METHOD AND APPARATUS FOR INSPECTING THE ABDOMINAL CAVITY OF GUTTED FISH

Abstract

The present invention relates to an apparatus for optical inspection of the opened abdominal cavity (10) of gutted fish (11), comprising a conveying device (12) configured for conveying the fish (11) along a processing line in the longitudinal direction, pivotable ventral flaps holding elements (17) configured for holding open the abdominal cavity (10) of the fish, at least one optical imaging system (21, 22, 23) arranged along the processing line, said optical imaging system being designed and configured to take at least one sequence of images of abdominal cavity regions of one of the fish (11) in each case, said sequence comprising a plurality of single images, at least one illumination device (24, 25) configured for illuminating the abdominal cavity regions in each case with light of a predetermined spectral composition, in each case at the times the single images are taken, an evaluation unit (26) configured to evaluate the image sequence according to prescribed quality parameters, said evaluation unit being designed to activate an ejection device to remove the relevant fish (11) from the processing line by ejecting it, should the evaluation reveal any deviation from the prescribed quality parameters. The invention further relates to a corresponding method.

Claims

1. Method for optical inspection of gutted fish (11) with opened abdominal cavity (10), comprising conveying the fish (11) along a processing line in the longitudinal direction (13) by means of a conveying device (12), pivoting of ventral flaps holding elements (17) configured for holding open the abdominal cavity (10) of the fish (11), taking of at least one sequence of images of abdominal cavity regions of one of the fish (11) in each case, said image sequence comprising a plurality of single images taken using at least one optical imaging system (21, 22, 23) arranged along the processing line, illuminating the abdominal cavity regions with light of in each case a predetermined spectral composition by means of at least one illumination device (24, 25), in each case at the times the single images are taken, evaluating the image sequence according to prescribed quality parameters and removal of the relevant fish (11) from the processing line by ejecting it using an ejection device, should the evaluation reveal any deviation from the prescribed quality parameters.

2. Method according to claim 1, characterised in that the illumination takes place in each case with light of different spectral ranges at the times the images are taken.

3. Method according to claim 2, characterised in that illumination takes place with light of a narrow band spectrum.

4. Method according to claim 1, characterised in that the time interval between taking two consecutive single images of one of the image sequences is chosen such that the two consecutive single images at least substantially illustrate the same abdominal cavity region.

5. Method according to claim 1, characterised in that each of the single images is taken with a separate optical imaging system (21, 22, 23).

6. Method according to claim 5, characterised in that each of the optical imaging systems (21, 22, 23) is assigned a separate illumination device (24, 25) by means of which the illumination takes place in each case at the times the images are taken.

7. Method according to claim 1, characterised in that the single images are taken in black and white.

8. Method according to claim 1, characterised in that at least one of the single images is taken with one of the separate optical imaging systems (21, 22, 23) with a viewing direction onto the abdominal cavity (10) that is vertical or at least substantially vertical.

9. Method according to claim 8, characterised in that at least one other of the single images is taken with one other of the optical imaging systems (23) with a viewing direction that is inclined in relation to the vertical viewing direction.

10. Method according to claim 9, characterised in that in the inclined viewing direction the images are taken towards the head of the fish (11).

11. Method according to claim 2, characterised by overlaying the single images of the image sequence to create one overall image.

12. Method for gutting fish (11) which are conveyed along a processing line in the longitudinal direction (13) by means of a conveying device (12), opening of the abdominal cavity (10) of the fish (11), cleaning out of the abdominal cavity (10) by means of gutting tools and subsequent optical inspection of the abdominal cavity (10) of the gutted fish (11) by means of a method according to claim 1.

13. Apparatus for optical inspection of the opened abdominal cavity (10) of gutted fish (11), comprising a conveying device (12) configured for conveying the fish (11) along a processing line in the longitudinal direction, pivotable ventral flaps holding elements (17) for holding open the abdominal cavity (10) of the fish, at least one optical imaging system (21, 22, 23) arranged along the processing line which is designed and configured to take at least one sequence of images of abdominal cavity regions of one of the fish (11) in each case, said image sequence comprising a plurality of single images, at least one illumination device (24, 25) configured for illuminating the abdominal cavity regions, in each case with light of a predetermined spectral composition, in each case at the times the single images are taken, an evaluation unit (26) configured to evaluate the image sequence according to prescribed quality parameters, said evaluation unit being designed to activate an ejection device to remove the relevant fish (11) from the processing line by ejecting it, should the evaluation reveal any deviation from the prescribed quality parameters.

14. Apparatus according to claim 13, characterised in that the at least one illumination device (24, 25) is configured to illuminate the abdominal cavity region in each case with light of different spectral ranges, at the times the images are taken.

15. Apparatus according to claim 14, characterised in that the at least one illumination device (24, 25) comprises a light source which is configured to emit light of a narrow band spectrum.

16. Apparatus according to claim 13, further comprising control means which are designed and configured to control the at least one optical imaging system (21, 22, 23) in such a way that the time interval between taking two consecutive single images of one of the image sequences is chosen such that the two consecutive single images at least substantially illustrate the same abdominal cavity region.

