WO2024146676A1

WO2024146676A1 - Crustacean processing method and system

Info

Publication number: WO2024146676A1
Application number: PCT/DK2023/050332
Authority: WO
Inventors: Thomas Kidde NØRGAARD
Original assignee: Qn Development Aps
Current assignee: Qn Development Aps
Priority date: 2023-01-04
Filing date: 2023-12-22
Publication date: 2024-07-11
Anticipated expiration: 2025-07-04
Also published as: EP4646113A1

Abstract

A crustacean processing method and system; the method comprising positioning a crustacean with a head end of the crustacean oriented toward a deshelling arrangement; wherein said method comprises the processing steps of automatically deshelling the head shell portion of said crustacean to expose at least s soft tissue head segment. The automatically deshelling comprises engaging the crustacean at one or more point(s) of engagement of said crustacean with said deshelling arrangement; wherein one or more point(s) of engagement forms part of the head shell portion; and exerting a directional force at the one or more point(s) of engagement with the deshelling arrangement to detach said head shell portion.

Description

CRUSTACEAN PROCESSING METHOD AND SYSTEM

Field of the invention

[0001] The present invention relates to a crustacean processing method and to a crustacean processing system and use hereof for processing one or more crustaceans.

Background of the invention

[0002] Processing of crustaceans such as shrimp, prawn, crayfish etc. relates to removing unwanted body parts, including, e.g., the head, which is typically not desired in, e.g., food products. Furthermore, manual crustacean processing is labor intensive.

[0003] A number of devices have been developed to process crustaceans, wherein a common processing step is cutting of the entire head of the crustacean. Unfortunately, cutting of the entire head results in waste material and energy consuming processing of the waste material.

Summary of the invention

[0004] The inventors have identified the above-mentioned problems and challenges related to processing of crustaceans and subsequently made the below-described invention, which may increase the meat yield of a crustacean while at the same time minimizing energy consumption related to further processing of waste products of the crustacean such as a head shell portion.

[0005] The invention relates to a crustacean processing method; wherein said method comprises processing a crustacean comprising a head shell portion which at least partly covers a soft tissue head segment of said crustacean; wherein said method comprises: positioning said crustacean with a head end of said crustacean oriented toward a deshelling arrangement; and wherein said method comprises the processing steps of: automatically deshelling said head shell portion of said crustacean to expose at least said soft tissue head segment; wherein said automatically deshelling comprises: engaging said crustacean at one or more point(s) of engagement of said crustacean with said deshelling arrangement; wherein one or more point(s) of engagement form part of said head shell portion; and exerting a directional force at said one or more point(s) of engagement with said deshelling arrangement to detach said head shell portion.

[0006] Advantageously, the invention provides automatic removal of a head shell portion of crustaceans. Further advantageously, the head shell portion is liberated from the crustacean without completely deheading the crustacean. Thereby, the liberated head shell portion advantageously comprises a minimum of soft tissue. This, advantageously, minimizes the time and energy required for, e.g., drying the head shell portion when the head shell portion is, e.g., to be used for making, e.g. collagen and/or other products, e.g., coloring pigment.

[0007] Furthermore, by exposing the soft tissue head segment of the crustacean, the soft tissue head segment may advantageously be utilized for valuable purposes. Such purposes may include, e.g., utilizing the soft tissue for animal food. Notice further that the soft tissue head segment comprises muscle tissue portion that may advantageously be used for human food, including human food products.

[0008] In the present context, the term engaging may refer to, e.g., making physical contact between the deshelling arrangement and the crustacean, and, e.g., in such a way that the crustacean is held onto or fixated by the deshelling arrangement. Hence, engaging may in the broadest understanding include, e.g., getting a hold of the crustacean, holding, grabbing, gripping and/or grasping the crustacean. It should be understood that the term engaging is not limited to particular ways of engagement between the deshelling arrangement and the crustacean.

[0009] In the present context, the term point(s) of engagement may be understood as a location on the crustacean and/or an area or a portion of the crustacean, whereas the crustacean is engaged by the deshelling arrangement.

[0010] In the present context, the term deshelling may refer to the act of removing a shell of a crustacean. The shell may sometimes also be referred to as an exoskeleton. Hence, deshelling a head shell portion of a shell of said crustacean may refer to the removal of the exoskeleton of the head of the crustacean. It should be understood that removal of the head shell portion may be performed without necessarily, e.g., removing the rest of the shell that covers other parts of the crustacean, such as, e.g., the shell that covers other body parts of the crustacean.

[0011] In the present context, the term automatically may refer to that the process, e.g., deshelling, is performed without the process requiring any manual work, such as any of the mentioned work being carried out by a human.

[0012] In the present context, the term head shell portion may refer to the part or portion of the shell (sometimes referred to as exoskeleton) of the crustacean that covers an anterior portion of the crustacean, including the head, e.g., the brain and other soft tissue of the crustacean. The head shell portion may, e.g., comprise at least a part of the carapace and typically also the rostrum of a crustacean, such as, e.g., a shrimp or a prawn. Furthermore, the interior of the head shell portion may cover a soft tissue head segment.

[0013] In the present context, the term head end refers to the end of the crustacean comprising the head. The head is part of the anterior portion, which may refer to the portion of the crustacean that comprises the head, legs, antennae, including the exoskeletal and soft tissue parts of the head. A posterior body portion of the crustacean is located posterior to the anterior portion of the crustacean. The most posterior portion of the posterior body portion comprises the tail end. A ventral portion refers to the side of the crustacean that comprises the legs, while the dorsal portion refers to the side of the crustacean opposite to the ventral portion.

[0014] In the present context, the term soft tissue may be understood as biological tissue that is not bone or exoskeletal tissue, including, e.g., intestine, brain tissue, muscle tissue, ligaments, glands, gills etc., to name a few.

[0015] In the present context, the term soft tissue head segment may refer to soft tissue that is contained within an interior of said head shell portion of said crustacean. Thus, non-limiting examples of tissue that may be included in the soft tissue head segment may include, e.g., brain tissue, ligaments, glands, gills and muscle tissue including a head segment meat piece, to name a few. The head segment meat piece may comprise a meat piece that is sometimes referred to as tie meat. The head segment meat piece may advantageously provide an additional meat yield of the crustacean of between 3-10%.

[0016] The head shell portion comprises an exterior side and an interior side. The interior of the head shell portion may comprise, e.g., the soft tissue head segment.

[0017] In the present context, the term crustacean may in principle refer to any crustacean. Non-limiting examples of crustaceans include, e.g., shrimp, prawn, lobster, crayfish, to name a few. Off note, in the present context, the term shrimp and prawn may be used interchangeably to describe either of the two. Hence, the term prawn may be referred to as shrimp, and shrimp may sometimes be referred to as prawn.

[0018] In the present context, the term exerting a directional force may be understood in a broad sense to comprise any exerting force acting in a direction. Hence, nonlimiting examples of directional force may include, e.g. pulling, pushing, scraping, blasting, blowing, compressing, squeezing, etc. Furthermore, the term exerting may sometimes also be referred to by, e.g., the word applying.

[0019] In the present context, the term deshelling pertains to deshelling of the head shell portion of a crustacean or to at least partial removal of the head shell portion. Thus, the deshelling may refer to the removal or detachment of a head shell portion of the crustacean, and not to the removal of shell or exoskeletal parts of, e.g., the posterior portion, including, e.g., the shell of the tail of a crustacean.

[0020] According to an embodiment of the invention, said positioning of said crustacean comprises fixing said crustacean in a longitudinal direction.

[0021] Advantageously, this has the effect that the crustacean is kept fixed in a longitudinal direction when the directional force is exerted, which is advantageous. A further advantageous effect is that the directional force may be applied (exerted) accurately at the point(s) of engagement.

[0022] In the present context, the term fixing may refer to keeping the crustacean fixed. E.g., fixing may be understood as the action of fastening a crustacean in place. Hence, fixing may also be understood as, e.g., fastening, fixating, attaching and holding secure the crustacean, to name a few non-limiting examples.

