starts decreasing at the fourth angular position 230d) so the speed of the conveyor reaches the first conveyor speed value when the circular blade is at the first angular value. In an embodiment the first conveyor speed value 752 is determined by the allowable movement (in distance) of the conveyor when the knife is between the first angular position 230a and the third angular position 230c. Thus, the conveyor speed is determined by the size of the product and rotational speed of the circular blade around the second axis.

[0072] Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is set out by the accompanying claim set. In the context of the claims, the terms “comprising” or “comprises” do not exclude other possible elements or steps. Also, the mentioning of references such as “a” or “an” etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous. Use of ordinal numbers, such as ‘first’, ‘second’, ‘third’, ‘primary’, ‘secondary’ and ‘tertiary’, is merely to be seen as an indicator, tag or mark for enabling or simplifying distinguishing, e.g., features or events from each other and does not necessarily imply a ranking. Furthermore, ordinal numbers do not imply the presence of other features, e.g., a ‘second feature’ does not imply the presence of a ‘first feature’ and vice versa and ‘first feature X’ or ‘second feature Y’ can each be replaced, respectively, with ‘feature X’ and ‘feature Y’.