[01] The present invention regards an automated system and method for the hanging of live birds to slaughter which, notably, consists of the association of an innovative anthropomorphic robot system endowed with a thermal vision system that promotes the automation of the stage of hanging live birds, thereby dispensing with human manipulation and participation, thus allowing conformity with the humane slaughter of birds (World Society for Animal Protection), in addition to enabling improvement in production control and planning.

[02] Currently, the slaughter of birds is established according to the regulation of industrial and sanitary inspection of animal products and to the technical regulation of the technological and hygienic-sanitary inspection of poultry meat, where norms are provided for the stages of slaughter, such as: pre-slaughter - capture and transport - and slaughter - stunning, bleeding, scalding, plucking, evisceration, pre-cooling, chilling, dripping, sorting, packaging, and storage time.

[03] For the sake of education, pre-slaughter consists in the provision of a liquid diet to the birds, in order to clean the digestive tract, thus avoiding contamination of the carcass and cases of rupture, the ideal time of which being 8 to 12 hours. Also, in this pre-slaughter stage, the capture of birds should be done quickly and preferably at night, under blue light, grouping in batches and capturing each bird individually; it must be carried by both legs held vertically, avoiding discomfort and injuries.

[04] Cages are used for the transport of birds, which must be carried out at night, whilst the order of slaughter must follow the order in which the trucks arrive at the slaughterhouse.

[05] After the stages of pre-slaughter, the birds proceed to slaughter where the following stages are foreseen: a) Reception: must be carried out as quickly as possible so that pre-slaughter stress is reduced; the favorable environment is shaded, provided with fans for a favorable microclimate, besides the provision of nebulizers to normalize humidity and, thus, prevent the birds from suffocating; b) Hanging: the birds are hung by the legs on supports connected to the noria (air conveyor) which, in turn, consists of a track where hook-transporting chains are mounted, along the carcass processing line, on which the animals hang from variable heights, depending on the operations to be performed. To that end, workers arranged along the equipment (E) and close to a straight canvas belt (tl) positioned below and parallel to the hook belt (gl) (see figure 1) manually perform each of the following steps: i) opening, by an employee, (A) of the boxes (C) with nine chickens; ii) these boxes (C) proceed and operators (B) pick one at a time and manually place the two chicken legs on a hook (gl) which is in motion and, finally, the chicken is caught by the legs, with its head down. The conveyor takes the boxes with chicken all the way through, one after the other, supplying the employees who shall pick the chickens and hang them on the hooks. One operator shall pick up to 900 chickens/hour = 15 chickens/minute = 1 chicken at every 4 seconds; c) Stunning or desensitization: this procedure is performed by means of electro narcosis, where the bird's head is immersed in a tank with liquid, usually brine, wherein a current of 28 to 50 volts is fed. In that manner, the birds reduce the intense muscle contractions and acquire a state of insensitivity to the pain of the bleeding cut, positioning themselves with the neck arched, wings next to the body and distended toes, facilitating and making their handling safer; d) Bleeding: at this stage, cutting the trachea should be avoided, so the bird will continue to breathe and the bleeding is facilitated. Bleeding lasts around three minutes. In the first 40 seconds, 80% of the blood is released, and in the interval between one and two and a half minutes, full bleeding is complete. That is very important, as it prevents the birds from entering the scalding tank while still breathing; e) Scalding: at this stage, the birds are immersed in a tank of hot water under agitation. When a more yellowish skin pigmentation is desired, mild scalding is performed, using temperatures around 52° C for two and a half minutes. If this temperature is exceeded, it can cause the meat to shrink and harden; f) Plucking: this step is carried out through the mechanical action of rubber "fingers", which are attached to rotating drums. Wings, legs, neck, and body are plucked. However, the plucker must be well regulated so the feathers are removed without damage to the carcass, either by abrasion of the skin or by the breaking of bones; g) Evisceration: During this process, the head, viscera, feet, crop, and lungs are removed from the plucked carcass. The giblets are also collected, and the gizzard, heart, and liver must be cleaned. At this stage, the federal inspection checks the health of the birds.