17. Apparatus according to claim 13, characterised in that a plurality of the optical imaging systems (21, 22, 23) are each arranged and configured separately along the processing line to take each of the single images with one of said optical imaging systems (21, 22, 23).

18. Apparatus according to claim 17, characterised in that each of the optical imaging systems (21, 22, 23) is assigned a separate illumination means (24, 25) which is configured to illuminate the abdominal cavity regions in each case at the times the images are taken.

19. Apparatus according to claim 13, characterised in that the at least one optical imaging system (21, 22, 23) is designed as a black and white camera.

20. Apparatus according to claim 13, characterised in that the at least one optical imaging system (21, 22, 23) is arranged in such a manner that at least one of the single images is taken with a viewing direction onto the abdominal cavity (10) that is vertical or at least substantially vertical.

21. Apparatus according to claim 20, characterised in that at least one further optical imaging system (23) is arranged in such a manner that at least one other of the single images is taken with a viewing direction that is inclined in relation to the vertical viewing direction.

22. Apparatus according to claim 21, characterised in that the at least one further optical imaging system (23) is inclined in such a manner that in the inclined viewing direction the images are taken towards the head of the fish.

23. Apparatus according to claim 13, characterised in that the evaluation unit (26) is configured to overlay the single images of the image sequence to create one overall image.

24. Apparatus for gutting fish (11) which are conveyed along a processing line in the longitudinal direction (13) by means of a conveying device (12), comprising opening tools configured for opening the abdominal cavity (10) of the fish, gutting tools designed for cleaning out the abdominal cavity (10) and an apparatus for subsequent optical inspection of the abdominal cavity (10) of the gutted fish (11) according to claim 13.

Description

[0029] Further preferred and/or expedient features and embodiments of the invention emerge from the dependent claims and the description. Especially preferred embodiments are explained in greater detail with reference to the attached drawing. The drawing shows:

[0030] FIG. 1 a schematic diagram of the apparatus according to the invention in lateral view.

[0031] FIG. 2 a schematic diagram of a first process step according to the invention in detail,

[0032] FIG. 3 a schematic diagram of a second process step according to the invention in detail,

[0033] FIG. 4 a schematic detail view with a ventral flaps holding element in a waiting position of the apparatus according to the invention in lateral view.

[0034] FIG. 5 a schematic detail view with a ventral flaps holding element in a working position of the apparatus according to the invention in lateral view,

[0035] FIG. 6 a perspective view of the detail view illustrated in FIG. 4 and

[0036] FIG. 7 a perspective view of the detail view Illustrated in FIG. 5.

[0037] The apparatus according to the invention and the method according to the invention will be described in greater detail in the following based on the drawing. To avoid repetition, the method according to the invention will also be explained based on the apparatus according to the invention. The statements made regarding the apparatus therefore also apply analogously to the method according to the invention.

[0038] FIG. 1 shows a schematic diagram of the apparatus according to the invention in lateral view. The apparatus is designed and configured for optical inspection of the opened abdominal cavity 10 of gutted fish 11. The apparatus comprises a conveying device 12 configured for conveying the fish 11 along a processing line in the longitudinal direction 13. The conveying device 12 is designed, for example, as a rotating conveyor belt 14 with holding and centring means 15. The holding and centring means are configured to hold the fish 11 in the dorsal position and to align them so that they are conveyed in the longitudinal direction 13 with the opened abdominal cavity 10 pointing upwards. The holding and centring means 15 are preferably designed in a V shape. One each of the holding and centring means is designed as a tail clamp 16 which secures the relevant fish 11 against slipping in the longitudinal direction 13.

[0039] The apparatus according to the invention further comprises pivotable ventral flaps holding elements 17 for holding open the abdominal cavity 10 of the fish. The ventral flaps holding elements 17 preferably comprise a substantially V-shaped spreading bow 18 which is moved via a pivot lever 19 into the abdominal cavity 10 and back out of it again. The ventral flaps holding elements 17 are designed and configured to spread apart the ventral flaps of the opened abdominal cavity 10 of the fish 11.

[0040] At least one optical imaging system is arranged on the processing line, for exampleas shown in FIG. 1a first imaging system 21, a second imaging system 22 and a third imaging system 23. The present invention, however, is not limited to the number of imaging systems 21, 22, 23 shown but alternatively may also comprise fewer or more of the imaging systems 21, 22, 23. The imaging systems 21, 22, 23 are designed and configured to take at least one sequence of images of abdominal cavity regions of one of the fish 11 in each case, said image sequence comprising a plurality of single images.

[0041] Using a first illumination device 24 and a second illumination device 25, the abdominal cavity regions are illuminated, in each case with light of a predetermined spectral composition, in each case at the times the single images are taken. As shown in FIG. 1, the number of illumination devices is not limited to only two. Alternatively, it is also possible to employ only a single one of the illumination devices 24, 25 or to use more than two of the illumination devices 24, 25.