[0023] A crustacean typically has an elongated shape, at least when the crustacean is stretched, meaning that the length of the crustaceans are longer compared to the width of the crustacean. Hence, in the present context, longitudinal direction refers to the length of the crustacean.

[0024] According to an embodiment of the invention, said positioning of said crustacean with a headend of said crustacean oriented toward a deshelling arrangement comprises fixing said crustacean in a fixation mechanism.

[0025] Advantageously, this has the effect that the crustacean is kept fixed during the processing of the crustation, including during, e.g., the deshelling. Furthermore, this has the effect that it facilitates detachment of the head shell portion by the directional force, by keeping the crustacean fixed in the fixation mechanism.

[0026] According to an embodiment of the invention, said fixation mechanism is configured to automatically fixing said crustacean in said fixation mechanism when said crustacean engages with said fixating mechanism, and/or when a positioning robot engages with said fixation mechanism.

[0027] Advantageously, this has the effect that it is not necessary to provide a further step of operating a tricker which fixes the crustacean in the mechanism after it is positioned in the mechanism.

[0028] According to an embodiment of the invention, said fixation mechanism is arranged on a transport conveyor configured to move.

[0029] Advantageously, this has the effect that the crustacean may be transported to and from processing arrangements such as, e.g., the deshelling arrangement while being kept fixed in a fixed position. Furthermore, this, advantageously, may facilitate more precise engagement with the crustacean, e.g., during deshelling where the deshelling arrangement engages with point(s) of engagement of the head shell portion of the crustacean. This may in turn minimize the risk of soft tissue being removed from the crustacean together with the head shell portion during deshelling, which is advantageous.

[0030] The term transport conveyor may be understood in a broad sense as any kind of conveyor that may transport a crustacean. Non-limiting examples of a transport conveyor includes a conveyor belt, a chain, etc.

[0031] According to an embodiment of the invention, said transport conveyor is configured to move continuously.

[0032] Advantageously, this has the effect that the processing of one or more crustaceans may be faster. Thereby, this may advantageously increase the processing capacity of processing crustaceans. Also, this has the further effect of being energy efficient, e.g., when compared to step based processing methods where a transport conveyor is moved in steps. It should be noted that a continuously moving conveyor transporting the fixed crustaceans preferably should be synchronized for the desired de-shelling. As mentioned elsewhere, a deshelling should preferably be performed through an engagement with the head shell and a removal of a head shell substantially in the direction in the length of the crustacean. A certain degree of inclination of the removal movement from the length direction of the crustacean may be acceptable, but it must be sufficiently low as to invoke a pull-off of the head-shell while leaving as much of the soft-tissue as possible.

[0033] Hence, in an advantageous embodiment of the invention, the point(s) of engagement at the head-shell is also moving along the direction of the conveyor holding the crustacean(s).

[0034] According to an embodiment of the invention, said transport conveyor is configured to move continuously and wherein the point(s) of engagement during engagement in relation to deshelling is moving along the direction of the movement path.

[0035] According to an embodiment of the invention, said transport conveyor is configured to move continuously and wherein the point(s) of engagement during engagement in relation to de-gilling is moving along the direction of the movement path.

[0036] The mutual synchronization may be adapted to ensure that the point(s) of engagement is following the movement of the crustacean along the movement of the conveyor holding the crustacean.

[0037] According to an embodiment of the invention, positioning said crustacean comprises positioning said crustacean in a supine position.

[0038] Advantageously, this may have the effect that the crustacean is straightened out by the pull of the force of gravity and thereby enabling accurate processing of the crustacean, including, e.g., accurate deshelling a head shell portion of the crustacean. This may be particularly advantageous when processing crustaceans that tend to fold across its abdominal side (sometimes referred to as its ventral side), including, e.g., prawns and/or shrimps, which tend to fold across its ventral side, which in this case is, e.g., the side at which the legs of the prawn are fixed to its body portion.

[0039] It should be understood that the term supine position may refer to the crustacean being positioned with its ventral side facing upwards with respect to the force of gravity. The ventral side may also sometimes be referred to as a bottom side, and the side comprising the legs of the crustacean. In other words, when a crustacean is positioned in a supine position, it corresponds to the crustacean being positioned with its ventral side facing upwards and away from the force of gravity. The ventral side of a crustacean may also sometimes be referred to as the abdominal side or as the bottom side or lower side.

[0040] According to an embodiment of the invention, said positioning is performed by an automatic positioning arrangement comprising a positioning robot and a vision system, and wherein said positioning robot is controlled based on said vision system.

[0041] According to an embodiment of the invention, said positioning system is configured to automatically localize a crustacean and to pick up said crustacean and to automatically position said crustacean in a fixation mechanism. [0042] Advantageously, this has the effect that the positioning of crustaceans may be performed automatically. Furthermore, this may advantageously reduce the requirement for manual positioning by one or more humans, and hence, in addition, it may reduce the risk of human injury caused by, e.g., repetitive work, such as positioning crustaceans.

[0043] The crustacean may be localized by the vision system, which comprises at least one camera and, based on input form of the camera, a controller of the vision system may control the positioning robot to pick up and position the localized crustacean.

[0044] According to an embodiment of the invention, said positioning system is configured to automatically localize a crustacean and to pick up said crustacean and to automatically position said crustacean in a fixation mechanism, the fixation mechanism being one of a plurality of fixation mechanisms attached to a conveyor.

According to an embodiment of the invention, said de-shelling of crustacean is performed while the crustacean is fixed in said fixation mechanism and moving along a movement path defined by said conveyor.

[0045] According to an embodiment of the invention, said de-shelling of crustacean is performed while the crustacean is fixed in said fixation mechanism and continuously moving along a movement path defined by said conveyor.

[0046] According to an embodiment of the invention, said one or more point(s) of engagement comprise at least an anterior portion of a rostrum of said crustacean.

[0047] Advantageously, this has the effect that the head shell portion may be removed from the crustacean without removing the soft tissue head segment or at least without removing a substantial portion of the soft tissue head segment together with the head shell portion.

[0048] According to an embodiment of the invention, said one or more point(s) of engagement comprise at least an eye cavity of said crustacean. [0049] Advantageously, this has the effect of providing enough support to remove the head shell portion from the crustacean while minimizing the risk of simultaneously removal of some of the soft tissue, e.g., the soft tissue head segment.

[0050] According to an embodiment of the invention, said point(s) of engagement comprise at least an anterior end of a carapace closest to a rostrum of said crustacean and/or closest to an eye cavity of said crustacean.

[0051] Advantageously, this has the effect of facilitating removal of carapace.

[0052] According to an embodiment of the invention, said anterior end of said carapace comprises at least between one-tenth to two-thirds of a carapace, such as at least between one-eighth to two-thirds of said carapace, such as at least between one- sixth to one-half of said carapace, such as at least between one-fourth to one-half of said carapace, such as at least between one-third to one-half of said carapace, such as at least no less than one-fifth of said anterior end of said carapace located closest to said rostrum of said crustacean.

[0053] According to an embodiment of the invention, said head shell portion is engaged by said deshelling arrangement from at least a ventral side and/or from at least a dorsal side of said crustacean.

[0054] Advantageously, this has the effect that it may minimize the risk of breaking the shell of the crustacean, e.g., because the crustacean typically has a larger area on the ventral and dorsal side, e.g., compared to the other sides. Distributing the force to a larger area may minimize the risk of breaking the shell of the crustacean, which is advantageous.

[0055] According to an embodiment of the invention, said engaging said crustacean comprises gripping said crustacean at at least said point(s) of engagement.

[0056] Advantageously, gripping may keep the deshelling arrangement engaged with the point(s) of engagement of the crustacean while the directional force is applied. [0057] According to an embodiment of the invention, exerting said directional force comprises exerting a force in a longitudinal direction of said crustacean.

[0058] Advantageously, this has the effect that the head shell portion is detached without damaging the soft tissue head section. A crustacean typically has an elongated shape when the crustacean is stretched, meaning that the length of the crustacean is longer compared to the width of the crustacean. Hence, in the present context, longitudinal direction refers to the length of the crustacean.