[06] Said current system has some drawbacks, mainly in the stage of hanging or suspension by the feet on the hooks of the noria, the supply of which depends exclusively on trained workers, in order to perform this activity swiftly and carefully, to ensure the safety of the animals, in order to avoid pain, agitation, injuries, and bruises in the birds.

[07] The success of this stage depends, fundamentally, on the awareness and training of the operators, on the perfect adjustment of the equipment in relation to the lot and the environment, which must be darker than the other areas and calm (EMBRAPA, 2007).

[08] However, as the success of the hanging currently depends exclusively on the capacity of the workers, this step can often be performed inappropriately, causing serious injuries to the birds and becoming improper for humane slaughter and, consequently, resulting in violation of procedures set by world animal protection society.

[09] On the other hand, slaughterhouses, as well as companies involved in the industry of slaughter, meat, and derivatives, have presented, in recent years, very high numbers that attest cases of occupational diseases in the sector, and these diseases occur due to various problems experienced by the professionals who perform in this area.

[010] Thus, according to studies carried out in the sector, the regulatory norm NR36 - Safety and health at work in companies of slaughter and processing of meat and meat products - was developed, with aims at guiding the functions established for workers, considering the volume of work, breaks for recovery and rest, assessment of exposure time to certain products, and suitability of furniture in the work environment, besides other factors that directly influence the conditions and the characteristics of workers.

[Oil] This norm seeks to establish adequate conditions for workers to perform their duties in activities related to the industry of slaughter and processing of meat and meat products intended for human consumption. Such measures are necessary so that there is constant evaluation, in addition to the control and actions to fight the risks of occupational accidents in the sector.

[012] Despite the regulatory standard NR36, the turnover of labor is very high, whilst hiring labor for this operation is very difficult, since the continuous exposure of the operator in the handling of birds also involves the inhalation of an unpleasant odor, in addition to the daily contemplation of the suffering of the birds.

ANALYSIS OF THE STATE OF THE ART

[013] In a research carried out in specialized databases, documents referring to means of control in the slaughter of chickens were found, such as document n^. BR102013019117-5 which addresses an optimized method and system for the scheduling of production synchronized with the logistics of catching chickens based on a genetic algorithm that performs the optimization of an objective function that has, as input, the master production plan associated to the number of birds to be slaughtered by a given production line and the restrictions associated with the capacity of production lines, quantity and capacity of trucks, capacity of poultry boxes, distance from the slaughterhouse to the farm, among others; and generates, as output, a slaughter plan, the programming of production lines, and the logistics of catching the birds in a synchronized manner, having as optimization parameter the maximum waiting time allowed for slaughter.

[014] The document no. PI 0803200-9 refers to the process of systematic marking of poultry carcasses through optical laser, causing slight burns on the skin of the carcasses, carried out automatically using photocells, so that when the hook for hanging the chickens passes through this equipment , the information is taken to a computer that determines the marking, through the optical laser, of the respective batch that is being slaughtered, providing total traceability of the birds during the slaughter process, until the meat packaging.

[015] The document no. PI0703808-9 refers to a system for control of the stunning current in a poultry slaughtering equipment, a stunning current control device, and poultry stunning method. A system, a method, and a device for the slaughter of birds are described. The system comprises a first sensor group to detecting the hooks of the noria and a second sensor group to detect the presence of a bird on a respective hook, upstream of the vat. The characteristics of stunning - current, frequency, waveform, and voltage - are pre-programmed in a stunning current control device, which controls a source so that the useful power supplied by the source is as a function of the actual number of birds within the vat, detected by the sensor groups.

[016] The documents found, despite belonging to the same field of application, do not present any of the characteristics of the object now improved, thus ensuring that it meets the legal requirements of patentability.

