IMAGING BASED PORTION CUTTING

Abstract

A food processing system and method for cutting a food item into cut food item portions includes a conveyor, an imaging system, a cutting device, and a controller. The conveyor conveys the food item past the imaging system allowing the imaging system to image the food item and image data is obtained. The controller receives the imaging data and determines the location of defective areas on the basis thereof. Then a distribution of portion cuts over the food item dividing the food item into food item portions is determined on the basis of at least the determined location of defective areas and a desired portion size and/or weight. The cutting device cuts the food item according to the determined distribution of portion cuts.

Claims

1.-21. (canceled)

22. A method of cutting a food item into food item portions by taking defective areas of the food item into consideration, the method comprising the steps of: receiving imaging data of the food item; determining the location of defective areas in and/or on the food item on the basis of at least the received data; and determining a distribution of food item portion cuts over the food item dividing the food item into food item portions on the basis of at least the determined location of defective areas and at least one food portion feature; cutting the food item into food item portions according to the determined distribution of food item portion cuts.

23. The method according to claim 22, wherein defective areas comprise undesired parts which are not inherently expected in the type of food items to be cut.

24. The method according to claim 22, wherein a defective area comprises a part with a bruise, worm, nematode, blood spot, gaping texture, melanosis (melanin spots) and/or haematoma (blood clot).

25. The method according to claim 22, wherein in determining a distribution of food item portion cuts over the food item, food item portion cuts are determined close to located defective areas.

26. The method according to claim 22, wherein in the step of determining a distribution of food item portion cuts over the food item, food item portion cuts can be determined in areas without defective areas and which cuts are further determined on the basis of at least one portion feature.

27. The method according to claim 22, further comprising a step of determining a three-dimensional surface profile of the food item at least partly on the basis of the received data.

28. The method according to claim 22, further comprising a step of determining total weight, weight distribution and/or density distribution of the food item at least partly on the basis of the received data.

29. The method according to claim 22, wherein the at least one food item portion feature is selected from the group of: portion size, portion weight, portion shape, portion color, portion color distribution, portion meat texture and/or portion meat-fat ratio.

30. The method according to claim 22, further comprising a step of sorting the cut food item portions, wherein the sorting is based at least on the determined distribution of food item portion cuts and the determined location of defective areas.

31. The method according to claim 22, further comprising a step of detecting a color distribution of the food item and determining the location of the defective areas based on at least the color distribution.

32. The method according to claim 28, wherein determining weight distribution is determining a two-dimensional weight distribution of the food item, the two-dimensional weight distribution extending in a plane parallel to a supporting conveyor surface of the conveyor, and further determining the distribution of food item portion cuts on the basis of the determined weight distribution of the food item.

33. The method according to claim 32, wherein the two-dimensional weight distribution is determined at least on the basis of the three-dimensional surface profile.

34. The method according to claim 28, further comprising determining a two- or three-dimensional density profile of the food item and determining a two-dimensional weight distribution of the food item on the basis of at least the determined density profile.

35. The method according to claim 22, further comprising a step of defining at least a first defect level threshold defining a measure of the number and/or size of defects tolerable for a given type of food item.

36. The method according to claim 35, further comprising a step of determining at least a first group and a second group of the food item portions of the distribution, the first group comprising food item portions having a determined defect level below the first threshold, and the second group comprising food item portions having a determined defect level above the first threshold; and wherein the size of the food item portions in the second group are determined based on the desired portion size and/or weight of food item portions in the first group.

37. The method according to claim 22, wherein the food item is from fish, poultry, pig, or cattle.

38. The method according to claim 37, wherein the food item is from fish, such as from salmon, trout, tilapia, cod, whiting, haddock, hake, pollock.

39. The method according to claim 38, wherein the food item is fillets, such as salmon fillets.

40. Use of a food processing system for performing the method of claim 22.

41. The use according to claim 40, wherein, the food processing system comprises at least one conveyor, an imaging system, a cutting device, and a controller, wherein: the conveyor is configured for conveying the food item past the imaging system; the imaging system is configured for imaging the food item and obtaining image data thereof; the controller is arranged for: receiving the imaging data; determining the location of defective areas on the basis of at least the received data; and determining a distribution of portion cuts over the food item dividing the food item into food item portions on the basis of at least the determined location of defective areas and a desired portion size and/or weight; and the cutting device is configured for cutting the food item according to the determined distribution of portion cuts.

42. The use according to claim 41, wherein the processing system further comprises at least one sorting apparatus arranged downstream of the cutting device, and wherein the controller is configured to control the sorting apparatus based at least on the determined distribution of portion cuts and the determined location of defective areas.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Embodiments of the invention will now be further described with reference to the accompanying drawings, in which:

[0066] FIG. 1 is a cross sectional side view illustration of a food processing system according to the invention;

[0067] FIG. 2 is a cross sectional top view illustration of a prior art distribution of portion cuts;

[0068] FIG. 3 is a cross sectional top view illustration of an embodied distribution of portion cuts; and

[0069] FIG. 4 is a flow chart illustrating the steps of an embodied method.

DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS

[0070] FIG. 1 illustrates a food processing system 1 according to an embodiment of the invention. The system 1 comprises an imaging system 2a, 2b arranged to image a food item 3 conveyed on the conveying surface 5 of an infeed conveyor 7 in the direction indicated by the arrow 8. The imaging system comprises an in-plane optical sensor 2a arranged to image the food item 3 transversely of the conveying direction to obtain a side view of the food item 3. The in-plane sensor 2a may also comprise, e.g., X-ray and/or ultra sound transducers. The imaging system further comprises an out-of-plane optical sensor 2b arranged to image the food item 3 from above. A controller (not shown) wirelessly receives image data of the imaged food item 3 from the imaging system 2a, 2b. The image data is analysed and the location of defective areas 20 (see FIGS. 2 and 3) is determined. The controller is also configured to determine a three-dimensional surface profile of the imaged food item 3 on the basis of a comparative analysis of the in-plane and out-of-plane image data. The controller has access to a desired portion weight (alternatively or additionally a desired portion size) and based on the desired portion weight and the location of defective areas 20, it determines a distribution of portion cuts 23 (see FIG. 3) across the food item 3.

[0071] The infeed conveyor 7 is arranged in an end-to-end arrangement with an outfeed conveyor 9 defining a conveyor surface 11 and conveying direction in the direction of the arrow 12. A cutting knife 13 (other cutting devices may be used) is arranged to cut the food item 3 in a cutting plane indicated by arrow 15 between the infeed and outfeed conveyors 7, 9. The cutting knife 13 is controlled by the controller to cut the food item 3 into cut food item portions 19 according to the determined distribution of portion cuts 23 (see FIG. 3).

[0072] FIGS. 2 and 3 illustrate cross sectional top views of distributions of portion cuts 23 across a food item 3. The food item 3 contains a defective area 20. The distribution of portion cuts 23 illustrated in FIG. 2 is not determined on the basis of the location of the defective area 20 and coincidentally a portion cut is places across the location of the defective area 20. As the cutting knife 13 would cut the food item 3 in accordance with such a distribution, the defective area 20 would be divided into two cut food item portions 19. On the other hand, the distribution of portion cuts 23 as illustrated in FIG. 3 is determined also on the basis of the location of the defective area 20. The portion cuts 21 are arranged to cut out a part containing the defective area 20 and to distribute portion cuts 21 on the basis of the desired portion weight in a way that optimises the size of defect-free cut food item portions 19. Preferably the cuts performed to obtain the defect in one ‘defect-containing portion’ are made close to the defect on both ‘sides’ of the defect when determined according to a transport direction, and such cuts are preferably made parallel to or similar to portion cuts. Accordingly, more defect-free cut food item portions 19 are obtained from the same food item 3 when being cut in accordance with the distribution of portion cuts 23 determined according to embodiments of the invention.

[0073] FIG. 4 is a flow-chart illustrating the steps of an embodied method of cutting a food item 3 into food item portions 19 by use of a food processing system 1. In a first step 101 an imaging system 2a, 2b of the food processing system 1 images a food item 3 as a conveyor 7 and conveys the food item 3 past the imaging system 2a, 2b.

[0074] An optional second step 103 entails determining a three-dimensional surface profile of the food item 3 on the basis of data received from the imaging system 2a, 2b, and determining a two-dimensional weight distribution on the basis of the three-dimensional surface profile.

[0075] In a second step 105, a controller of the system 1 determines the location of defective areas 20 on the basis of the received data. This can be done by executing algorithms with image recognition capabilities and comparing the data received from the imaging system 2a, 2b with the stored data, identifying similarities and discrepancies between the two sets of data. The algorithms preferably comprise sets of optical parameters characteristic of typical shapes and colours of defects and defective areas. A match between such a stored characteristic parameter and a parameter obtained by analysis of the image data is then an indication of the presence of a defect or defective area in the imaged food item.

[0076] If no defective areas are located in step 105, a distribution of portion cuts 23 is determined on the basis of e.g. desired portion size and/or portion weight in 107a, and, optionally, on a determined two-dimensional weight distribution, to optimize the number of cut food item portions 19 with the desired portion size and/or portion weight. If on the other hand defective areas 20 are identified and their locations determined in step 105, the distribution of portion cuts 23 is determined on the basis of the location of the defective areas 20, the desired portion size and/or weight, and, optionally, on a determined two-dimensional weight distribution in step 107b.

[0077] Finally, in step 109 the cutting device 13 of the system 1 cuts the food item 3 into cut food item portions 19 according to the determined distribution of portion cuts.