[0059] According to an embodiment of the invention, said exerting said directional force comprises pulling in a longitudinal direction away from a body portion of said crustacean.

[0060] Advantageously, this has the effect that the head shell portion may be pulled off of the crustacean while the soft tissue head segment is retained on the crustacean.

[0061] Pulling too much to a side of the longitudinal direction may elevate the risk of removing additional soft tissue head segment during the deshelling.

[0062] According to an embodiment of the invention, said pulling in a longitudinal direction comprises pulling said head shell portion at a longitudinal pull distance.

[0063] Advantageously, this has the effect that the head shell portion is removed to expose the soft tissue head segment. The pull in the longitudinal direction may be performed in various different ways, however, irrespective of how the pull is performed, the deshelling apparatus may be configured to exert a pull with a force component in a longitudinal direction that results in a pull distance sufficient to pull off a head shell portion of the crustacean.

[0064] According to an embodiment of the invention, said longitudinal pull distance is within the range of 5mm to 130mm, such as within the range of 10mm to 130mm, such as within the range of 15mm to 100mm, such as within the range of 15mm to 80mm, such as within the range of 15mm to 50mm, such as within the range of 10mm to 30mm, such as within the range of 15mm to30mm, such as at least 15mm. [0065] Advantageously, this has the effect that the head shell portion is pulled a sufficient distance in a longitudinal direction to detach the head shell portion from the crustacean.

[0066] According to an embodiment of the invention, said engaging said crustacean comprises engaging said crustacean at a disc contact area formed between an edge of a first rotating disc and an edge of a second rotating disc arranged at a disc engagement angle with respect to one another; wherein said rotating discs are included in said deshelling arrangement.

[0067] In the present context, the term contact area may be understood as an area where an edge of the first rotating disc and an edge of the second rotating disc are engaging, and wherein engaging may refer to the two discs being in physical contact, at least when a crustacean is not engaged in between the two discs. Sometimes the contact area may also be referred to as a desheller point(s) of engagement.

[0068] The disc engagement angle may be understood as being substantially defined in a z-x plane as, e.g., illustrated in fig. 10a.

[0069] In other embodiments of the invention, the deshelling may be performed in other ways than by use of, e.g., the mentioned rotating discs. E.g. by a grab and pull arrangement where a grab engages with the head shell portion and where the grab afterwards may be pulled to exert the directional force to pull off the head shell portion. A grab and pull arrangement may, e.g., comprise grabbing the head shell portion using a pincer and/or tweezer and pulling the pincer and/or tweezer, e.g., in a direction away from the posterior portion of the crustacean so as to pull off the head shell portion. The described principle of using rotating discs to deshell a crustacean may, e.g., also be applied to deshell using shaped elements other than discs, according to different embodiments of the invention. Such other elements may, .e.g., be arranged to engage in a similar way as the discs. Such other shaped elements could, e.g., comprise tooth wheel shaped elements, starshaped elements, ball and/or globular shaped elements, etc. E.g., two globular shaped elements may, e.g., be utilized similar to the two rotating discs to provide deshelling of crustaceans according to embodiments of the invention. [0070] According to an embodiment of the invention, said disc engagement angle is within the range of 10 degrees to 70 degrees, such as within the range of 15 degrees to 60 degrees, such as within the range of 25 degrees to 40 degrees, such as within the range of 25 degrees to 35 degrees.

[0071] Advantageously, this may provide an opening between the first and the second rotating disc within which the crustacean may enter and engage with the first and the second rotating discs. The disc engagement angle may be understood as an angle defined substantially in the z-x plane as illustrated in fig. 10a.

According to an embodiment of the invention, the two rotating discs may be arranged at a pull angle with respect to a transport conveyor. Advantageously, this may have the effect of providing a pull in a longitudinal direction of the crustacean and thereby, e.g., facilitating pulling of a head shell portion of the crustacean. In other optional embodiments of the invention, the two rotating discs may also be angled in further directions, e.g., depending on the particular positioning of the crustacean.

The pull angle may be defined substantially in the y-z plane, which is illustrated in, e.g., fig. 10a, fig. 10b and fig. 10c. In embodiments where the deshelling arrangement is horizontally positioned, the y-z plane may correspond to the horizontal plane.

[0072] According to an embodiment of the invention, said first and said second rotating discs rotate in the same direction and thereby said first and said second rotating discs are configured to grip said head shell portion at said contact area and further configured to pull said head shell portion.

[0073] Advantageously, this has the effect that the head shell portion may be engaged and pulled off without substantially deteriorating the posterior portion of the crustacean.

[0074] According to an embodiment of the invention, said first rotating disc and said second rotating disc are configured to rotate in the same direction and thereby is configured to exert said directional force to a crustation engaged at said contact area. [0075] Advantageously, this enables the two rotating discs to provide a directional force, e.g., a pull on the head shell portion, which is advantageous in that it enables removal of a head shell portion of the crustacean.

[0076] According to an embodiment of the invention, said first rotating disc and said second rotating disc are configured to pull said head shell portion at a longitudinal pull distance.

[0077] Advantageously, this has the effect that the head shell portion may be engaged and pulled off without substantially deteriorating the posterior portion of the crustacean.

[0078] According to an embodiment of the invention, a size of said contact area is determined according to said longitudinal pull distance.

[0079] Advantageously, this ensures that the head shell portion is engaged at the contact area in such way that when the rotating discs are rotating, the engaged head shell portion is engaged during rotation such that the head shell portion is pulled at a longitudinal pull distance. Advantageously, this ensures that the contact area is configured to provide a pull distance and thereby configured to pull a distance which will result in removal of the head shell portion.

[0080] According to an embodiment of the invention, said first rotating disc and said second rotating disc are tilted at a conveyor engagement angle with respect to said transport conveyor.

[0081] Advantageously, this has the effect that it may enable engagement between the two rotating discs and crustaceans, even if, e.g., the crustaceans have not been accurately positioned. In other words, this may have the effect that it minimizes the amount of crustaceans that may not engage with the rotating discs, e.g., due to inaccurate positioning. When, e.g. the transport conveyor is arranged horizontally with respect to the ground, the conveyor engagement angle may, advantageously, facilitate lifting the anterior portion of the crustacean, including the head shell portion, by the first rotating disc, and thereby may facilitate engagement of the head shell portion with the two rotating discs.

[0082] The conveyor engagement angle may, e.g., substantially be defined as an angle in the x-y plane as illustrated in, e.g., fig. 14. Also notice that the first rotating disc and the second rotating disc may be tilted in opposite directions with respect to the transport conveyor. One disc may thus be tilted at a conveyor engagement angle below the transport conveyor and the other disc being tilted at an angle above the transport conveyor.

[0083] According to an embodiment of the invention, said conveyor engagement angle is within the range of 2 degrees to 30 degrees, such as within the range of 8 degrees to 25 degrees, such as within the range of 14 degrees to 25 degrees.

[0084] According to an embodiment of the invention, at least one of said first rotating disc and said second rotating disc is made of flexible material.

[0085] Advantageously, this has the effect that the head shell portion does not break when engaging with the two rotating discs.

[0086] According to an embodiment of the invention, said flexible material is selected from the list of elastomer comprising: rubber, silicone, PIB, SBR, PUR.

[0087] Advantageously, this may ensure that the head shell portion does not break during the engagement with the first rotating disc and the second rotating disc. Furthermore, elastomer may have a relatively high friction coefficient compared to other materials, e.g. various metals and other plastics. Advantageously, the friction that may be provided by elastomer may enable deshelling using lesser force to press the first rotating disc and the second rotating disc together at the contact area between the two than what would be required using materials with a lower friction coefficient. In other words, the friction that may be provided by elastomer may facilitate less squeezing and/or compression of the head shell portion when it engages with the first rotating disc and the second rotating disc. This may reduce the risk of breaking of the head shell portion during the engagement with the discs, which is advantageous. [0088] Furthermore, using a flexible material may also increase the contact area between the two discs, and thereby it may facilitate the engagement with the head shell portion of the crustacean, and hence, it may also advantageously facilitate the exertion of the directional force.