PURPOSES AND ADVANTAGES OF TH E INVENTION

[017] The said invention consists in the association of an innovative anthropomorphic robot system endowed with a vision system that promotes the automation of the stage of the hanging of live birds in conventional equipment, of the noria type, with a conveyor provided with hooks at the entrance of the slaughterhouse, dispensing with any type of human participation and handling.

[018] This novel method promotes faster hanging of live birds in noria type equipment, whilst ensuring the integrity of the bird, in order to collaborate with the suitability for the humane slaughter of birds.

[019] It is an object of the invention to make the slaughtering of birds less costly.

[020] Another object of the invention is to promote greater control and production planning with higher final quality of production.

[021] Another object of the invention lies in the fact that the prediction of robots associated with the vision system eliminates the need for recruiting human labor.

[022] Another object of the invention lies in the fact that the novel method makes the environment healthier and, above all, meets the standards of sanitary vigilance.

DESCRIPTION OF THE FIGURES [023] To complement this description, in order to achieve better understanding of the characteristics of the present invention and according to a preferred practical embodiment of the same, the description is appended with a set of drawings where operation of the same has been presented in an exemplified, though not limiting, manner:

[024] Figure 1 represents a schematic and perspective view of the current system of the hanging stage;

[025] Figure 2 shows a perspective view of the elements that make up the novel system for the entry of boxes with live chickens to be sent to automatic hanging cells;

[026] Figure 3 shows a perspective view of the interdependent elements that comprise the novel sorter system for box-opening robots;

[027] Figure 4 shows a perspective view of the robots for the opening the boxes and release of the birds on the conveyors;

[028] Figure 5 shows a perspective view of the robots for the capture and hanging of the birds.

[029] Figure 6 shows a perspective view of a bird illustrating the image pattern for the vision software.

[030] Figure 7 shows a perspective view of a bird illustrating the image pattern for the vision software.

DESCRIPTION OF THE INVENTION

[031] With reference to the illustrated drawings, the present invention comprises a system formed by the set of interdependent elements and the respective automated method in order to configure a correlated organization for the hanging of live birds (av) in the conventional equipment noria (E), whilst dispensing with any type of human participation and handling, where said elements are controlled by software and devices that systematize the activation of a set of conveyors for the displacement of the boxes (C) containing live birds (av), associated with a vision system with thermal image capture (40 and 40A) designed for the anatomical analysis of each bird (av), as well as the synchronization with the speed of the catch (31) of the robot (30) with the displacement speed of the hook (Gl) of the noria equipment (E) for the hanging of the bird (av). [032] The arrangement of the robots (30) may vary according to the size of the noria type equipment (E), whilst enabling in a group of up to twenty robots (30) controlled by a general control panel (50) whilst observing safety standards nrlO - nrl2 220/380/440 - 24 v - 60 hz, wherein said robots (30) are controlled by controllers (CPU2) equipped with software with 'conveyortrack' board, meeting the safety standards nrl0-nrl2-220- 24 v - 60 Hz.

[033] In a preferred constructive version, each anthropomorphic robot (30) with six axes is designed for a load of up to 50 kg with a base (32) made of stainless steel and claw (31), specifically, for the catching of live birds (av) the activation of which being performed with pneumatic cylinder. Said angled claw controlled by a five-way two- position solenoid valve, with 24V coil, provided with toothpick sensors in the cylinder body, signal - PNP - for indicating the open or closed position of the claw.

[034] The pincers (31a) of the claw (31) are preferably made of sanitary polyacetal and shaped according to the bird's anatomy (av), whilst the robot interface (30) with the claw (31) is formed by a round aluminum flange with cable windows.