[0078] FIG. 4 may also be a flow-chart illustrating purely the steps of an embodied method of cutting a food item 3 into food item portions 19. In a first step 101 image data of the food item is received such as when a food item 3 is conveyed.

[0079] An optional second step 103 entails determining a three-dimensional surface profile of the food item 3 on the basis of the received image data and determining a two-dimensional weight distribution on the basis of the three-dimensional surface profile.

[0080] In a second step 105, determination of the location of defective areas 20 is performed on the basis of the received image data. This can be done by executing algorithms with image recognition capabilities and comparing the received image data with stored data, identifying similarities and discrepancies between the two sets of data. The algorithms preferably comprise sets of optical parameters characteristic of typical shapes and colours of defects and defective areas. A match between such a stored characteristic parameter and a parameter obtained by analysis of the image data is then an indication of the presence of a defect or defective area in the imaged food item.

[0081] If no defective areas are located in step 105, a distribution of portion cuts 23 can be determined on the basis of e.g. a desired portion size and/or portion weight in 107a, and, optionally, on a determined two-dimensional weight distribution, to optimize the number of cut food item portions 19 with the desired portion size and/or weight. If on the other hand defective areas 20 are identified and their locations determined in step 105, the distribution of portion cuts 23 is determined on the basis of the location of the defective areas 20, the desired portion size and/or portion weight, and, optionally, on a determined two-dimensional weight distribution in step 107b.

[0082] Finally, in step 109 the food item is cut into cut food item portions 19 according to the determined distribution of portion cuts.

EMBODIMENTS

[0083] Embodiment 1. A food processing system comprising: [0084] at least one conveyor; [0085] an imaging system; [0086] a cutting device; and [0087] a controller in data communication with the imaging system and the cutting device,
wherein the at least one conveyor is arranged to convey a food item past the imaging system and past the cutting device, and wherein the controller is configured to: [0088] receive data from the imaging system; [0089] determine the location of defective areas of the food item on the basis of at least the received data; [0090] determine a distribution of portion cuts over the food item dividing the food item into food item portions on the basis of at least the determined location of defective areas and a desired portion size and/or weight; and [0091] control the cutting device based on the distribution of portion cuts.

[0092] Embodiment 2. A system according to embodiment 1, further comprising a sorting apparatus arranged downstream of the cutting device, and wherein the controller is configured to control the sorting apparatus based at least on the determined distribution of portion cuts and the determined location of defective areas.

[0093] Embodiment 3. A system according to embodiment 1 or 2, wherein the controller is configured to define at least a first defect level threshold defining a measure of the number and/or size of defects tolerable for a given type of food item.

[0094] Embodiment 4. A system according to embodiment 3, wherein the food item portions of the distribution comprise at least a first group and a second group, the first group comprising food item portions having a determined defect level below the first threshold, and the second group comprising food item portions having a determined defect level above the first threshold, and wherein the size of the items in the second group are determined based on the desired portion size and/or weight of portions in the first group.

[0095] Embodiment 5. A system according to any of the preceding embodiments, wherein the imaging system is arranged upstream of the cutting device.

[0096] Embodiment 6. A system according to any of the preceding embodiments, wherein the imaging system is configured to detect a colour distribution of the food item, and the controller is configured to determine the location of the defective areas based on at least the colour distribution.

[0097] Embodiment 7. A system according to any of the preceding embodiments, wherein the controller is configured to determine a two-dimensional weight distribution of the food item, the two-dimensional weight distribution extending in a plane parallel to a supporting conveyor surface of the conveyor, and to determine the distribution of portion cuts on the basis of the determined weight distribution of the food item.

[0098] Embodiment 8. A system according to embodiment 7, wherein the controller is configured to determine a three-dimensional surface profile of the food item on the basis of at least data received from the imaging system, and wherein the two-dimensional weight distribution is determined at least on the basis of the three-dimensional surface profile.

[0099] Embodiment 9. A system according to embodiment 7 or 8, wherein the controller is configured to determine a two- or three-dimensional density profile of the food item, and to determine the two-dimensional weight distribution of the food item on the basis of at least the determined density profile.

[0100] Embodiment 10. A method of cutting a food item into food item portions by use of a food processing system, the food processing system comprising a conveyor, an imaging system, a cutting device, and a controller, the method comprising the steps of: [0101] the conveyor conveying the food item past the imaging system; [0102] the imaging system imaging the food item and obtaining image data thereof; [0103] the controller: [0104] receiving the imaging data; [0105] determining the location of defective areas on the basis of at least the received data; and [0106] determining a distribution of portion cuts over the food item dividing the food item into food item portions on the basis of at least the determined location of defective areas and a desired portion size and/or weight;
the cutting device cutting the food item according to the determined distribution of portion cuts.