[0089] In the present context, PUR refer to polyurethane. Advantageously, PUR provides wear and abrasion resistance.

[0090] According to an embodiment of the invention, said first rotating disc and said second rotating disc is rotating with a circumferential speed substantially corresponding to a speed of a transport conveyor configured to transport said crustacean towards said deshelling arrangement.

[0091] Advantageously, this has the effect that the directional force is applied by the two discs in a longitudinal direction. Hence, this may advantageously facilitate a longitudinal pull. If the circumferential speed of the two rotating discs was very different from the speed of the transport conveyor, the directional force exerted would result in an angled pull, which is not desirable as this may result in removal of some of the soft tissue head segment during the deshelling.

[0092] In the present context, the term circumferential speed may be understood as the speed at the circumference of the two discs. Note that circumference of the two discs may sometimes also be referred to as edge. Notice further that speed may sometimes also be referred to as velocity.

[0093] According to an embodiment of the invention, said method comprises removing said non-muscle tissue of said soft tissue head segment.

[0094] Advantageously this has the effect of exposing a head segment meat piece of said soft tissue head segment. The head segment meat piece may advantageously be utilized for food products, both in isolation or together with other meat from the crustacean. It should be understood that the soft tissue head segment comprises both muscle tissue, the head segment meat piece and non-muscle tissue. The term nonmuscle tissue may in the present context be understood as substantially any tissue of the soft tissue head segment other than the head segment meat piece which is substantially muscle tissue. The non-muscle tissue may thus comprise, e.g., gills, the mouth, brain, and intestine(s), including the digestive gland.

[0095] According to an embodiment of the invention, said method comprises automatically de-gilling said crustacean.

[0096] According to an embodiment of the invention, said automatically de-gilling said crustacean comprises: engaging one or more gills of said crustacean at a de-gilling engagement point with a de-gilling arrangement; and forcing off said one or more gills of said crustacean with said de-gilling arrangement.

[0097] Gills are typically not utilized for, e.g., human food products, hence, removing the gills is advantageous.

[0098] According to an embodiment of the invention, forcing off said one or more gills comprises pulling at a de-gilling engagement point.

[0099] Advantageously, this has the effect that the gills may be removed while the head segment meat piece is contained on the crustacean.

[0100] According to an embodiment of the invention, wherein said automatically deshelling a head shell portion of a shell of said crustacean is performed before said step of automatically de-gilling said crustacean.

[0101] Advantageously, this has the effect that engaging with the gills and removing the gills may be performed with less accurately controlled equipment.

[0102] According to an embodiment of the invention, said automatically de-gilling said crustacean is performed before said automatically deshelling a head shell portion of a shell of said crustacean.

[0103] Advantageously, the head shell portion provides stability to the soft tissue head segment and thereby more accurate engagement with the gills may be achieved, which is advantageous. [0104] According to an embodiment of the invention, said de-gilling arrangement comprises a de-gilling conveyor configured to engage with said de-gilling engagement point.

[0105] According to an embodiment of the invention, said de-gilling conveyor is arranged at a pull angle PUA with respect to a transport conveyor configured to transport crustaceans and so that a distance between said transport conveyor and said de-gilling conveyor gradually increases along the direction of transport of said transport conveyor.

[0106] Advantageously, this has the effect that the gills are pulled away from the crustacean as the crustacean is moved along a transport direction of the transport conveyor, and thereby the gills are removed from the crustacean.

[0107] The pull angle PUA may in this particular context, e.g., be understood as an angle substantially defined in the y-z plane illustrated in, e.g., fig. 13a and 13b.

[0108] According to an embodiment of the invention, said de-gilling conveyor and said transport conveyor runs at substantially the same velocity at an entry point of said de-gilling conveyor.

[0109] In the present context, the term entry point may be understood as a point where the de-gilling conveyor first engages with the crustacean.

[0110] Advantageously, as the crustacean is moved forward by the transport conveyor and by the de-gilling conveyor, the distance between the two conveyors may increase due to the predefined angle, and thereby the one or more gills are pulled off of the crustacean.

[0111] According to an embodiment of the invention, said pull angle between said de-gilling conveyor and said transport conveyor is within the range of 2 degrees to 45 degrees, such as within the range of 10 degrees to 20 degrees.

[0112] Advantageously, this may have the effect that the gills are removed gradually without removing and/or damaging other surrounding tissue. In other embodiments of the invention, the de-gilling conveyor may also be angled in other directions. E.g., when a transport conveyor carrying the crustacean during de- gilling is arranged horizontally with respect to the ground, the de-gilling conveyor may be angled and/or tilted with respect to the transport conveyor such that the de-gilling conveyor exerts a downward pressure on the gills during de-gilling. Advantageously, this may provide a more secure engagement with the crustacean during de-gilling. Hence, this may reduce the risk of losing engagement with the gills during de-gilling. In this context losing engagement may be understood as losing a grip or hold of the gills of the crustacean being de-gilled.

[0113] According to an embodiment of the invention, said de-gilling conveyor comprises protrusions configured to engage with said gills and/or said physical connection.

[0114] Advantageously, this may have the effect of facilitating engagement of the de-gilling conveyor with the gills and/or the physical connection.

[0115] According to an embodiment of the invention, said de-gilling comprises engaging with a physical connection of said gills.

Advantageously, this has the effect that both the left side gill and the right side gill may be removed simultaneously. In addition, this may also minimize the risk of removing additional soft tissue, including, e.g., the head segment meat piece, during de-gilling.

[0116] According to an embodiment of the invention, said method comprises removing one or more intestine(s) included in said soft tissue head segment of said crustacean.

[0117] Intestines are typically considered a waste product, and hence, removal of intestines may be advantageous.

[0118] According to an embodiment of the invention, said removal of intestine(s) is performed by an intestine removal arrangement. [0119] According to an embodiment of the invention, said method comprises automatically trimming of said soft tissue head segment and/or said head segment meat piece.

[0120] The term trimming may refer to detaching of the soft tissue head segment or of the head segment meat piece, e.g. detaching the soft tissue head segment from the crustacean. Thus, it should be understood that trimming off may comprise any way of detaching, including, e.g., cutting, squeezing, pulling etc.

[0121] Advantageously, the head segment meat piece may be trimmed off to be used in various food products for humans or animals. Advantageously, the soft tissue head segment may be trimmed off to be utilized in various food products, e.g. for animals, while the meat of the posterior portion of the crustacean may be utilized for other food products, such as food products for humans.

[0122] According to an embodiment of the invention, said automatically trimming comprises collecting said trimmed off soft tissue head segment and/or said head segment meat piece.

[0123] Advantageously, said soft tissue head segment contained within an interior of said head shell portion includes a head segment meat piece comprising muscle tissue and further includes a non-muscle portion.

[0124] Advantageously, the head segment meat piece may be utilized for human food products.

[0125] According to an embodiment of the invention, said automatically trimming comprises squeezing of said soft tissue head shell segment and/or said head section meat piece.

[0126] The term squeezing may in the present context be understood as compressing. E.g., compressing to achieve, e.g., a detaching of the soft tissue head shell segment or of a sub-portion of the soft tissue head shell segment. [0127] According to an embodiment of the invention, said automatically trimming comprises straightening at least said soft tissue head segment and/or said head segment meat piece.

[0128] In the present context, the term straightening may refer to straightening out the soft tissue head segment. E.g., straightening out the soft tissue head shell portion from, e.g., a folded posture to a more elongated or straightened posture. The straightening may comprise straightening further portions of the crustacean.

[0129] According to an embodiment of the invention, said straightening is performed by blowing an airstream towards said soft tissue head segment and/or towards said head segment meat piece.

[0130] Advantageously, this has the effect that the straightening by an airstream does not damage the crustacean and/or the soft tissue head segment and/or the head segment meat piece.

[0131] According to an embodiment of the invention, said airstream is directed towards a dorsal side of said soft tissue head segment and/or towards a dorsal side of said head segment meat piece.