[035] The system of the invention foresees the installation and interconnection of the following pieces of equipment:

[036] a) Entrance conveyor (21) of the boxes (C) containing live birds (av);

[037] b) Conveyors for the separation (21A) of boxes (C) with friction rollers and pneumatic stop (21B);

[038] bl) Conveyor for the transfer (21C) of full boxes (C) with three ways, being:

[039] The first way (211C) for entry of the full boxes (C) coming from the separator belt (21A), interspaced;

[040] The second way (212C) for the option of hanging of the birds (av) to be transferred to an independent conveyor for the conventional manual method, in case of an emergency stop of the system automation;

[041] The third way (213C) of lateral 90° exit to the sorters (100 or 200) for the opening of new boxes (C);

[042] b2) 90° conveyor belt (21D) for boxes (C) with tractioned rollers and three perpendicular chain paths for transferring boxes (C) being an input, an output in the same direction for the option of feeding boxes (C) for robots (30A) for opening boxes (C) and a perpendicular outlet for the second sorter (200) for feeding boxes (C) for robots (30A) for opening boxes (C);

[043] b3) Three-way straight conveyor belt (21E) for full boxes (C), box feed (C) to the first sorter (100);

[044] b4) 90° conveyor belt (21F) for full boxes (C) with tensioned rollers and three perpendicular current paths for transferring boxes (C), with an input, an output in the same direction for feeding boxes (C) to robots (30A) for opening boxes (C) and a perpendicular outlet for feeding boxes (C) for robot (30A) for opening boxes (C);

[045] b5) Straight conveyor belt (infeed) (21G) for the entry of full boxes (C) with friction rollers and pneumatic stop (21B);

[046] b6) Straight conveyor belt (21H) with PU (polyurethane) track for pneumatic lateral indexer (211), unlocking device (21J) of the lower lid of the boxes (C) and release of birds (av) on the belt (21H);

[047] b7) Straight conveyor belt (21K) with double track and different speeds in PU (polyurethane), group separator of birds (av) that leave the conveyor belt (21H);

[048] c) Exit conveyor (22) for empty boxes (C);

[049] d) Modular conveyor of the main line (23) with bays (23a);

[050] e) Individual enclosure (GD2) per robot (30) with door (GD3) for maintenance;

[051] f) General control panel (50) for up to ten robots, 440 -24V with inverters;

[052] j) Anthropomorphic robot(s) (30) with six axes for load with base (32) made of stainless steel and claw (31), specifically, for the catching of live birds, the activation of which being performed with a pneumatic cylinder controlled by an solenoid valve; the clamps ( 31a) of the food-grade thermoplastic claw automatically shaped to the anatomy of the chicken;

[053] h) Thermal vision camera (40) to capture anatomical images of chickens (av);

[054] i) Data processing center (CPU1) of the vision system;

[055] j) Robot controller (CPU2);

[056] k) Encoders (80) for speed indication of the main conveyor (23), conveyor belt (E), and new hooks (Gl); [057] I) Presence sensor (si) of the hook (Gl);

[058] I) Presence sensor (s2) of the bird (Gl);

[059] n) Trigger sensor (40A) activates image capture with the camera (40); and

[060] o) System for programmed washout of the conveyors (70) with rotating brushes (71).

[061] o) System for programmed washout of the conveyors (70) with rotating brushes (71).

The arrangement of the interdependent elements of the system described above comprises:

[062] i) enclosure of the noria (E) meeting NR12 safety standards through the provision of grids (GD) around the entire contour of existing or new equipment to prevent unplanned access having a controlled access door (GDI); and

[063] ii) individual enclosure - restricted access to a robot (30) - in compliance with the NR 12 safety standards, grids (GD2) are provided around the equipment to prevent unplanned access, having a controlled access door (GD3) for maintenance.

[064] The very method of the invention starts from the moment each plastic box (C) with nine chickens is manually placed on the inlet conveyor (21) of the system, one at a time, in sequence; said boxes (C) are stopped on the conveyors (21A) by the "stoppers" (21B) and released one at a time, as a result of the demand of the system, according to the following options:

[065] Option 1 - System demand will activate the transfer conveyor (21C) which will direct the boxes (C) straight to manual hanging.