[0042] An evaluation unit 26 is designed and configured to evaluate the image sequence in respect of prescribed quality parameters and to activate an ejection devicenot shown in the drawingto remove the relevant fish 11 from the processing line by ejecting it, should the evaluation reveal any deviation from the prescribed quality parameters. The prescribed quality parameters relate, for example, to optical comparative values that provide information about the extent or degree to which the guts have already been removed. This also includes comparative values pertaining to blood residues or connective tissue residues. In addition, the quality parameters include variables for checking the correct position of the ventral incision.

[0043] The evaluation unit 26 is connected to the optical imaging systems 21, 22, 23, the first and second illumination devices 24, 25, an actuator 27 for moving the ventral flaps holding elements 17 and preferably to a drive 31 for driving the conveying device 12 such that the evaluation unit 26 can control or regulate the aforementioned components. The connections are preferably designed as electrical connections.

[0044] The first illumination device 24 and the second illumination device 25 are each configured to illuminate the abdominal cavity region, in each case with light of different spectral ranges at the times the images are taken. The spectral ranges each comprise a section of the visible or infra-red wavelength spectrum.

[0045] Preferably, the first illumination device 24 and the second illumination device 25 each comprise a light source which is configured to emit light of a narrow band spectrum. Narrow band means that the light covers a spectral range having a wavelength smaller than 100 nm. Especially preferably, the light is monochromatic in each case.

[0046] The evaluation unit 26 further comprises control means which are designed and configured to control the imaging systems 21, 22, 23 in such a way that the time interval between taking two consecutive single images of one of the image sequences is chosen such that the two consecutive single images at least substantially illustrate the same abdominal cavity region. In other words, the control means are configured, in coordination with the set conveying speed of the conveying device 12, to take the single images at such a time interval that each of the single images substantially shows the same region of the abdominal cavity 10.

[0047] As can be seen from FIGS. 2 and 3, a plurality of optical imaging systems 21, 22, 23 are arranged along the processing line, in each case only the first imaging system 21 and the third imaging system 23 being illustrated in the detail views of FIGS. 2 and 3. The optical imaging systems 21, 22, 23 are preferably each arranged and configured separately to take each of the single images with one of the optical imaging systems 21, 22, 23. For the sake of clarity, the ventral flaps holding elements 17 which hold open the abdominal cavity 10 of each fish 11 for optical inspection are not shown in FIGS. 2 and 3.

[0048] Especially preferably, each of the optical imaging systems 21, 22, 23 is assigned a separate illumination means which is configured to illuminate the abdominal cavity regions in each case at the times the images are taken. As shown in FIGS. 2 and 3, the first illumination device 24 is assigned to the first imaging system 21 and the second illumination device 25 is assigned to the third imaging system 23.

[0049] According to an advantageous embodiment of the invention, the imaging systems 21, 22, 23 are each designed as a black and white or as a monochrome camera.

[0050] Alternatively, one or more of the imaging systems 21, 22, 23 in each case is designed as a colour camera.

[0051] At least one of the optical imaging systems 21, 22, 23 is preferably arranged in such a manner that at least one of the single images is taken with a viewing direction onto the abdominal cavity 10 that is vertical or at least substantially vertical. For this, for example, the first imaging system 21 and the first illumination device 24 are arrangedas shown in FIG. 2above the conveying device 12.

[0052] As shown in FIG. 3, at least one further optical imaging system, for example the third imaging system 23, is arranged in such a manner that at least one other of the single images is taken with a viewing direction that is inclined in relation to the vertical viewing direction. In particular, the third imaging system 23 is inclined in such a manner that in the inclined viewing direction the images are taken towards the head of the fish.

[0053] The evaluation unit 26 is configured in particular to overlay the single images of the image sequence to create an overall image. The overall image may optionally be displayed for control purposes. The overall image is further used for quality control. The evaluation unit 26 is preferably configured to assemble the image sequence into a false colour image by weighting the single frames differently.

[0054] In particular, the imaging systems 21, 22, 23 and the illumination devices 24, 25 are preferably arranged encapsulated in a housing 28 with at least one viewing window 30.

[0055] FIG. 5 shows a schematic detail view with the ventral flaps holding elements 17 in a working position of the apparatus according to the invention in lateral view. The ventral flaps holding elements 17 are guided into the abdominal cavity and hold the ventral flaps 20 open laterally so that the abdominal cavity can be inspected. FIG. 4 shows how the ventral flaps holding elements 17 are in a waiting position outside the abdominal cavity.

[0056] FIGS. 6 and 7 respectively show a perspective view of the detail views of FIGS. 4 and 5. FIGS. 4 to 7 each show a centring aid 29, by means of which the fish 11 are guided laterally and are thus centred in the middle.

[0057] The present invention further comprises an apparatus for gutting fish 11 which are conveyed along a processing line in the longitudinal direction 13 by means of the conveying device 12. The apparatus comprises opening tools configured for opening the abdominal cavity 10 of the fish 11, gutting tools designed for cleaning out the abdominal cavity 10 and an apparatus for subsequent optical inspection of the abdominal cavity 10 of the gutted fish 11 as described above. Such apparatuses for opening the abdominal cavity and the gutting tools are known, for example, from documents EP 1003378 A1 and EP 1411775 and are therefore not further described in detail.