[0132] According to an embodiment of the invention, said collecting of said trimmed off soft tissue head segment and/or said head segment meat piece comprises exerting an air suctioning pressure on said trimmed off soft tissue head segment and/or on said head section meat piece.

[0133] Advantageously, this may facilitate collection of the trimmed off soft tissue head segment and/or head segment meat piece.

[0134] According to an embodiment of the invention, said air suctioning is utilized to generate said airstream.

[0135] Advantageously, this enables the use of only one device configured to generate the airstream, instead of having a device to provide suctioning and another device for providing the airstream, thereby reducing energy consumption, which is advantageous.

[0136] According to an embodiment of the invention, said automatically trimming is performed by a trimming arrangement.

[0137] According to an embodiment of the invention, said straightening is performed by a straightening arrangement comprised by said trimming arrangement.

[0138] According to an embodiment of the invention, said trimming arrangement can be adjusted to determine an amount of trimmed off soft tissue head segment and/or head segment meat piece that is trimmed off of said crustacean.

[0139] Advantageously, this has the effect that different amount of tissue from the soft tissue head segment or head segment meat piece may be kept on the crustacean.

[0140] According to an embodiment of the invention, said method comprises trimming off non-muscle tissue of said soft tissue head segment using a trimming arrangement.

[0141] According to an embodiment of the invention, said trimming arrangement comprises two engaging trimming discs wherein a first trimming disc and a second trimming disc of said two engaging trimming discs are engaging at an edge of one another.

[0142] Advantageously, this has the effect that the soft tissue head segment and/or the head segment meat piece may be engaged without substantially deteriorating the posterior portion of the crustacean.

[0143] According to an embodiment of the invention, said two engaging trimming discs are arranged at a trimming disc angle with respect to one another, wherein said trimming disc angle is less than 100 degrees, such as less than 105 degrees, such as between 95 degrees and 70 degrees, such as between 95 degrees and 80 degrees, such as between 92 degrees and 85 degrees. [0144] Angling the discs with respect to one another at a trimming disc angle may have the effect that less of the crustacean engaging with the trimming arrangement is squeezed and potentially damaged during the trimming, which is advantageous.

[0145] The trimming disc angle may be understood as being substantially defined in an z-x plane, as illustrated in, e.g., fig. 15.

[0146] According to an embodiment of the invention, said method comprises collecting said head shell portion.

[0147] Advantageously, collecting the head shell portions may, e.g., enable the head shell portions to be used for producing products, such as, e.g., collagen and dye.

[0148] According to an embodiment of the invention, said crustacean is a shrimp and/or a prawn.

[0149] According to an embodiment of the invention, said method may be applied to continuously process a number of crustaceans.

[0150] According to an embodiment of the invention, said automatically deshelling a head shell portion and/or an automatic de-gilling of said crustacean and/or a trimming off of said soft tissue head segment is performed when said crustacean is fixed in said fixation mechanism.

[0151] Advantageously, this has the effect that it provides accurate processing of said crustacean, e.g., because the position of the crustacean is fixed.

[0152] According to an embodiment of the invention, said automatically deshelling a head shell portion and/or a de-gilling of said crustacean and/or a trimming off of said soft tissue head segment is performed during a continuous movement of said fixation mechanism by said moveable transport conveyor when said crustacean is fixed in said fixation mechanism. [0153] Advantageously, this has the effect of facilitating a higher processing capacity. Also continuous movement is less energy consuming compared to, e.g., stepwise motion.

[0154] The invention further relates to a crustacean processing system; wherein said system comprises: a positioning arrangement configured to positioning said crustacean with a headend of said crustacean oriented toward a deshelling arrangement; a deshelling arrangement configured to automatically deshelling a head shell portion of a shell of said crustacean to expose at least a soft tissue head segment contained within an interior of said head shell portion of said crustacean; and wherein said crustacean processing system is configured to perform said crustacean processing method.

[0155] Advantageously, this has the effect that the head shell portion may be removed without substantially deteriorating the posterior portion of the crustacean and/or the soft tissue head segment.

[0156] According to an embodiment of the invention, said system comprises a de- gilling arrangement configured to automatically de-gilling said crustacean.

[0157] Gills are typically not utilized for, e.g., human food products, hence, removing the gills is advantageous.

[0158] According to an embodiment of the invention, said system comprises a trimming arrangement configured to automatic trimming of a soft tissue head segment and/or a head segment meat piece.

[0159] Advantageously, this has the effect that the head segment meat piece may be trimmed off to, e.g., be used in different food products for humans or animals. Advantageously, the soft tissue head segment may be trimmed off, using the trimming arrangement, to be utilized in various food products, e.g. for animals, while the meat of the posterior portion of the crustacean may be utilized for other food products, such as food products for humans.

[0160] According to an embodiment of the invention, said trimming arrangement comprises two engaging trimming discs wherein a first trimming disc and a second trimming disc of said two engaging trimming discs are engaging at an edge of one another.

[0161] Advantageously, this has the effect that the soft tissue head segment and/or the head segment meat piece may be engaged without substantially deteriorating the posterior portion of the crustacean.

[0162] According to an embodiment of the invention, said trimming arrangement comprises two engaging trimming discs arranged at a trimming disc angle with respect to one another wherein said trimming disc angle is less than 100 degrees, such as less than 105 degrees, such as less than 95 degrees, such as less than 91 degrees, such as less than 85 degrees, such as less than 75 degrees.

[0163] Advantageously, angling the discs with respect to one another at a trimming disc angle may have the effect that less of the crustacean engaging with the trimming arrangement is squeezed and potentially damaged during the trimming.

[0164] The trimming disc angle may be understood as an angle substantially defined in a z-x plane as illustrated in fig. 15.

[0165] According to an embodiment of the invention, said at least two engaging trimming discs are compressed against each other at said edge.

[0166] Advantageously, this may enable the at least two discs to engage with the crustacean. E.g., engage the crustacean in such a way that the crustacean may be gripped by the two discs.

[0167] According to an embodiment of the invention, said trimming of a soft tissue head segment and/or a head segment meat piece comprises squeezing in between said two engaging trimming discs said soft tissue head segment and/or said head segment meat piece.

[0168] According to an embodiment of the invention, said trimming arrangement comprises a straightening arrangement configured to straighten a crustacean. [0169] Advantageously, this has the effect that the trimming arrangement may provide more accurate trimming.

[0170] According to an embodiment of the invention, said straightening arrangement is positioned before said two engaging discs.

[0171] Advantageously, this may have the effect that the two engaging discs may engage more accurately with a soft tissue head segment and/or with a head segment meat piece. Thereby, a more accurate trimming may be achieved.

[0172] According to an embodiment of the invention, said straightening arrangement is configured to blow an airstream on at least said soft tissue head segment and/or said head segment meat piece to facilitate straightening of said soft tissue head segment and/or said head segment meat piece.

[0173] Advantageously, this may have the effect that the crustacean is straightened without being damaged.

[0174] According to an embodiment of the invention, said straightening arrangement is configured to straighten said crustacean along its longitudinal direction.

[0175] Advantageously, this may have the effect of providing a more accurate trimming.

[0176] According to an embodiment of the invention, said straightening arrangement comprises an air nozzle arranged to blow an airstream on said crustacean to straighten said crustacean.

[0177] This is advantageous in that it may enable directional control of the airstream.

[0178] According to an embodiment of the invention, said deshelling arrangement comprises a first rotating disc and a second rotating disc arranged at disc engagement angle with respect to one another to form a contact area between an edge of said first rotating disc and an edge of said second rotating disc. [0179] Advantageously, this may enable the first rotating disc and the second rotating disc to engage with the head shell portion. E.g., engage with the head shell portion at the contact area such that the head shell portion is compressed and/or gripped in between the two rotating discs.

[0180] According to an embodiment of the invention, at least one of said first rotating disc and said second rotating disc is made of a flexible material.