[066] Option 2 - The boxes (C) follow to the transfer conveyor (21D) that will supply the next demands of the system:

[067] Option 3 - The boxes (C) follow to the second sorter (200) or buffer (21L) of boxes, in case there is a change of trucks at the entrance conveyor belt (21);

[068] Option N^4 - The boxes (C) follow to the first sorter (100) of box feed (C) to the robots for the opening (30A) of boxes (C). When the boxes (C) follow to the first sorter (100), the system will meet the demand of the transfer conveyor belts (21F), sending the boxes (C) to the infeeds (21G) and stopping at the stopper (21B).

[069] From the moment the system sends the signal to the stopper (21B), the box (C) is released and will enter the conveyor belt (21H).

[070] With the box (C) stopped on the conveyor belt (21H), it will be indexed by the pneumatic device (211) and will activate the other pneumatic device (21J) to unlock the opening of the lower cover of the box (C).

[071] Upon unlock of the bottom of the box, the robot (30A) will be activated to pick up the box with the claw (31A) and lift it vertically, releasing the birds from within the box onto the conveyor belt (21H).

[072] Once the robot (30A) finishes the vertical movement and releases the birds, it will place the empty box on the cleaning conveyor (22) with a continuous wash-out system (70) formed by rotating brushes (71) with continuous water jet installed in the return of the 304 stainless steel conveyor and 2-way thermoplastic track.

[073] At the same time, the conveyor (21H) is activated, sending the birds to the conveyor (21K) and the process of entrance of full boxes is repeated.

[074] The conveyor (21K) has two tracks with different speeds, acting as a separator of agglomerated birds, sending the birds to the main conveyors (23) endowed with side panels, thus preventing the birds from agglomerating and leaving the tracks.

[075] The succession of conveyors (23) with different speeds, in an array of increasing speeds, provides separation of the birds until they reach the reading position of the thermal vision camera (40).

[076] The camera (40) will be activated by a trigger sensor (40A) that will capture the image of the bird (av), and will send the coordinates to the robot (30), allowing its correct positioning to capture the bird with its claw (31).

[077] The claw (31) will perform the automatic setup according to the image indicated by the camera (40) informing the size of the bird (av) before capture.

[078] Once the robot (30) has caught the bird (av) with the claw (31), it will place the bird (av) on the hook (Gl), developed especially for this system, head down on the noria (E), synchronized with an encoder (80) and with the conveyor (23). [079] Said vision system (SV) identifies the anatomical conditions of the bird (av), such as the contour and positioning as per the coordinates of the x, y, alpha axes and, upon capture of the information, sends the data to the central processing unit of vision data (CPU1) which, in turn, processes the information and instantly sends the coordinates to the robot controller (CPU2), preferably endowed with a 'conveyortrack' board that synchronizes the robot's grip speed (30) with the speed of the noria (E), so as to identify the exact moment to hang the bird (av). The end of the operation is carried out with the 'cycle' command, that is, leave the 'home' position to catch the bird and hang and return to the 'home' position.

[080] An encoder (80) is provided on the drive axle (E), which indicates the speed of the noria (E) for the robot controller (30) and a 'conveyortrack' board enabling the correction and synchronization at the moment the robot (30) will hang the bird (av) on the hook (Gl), whilst another encoder (81) is provided on the conveyor traction axis (23) to indicate the speed of the main track to the robot controller (30) and 'conveyortrack' board, enabling the correction and synchronization at the moment the robot will catch the bird (av) on the main conveyor belt (23). Said hook (Gl) foresees a presence sensor (si) which indicates at what time and where a hook has passed, regardless of whether the hook is full or empty, and a presence sensor (s2) of the bird (av), which indicates at what time and where a hook (Gl) has passed, depending on whether the hook is full or empty.