[0181] Advantageously, this may have the effect that the head shell portion is not crusted in between the two rotating discs, but instead the head shell portion may be engaged, e.g., gripped by the two rotating discs to be pulled off.

[0182] According to an embodiment of the invention, said flexible material comprises an elastomer.

[0183] According to an embodiment of the invention, said system comprises an intestine removal arrangement.

[0184] This has the effect that the intestine removal arrangement may remove intestines from the crustacean. Intestines are typically not desired in most food products, therefore, removing the intestines by an intestine removal arrangement may be advantageous.

[0185] According to an embodiment of the invention, said system comprises a transport conveyor configured to automatically transport said crustations.

[0186] Advantageously, thereby the capacity of the crustacean processing system may be increased. E.g., by avoiding manual transportation of the crustaceans within the system.

[0187] According to an embodiment of the invention, said transport conveyor is configured to transport said crustacean to and/or from one or more of the list comprising: a deshelling arrangement, a de-gilling arrangement, a trimming arrangement, an intestine removal arrangement. [0188] Advantageously, crustaceans may thereby be transported to and/or from the different mentioned arrangements that may be comprised by the system. This may increase production capacity of the system.

[0189] According to an embodiment of the invention, said positioning arrangement comprises a vision system and a positioning robot configured to automatically pick up said crustacean and further configured to position said crustacean in a fixation mechanism wherein said robot arm is controlled based on said vision system.

[0190] Advantageously, this may have the effect of providing accurate positioning of crustaceans and thereby a more accurate processing. Furthermore, it has the effect of removing the need for manual positioning of crustaceans.

[0191] According to an embodiment of the invention, said positioning arrangement is configured to provide automatic positioning , and wherein said positioning system comprises a positioning robot and a vision system, and wherein said positioning robot is controlled based on said vision system.

[0192] According to an embodiment of the invention, said positioning system is configured to automatically localize a crustacean via said vision system and to pick up said crustacean with said positioning robot and automatically position said crustacean in a fixation mechanism.

[0193] Advantageously, this has the effect that the positioning of crustaceans may be performed automatically. This may increase processing capacity, which is advantageous.

[0194] The crustacean may be localized by the vision system, which comprises at least one camera and, based on input form of the camera, a controller of the vision system may control the positioning robot to pick up and position the localized crustacean.

The invention further relates to a use of a crustacean processing system wherein said crustacean processing system is used to process one or more crustaceans according to the crustacean processing method. According to an embodiment of the invention, said point(s) of engagement comprises an anterior end of a carapace of said crustacean, wherein said anterior end of said carapace (CP) includes only between one-tenth to two-thirds of an anterior part of carapace (CP), such as only between one-eighth to two-thirds of an anterior part of said carapace (CP), such as only between one-sixth to one-half of an anterior part of said carapace (CP), such as only between one-fourth to one-half of an anterior part of said carapace (CP), such as only between one-third to one-half of an anterior part of said carapace (CP), such as only one-fifth of said anterior part of said carapace (CP).

This is advantageous in that it may have the effect that the head shell portion is removed from the crustacean, while at least most of the soft tissue head section is not removed and thereby stays on the crustacean.

The carapace of a crustacean may be defined as having an anterior end which is the end of carapace that is closest to rostrum. Conversely, the posterior end of carapace may be defined as the end of carapace that is closest to the posterior body portion of the crustacean. The anterior part of carapace defines a part of carapace that at least comprises the anterior end of carapace and which extends posteriorly.

According to an embodiment of the invention, said crustacean processing system comprises a de-gilling arrangement, wherein said de-gilling arrangement and said deshelling arrangement is arranged as a combined deshelling and de-gilling arrangement.

Advantageously, this has the effect that it enables faster deshelling and de-gilling of crustaceans, because these two processing steps are performed at least substantially simultaneously or at least because the two processing steps are overlapping one another. This advantageously may thereby have the effect of performing de-gilling and deshelling in one processing step.

According to an embodiment of the invention, said deshelling arrangement and said de-gilling arrangement is configured to perform said de-shelling and said de-gilling substantially simultaneously. According to an embodiment of the invention, said deshelling arrangement and said de-gilling arrangement is configured to perform said deshelling and said de-gilling in a same processing step.

According to an embodiment of the invention, said method comprises a step of automatically de-gilling said crustacean (CN), and wherein said step of de-gilling and said step of deshelling is performed substantially simultaneously.

According to an embodiment of the invention, said method comprises a step of de- gilling said crustacean, and wherein said de-gilling and/or said deshelling is a continuous process.

Advantageously, continuous processing may provide fast processing of the crustaceans. E.g., continuous processing may typically provide faster processing compared to step-wise processing systems. Moreover, continuous processing is less complicated to control and may therefore be less prone to errors.

According to an embodiment of the invention, said at least one part of said deshelling arrangement engages with said head shell portion and wherein said at least one part of said deshelling arrangement is configured to continuously move during deshelling of a plurality of crustaceans.

Advantageously, this may have the effect of enabling continuous deshelling of crustaceans, which may provide a fast and energy efficient deshelling of crustaceans.

According to an embodiment of the invention, said continuous movement of said at least one part of said deshelling arrangement is a movement in one direction.

According to an embodiment of the invention, said at least one part of said deshelling arrangement is configured to continuously move in only one direction during deshelling of a plurality of crustaceans.

It should be understood that the movement in one direction should be understood as, e.g., a rotating disc rotating in one direction, a conveyer moving in one direction, another processing arrangement wherein the part of the processing arrangement that engages with the crustacean moves in one direction. Advantageously the moving part does thereby not have to move in shifting direction of motions, which may provide

According to an embodiment of the invention, said system comprises a de-gilling arrangement, and wherein at least one part of said de-gilling arrangement is configured to engage with a gill of said crustacean, and wherein said at least one part of said de- gilling arrangement is configured to continuously move during de-gilling of a plurality of crustaceans.

According to an embodiment of the invention, said continuous movement of said at least one part of said de-gilling arrangement is a movement in one direction.

According to an embodiment of the invention, said second rotation disc and/or said first rotating disc comprises one or more gill engagers.

Advantageously, this may have the effect that the deshelling arrangement may also perform de-gilling of crustaceans. This may also provide a faster processing of crustaceans. In addition, removing gills is advantageous, in that the gills are typically not used for human food products. The gills may optionally be collected for use in other products. E.g., for use in animal food products.

The drawings

[0195] Various embodiments of the invention will in the following be described with reference to the drawings where: fig. 1 illustrates a schematical side view of a shrimp of the crustacean family, fig. 2 illustrates a schematical side view of a shrimp with an exposed soft tissue head shell segment according to the invention, fig. 3 illustrates a schematical cross-sectional posterior-anterior view of gills and an associated physical connection, fig. 4a-4k schematically illustrate crustacean processing steps according to various embodiments of the invention, fig. 5 schematically illustrates a crustacean processing system, including an optional trimming arrangement according to embodiments of the invention, fig. 6 schematically illustrates a crustacean processing system comprising a nonmuscle removal arrangement and an optional trimming arrangement according to embodiments of the invention, fig. 7 schematically illustrates a crustacean processing system with an optional trimming arrangement and a non-muscle tissue removal arrangement comprising a de- gilling arrangement and an intestine removal arrangement according to an embodiment of the invention, fig. 8 schematically illustrates a crustacean processing system with an optional trimming arrangement and a de-gilling arrangement arranged before a deshelling arrangement in the processing line according to an embodiment of the invention, fig. 9 schematically illustrates a crustacean processing system with controllers and an optional global controller according to an embodiment of the invention, fig. 10a schematically illustrates a side view of a deshelling arrangement comprising two rotating discs according to an embodiment of the invention, fig. 10b schematically illustrates a top view of deshelling with a deshelling arrangement comprising two rotating discs according to an embodiment of the invention, fig. 10c illustrates an angled side view of a deshelling arrangement comprising two rotating discs and tilted at a conveyor engagement angle according to an embodiment of the invention, fig. 11 schematically illustrates a deshelling arrangement with a deshelling conveyor according to an embodiment of the invention, fig. 12 schematically illustrates a deshelling arrangement with two deshelling conveyors according to an embodiment of the invention, fig. 13a schematically illustrates a top view of de-gilling with a de-gilling arrangement according to an embodiment of the invention, fig. 13b schematically illustrates a de-gilling arrangement according to an embodiment of the invention, fig. 14 schematically illustrates trimming with a trimming arrangement according to an embodiment of the invention, fig. 15 schematically illustrates a trimmer arrangement with a straightener according to an embodiment of the invention, fig. 16 schematically illustrates a crustacean processing system according to an embodiment of the invention, fig. 17 illustrates a perspective view of a rotating disc SD with gill engagers according to an embodiment of the invention, fig. 18 illustrates a combined deshelling arrangement with gill-engagers according to an embodiment of the invention, fig. 19a and fig. 19b illustrates a schematical representation of a gill engager from an front view and from a side view, respectively, according to an embodiment of the invention, fig. 20 illustrates a front view a gill engager with protrusions having rounded ends according to an embodiment of the invention, fig. 21 illustrates a front view of a gill engager with protrusions having pointy ends angled toward a centerline of the gill engager according to an embodiment of the invention, fig. 22 illustrates a front view of a gill engager with protrusions having grooved surfaces pointing toward a centerline of the gill engager according to an embodiment of the invention.

Detailed description

[0196] The following section comprises a detailed description of the invention with reference to the figures.

[0197] The description comprises nonlimiting examples of embodiments of the invention. Details such as specific methods and system structures are provided to give an understanding of embodiments of the invention. Note that detailed descriptions of well-known methods, systems, devices, circuits, components, including e.g. control leads, etc., have been omitted so as to not obscure the description of the invention with unnecessary details. It should be understood that the invention is not limited to particular examples described below. Hence, a person skilled in the art may choose to implement the invention in other embodiments without these specific details. Furthermore, it should be understood that the skilled person may choose to combine features of the described embodiments and of the illustrated embodiments of the invention. As such, the invention may be designed and altered in a multitude of varieties within the scope of the invention, as specified in the claims.

[0198] Fig. 1 illustrates a side view of a shrimp SMP. The illustrated shrimp is an example of a crustacean which could be processed according to the crustacean processing method using, e.g., the disclosed crustacean processing system and/or the disclosed crustacean processing apparatus. The arrows indicate directions; e.g., relative directions. Hence anterior direction is towards the head end of the shrimp SMP comprising the head shell portion HSP, the posterior direction is toward the tail TA end of the shrimp SMP, the dorsal side is in the direction of the upper (back side) of the shrimp SMP, while the ventral side is the direction towards the bottom of the shrimp comprising the legs and pleopods of the shrimp.

[0199] The illustrated shrimp has an exoskeletal covering its body, including both the posterior body portion PP and the anterior portion AP. The posterior body portion PP comprises the tail TA as well as the pleopods PL which extend outwards from the ventral side of the posterior body portion PP. The anterior portion AP of the shrimp comprises a head shell portion HSP at least comprising carapace CP, the eye cavity EC and the rostrum ROS. The anterior portion AP further comprises, e.g., antennae AT, the maxillipeds, the legs LGS and a soft tissue head shell segment which is at least partly covered by the head shell portion before the shrimp has been processed with the crustacean processing method according to embodiments of the invention. During deshelling where the head shell portion is removed, other parts of the anterior portion may also be removed, including, e.g., the antennae and maybe sometimes also one or more maxillipeds. Sometimes the legs may also be referred to as the pereiopods. Carapace is an exoskeletal part of the shrimp SMP which covers the dorsal side of anterior portion of the shrimp. The edge of the posterior end of carapace marks the transition from the posterior body portion to the anterior portion of the shrimp SMP. Carapace CP extends bilaterally in the ventral direction to cover both sides of the shrimp SMP. The rostrum ROS is an exoskeletal rigid forward extension of the carapace that forms a pointy end of the shrimp. Altogether, at least most of the head shell portion HSP acts as a protective shell which protects the soft tissue head segment of the shrimp SMP. The soft tissue head segment comprises soft tissue contained within the head shell portion. The soft tissue head segment comprises both a head segment meat piece (substantially muscle tissue) as well as non-muscle tissue. The non-muscle tissue being any other tissue than muscle tissue. The non-muscle tissue may thus comprise, e.g., gills, the mouth, brain, and intestine(s), including the digestive gland. The non-muscle tissue is typically desirable to remove before the shrimp is utilized as, e.g., a food product, e.g., because intestine material may pollute the shrimp meat. E.g., some intestines may comprise enzymes that may pollute the meat if exposed thereto. On the other hand, the head segment meat piece of the soft tissue head shell segment may provide an additional potential meat yield for each shrimp, e.g., 3-10% meat per shrimp (and/or prawn) in addition to the meat of the posterior body portion of the shrimp SMP. The amount of potential additional meat yield depends on how much of the head segment meat piece that is removed during processing. E.g., if the head is removed as in traditional processing, where deheading is applied, the head segment meat piece is also removed and thereby no additional meat yield is possible. Advantageously, deshelling according to various embodiment of the present invention may at least partly remove the head shell portion without removing the soft tissue head shell, including the head segment meat piece. [0200] The proximal portion of the legs LGS is in immediate proximity to the gills (not shown).

[0201] Fig. 2 illustrates a schematical side view of a shrimp SMP with an exposed soft tissue head segment SHS. The shrimp is an example of a shrimp that has been deshelled, according to embodiments of the invention.

[0202] The shrimp SMP comprises a posterior body portion PP, which in this example includes at least an exoskeleton, the pleopods and the tail of the shrimp. However, the head shell portion, in this case including the antennae, legs, eye, mandible and the maxillipeds etc., has been removed from the anterior portion of the shrimp SMP to expose a soft tissue head shell portion SHS comprising non-muscle tissue and a head segment meat piece. The head segment meat piece may advantageously provide an additional meat yield.

[0203] Fig. 3 illustrates a schematical cross-sectional posterior-anterior view of gills GL of a crustacean and an associated physical connection between the gills GL.

[0204] More specifically, fig. 3 illustrates a left gill LGL and a right gill RGL which are physically associated by a physical connection PGC. The physical gill connection PGC is essentially biological tissue connecting gills positioned on a left side of a crustacean with gills positioned on a right side of the crustacean.

[0205] The gills of crustaceans are typically not utilized in food products. Hence, removing the gills may be advantageous. Gills may optionally be removed by de- gilling, according to optional embodiments of the invention.

[0206] De-gilling may, e.g., be performed by engaging the physical gill connection PGC. Advantageously, engaging the physical gill connection PGC enables the gills on both the left and the right side of the crustacean to be removed without removing the head segment meat piece included in the soft tissue head shell portion. Thus, removing the gills by engaging the physical gill connection is advantageous.

[0207] The proximal portion of the legs of a shrimp and a prawn is in immediate proximity to the gills and hence to the physical connection. The physical gill connection PGC and/or the gills may, advantageously, be engaged from a ventral side at a de-gilling engagement point at the physical gill connection located substantially in an immediate proximity to the proximal portion of the most posteriorly located leg. Engaging at this de-gilling engagement point with e.g. a de-gilling arrangement according to embodiments of the invention may enable removal of the legs together with the removal of the gills. Furthermore, engaging at this de-gilling engagement point may facilitate removal of the gills while preserving the head segment meat piece, e.g. without avoiding to also remove a substantial portion of the head section meat piece, thereby increasing a meat yield of the shrimp.

[0208] Optionally, de-gilling may optionally be performed as part of the crustacean processing method, utilizing an optional de-gilling arrangement configured to engage the physical gill connection.

[0209] Fig 4a schematically illustrates the principal function of a fixation mechanism FM according to an embodiment of the invention. The fixation mechanism comprises a top view of the fixation mechanism FM. The fixation mechanism FM is illustrated in an open state as an open fixation mechanism OFM and in a closed state as a closed fixation mechanism CFM.

[0210] The fixation mechanism FM can be utilized for fixating a crustacean, such as, e.g., a shrimp or a prawn, e.g., fixing the crustacean in a longitudinal direction. When a crustacean is positioned in the open fixation mechanism, the mechanism closes. Optionally, the closing may be automatic, e.g., via a mechanical trigger element that closes the fixation mechanism, when a crustacean engages with the trigger element. The closed fixation mechanism thereby keeps the crustacean in a fixed position, e.g. during processing of the crustacean.

[0211] The fixation mechanism may be positioned on a transport conveyor belt, to enable the crustacean to be transported between various arrangement configured to process the crustacean, while at the same time keeping the crustacean fixed.

[0212] Crustaceans may be positioned in the fixation mechanism in various ways, including, e.g., manually by humans, by a slide arrangement where the crustaceans are sliding into the fixation mechanism, by a robot and/or a robot arm that grips the crustacean and pushes the crustacean into the fixation mechanism.

[0213] Optionally, a vision system may be utilized together with an optional positioning robot configured to position the crustacean in the fixation mechanism. The vision system may be utilized to localize a crustacean and the orientation of the crustacean. The vision system may further be configured to control a robot to grip the crustacean and to positioning the crustacean in the fixation mechanism. Optionally, multiple robots and vision systems may be utilized to, advantageously, increase the amount of crustaceans that may be processed with the crustacean processing methods.

[0214] The crustacean may be positioned with a head end oriented towards a deshelling arrangement. The head end is part of the anterior portion of the crustacean. Optionally, the crustacean may further be positioned with its ventral side facing upwards as this enables crustacean to be stretched out (sometimes referred to as straightened) by the gravitational force. Thereby counteracting the tendency of the crustacean, such as, e.g., a shrimp, to fold forward towards its ventral side due to the ligaments and other soft tissue of the crustacean. However, the crustacean may also in other embodiments be positioned with other sides of the crustacean facing upwards with respect to gravity, such as with its left or right side facing upwards with respect to gravity, such as with its tail facing upwards with respect to gravity, such as with its dorsal side facing upwards with respect to gravity, and even with its anterior portion facing upwards with respect to gravity.

[0215] Fig. 4b to fig. 4j schematically illustrate a crustacean processing method, including processing steps, according to embodiments of the invention. Advantageously, the method may be performed automatically. E.g., the deshelling, and the optional steps of de-gilling, intestine removal and trimming may be performed automatically. The crustacean processing method is exemplified by describing processing of a shrimp, such as, e.g., a shrimp as schematically illustrated in fig. 1-3. It should be understood that the illustrations illustrate principles of the processing steps. The crustacean processing method may be a continuous process or a step-wise process. E.g., the described deshelling, de-gilling, intestine removal, trimming etc. may be performed in a continuous process or in a stepwise process or in combinations thereof. Continuous processing may involve at least a part of the processing arrangement that engages with the crustacean to move continuously. E.g., a continuously moving disc, a continuously moving de-gilling conveyer, a continuously moving, gripper or hook that engages with a portion of the crustacean to be removed, including, e.g., gills and/or head shell potion. Even though some processing steps are illustrated as being performed sequentially, some processing steps may be performed substantially simultaneously according to embodiments of the invention. E.g., deshelling and de-gilling may be performed substantially simultaneously. In this regard, it should be understood that substantially simultaneously may refer to performing the two processing steps using an arrangement configured both for de- gilling and for deshelling. It should be understood that two substantially simultaneously performed processes may still encompass that one process is completed and/or initiated slightly before the other process. E.g., deshelling being initiated and/or completed slightly before de-gilling or de-gilling being initiated and/or completed slightly before deshelling. In simultaneously performed crustacean processing steps, sometimes referred to as combined processing steps, two processes may be performed such that one process overlaps the other process. E.g., a second process being initiated before a first process is completed. E.g., initiating deshelling and then initiating de-gilling before deshelling is completed or, e.g., initiating de- gilling and then initiating deshelling before de-gilling is completed. Processing where two processing steps are overlapping or being performed substantially simultaneously, may advantageously increase the speed of the processing, enabling more efficient processing, increasing the rate at which crustaceans may be processed. Also, this may advantageously provide a more energy efficient processing by, e.g., having one processing arrangement performing more than one processing step.

[0216] Fig. 4b illustrates positioning of a shrimp SMP comprising a head shell portion HSP and further comprising a soft tissue head segment SHS, including gills LGL, RGL, intestines ITS and head segment meat piece. [0217] The shrimp SMP is positioned with a head end of the shrimp oriented towards a deshelling arrangement DSA. In this example, the deshelling arrangement is illustrated as a tweezer-like gripping mechanism, however, it should be understood that this is a principal illustration that illustrates principles of the crustacean processing method. Hence, the deshelling arrangement DSA may be implemented differently according to various embodiments of the invention.

[0218] Optionally, the shrimp may be fixated in the illustrated fixation mechanism which is in a closed state, thereby fixating the shrimp in a longitudinal direction LD. When the shrimp is fixed in a fixation mechanism, the shrimp may be positioned with its anterior portion extending outside of the fixation mechanism. Advantageously, this ensures that the head shell portion is not fixed in the fixation mechanism, and thereby, the head shell portion may be removed by the deshelling arrangement DSA.

[0219] Fig. 4c illustrates the shrimp SMP being engaged by a deshelling arrangement DSA at a point(s) of engagement PE. In this example, the head shell portion is engaged at a point(s) of engagement PE located just proximal to the eye cavity EC of the shrimp SMP. In this example, the point(s) of engagement is engaged by gripping at the points of engagement(s). In other words, a pressure is provided to the head shell portion at the point(s) of engagement. Notice, that the one or more point(s) of engagement may be engaged in various different ways according to embodiments of the invention.

[0220] As illustrated in fig. 4d, a directional force DF is applied at the point(s) of engagement after engaging the head shell portion HSP of the shrimp SMP. In this example, the directional force is applied in a longitudinal direction away from the shrimp SMP. Thereby, the head shell portion is detached from the shrimp and a soft tissue head segment SHS of the shrimp SMP is exposed. In other words, the head shell portion is pulled at a longitudinal pull distance PD so that the head shell portion HSP is pulled off of the shrimp by the directional force applied at the point(s) of engagement.

[0221] In this example, the longitudinal pull distance PD is 130 mm. However, the longitudinal pull distance PD may be more or less than 130 mm. The longitudinal pull distance may, e.g., be increased to accommodate larger crustaceans where the longitudinal pull distance PD needs to increase in order to pull off the head shell portion. Similarly, the longitudinal pull distance PD may be decreased when deshelling smaller crustaceans.

[0222] As illustrated in fig. 4e, upon deshelling, the head shell portion HSP is detached from the shrimp SMP and the exposed soft tissue head segment SHS is still attached to the shrimp SMP. Advantageously, the detached head shell portion HSP does not comprise the soft tissue head segment. The head detached head shell portion HSP may, e.g., be dried to obtain, e.g., dye which may be used for coloring. The dye may, e.g., be added to food for fish, such as salmon, to obtain a specific color of the fish meat of the fish eating the food with the added dye. Advantageously, the process of obtaining the dye is much less energy consuming when using the head shell portion HSP since it does not comprise the soft tissue head segment SHS and thereby the required drying is much less energy consuming. Traditionally, the entire head of crustaceans are removed, including the soft tissue head section, and, thereby, the process of drying the entire head of the soft tissue head section, to obtain the dye, is very energy consuming.

[0223] Advantageously, the anatomy of crustaceans, including shrimps, are made such that when exerting a directional force at the point(s) of engagement, e.g. a directional force exerted in a longitudinal direction away from the posterior body portion of the crustation, the head shell portion breaks off of the rest of the shell that is part of the posterior body portion.

[0224] Optionally, the shrimp may be fixed in a longitudinal direction during the step of exerting the directional force. As illustrated, this may be achieved by fixing the shrimp in a fixation mechanism FM.

[0225] The directional force may be applied in various directions with respect to the shrimp. Preferably, the directional force comprises at least a longitudinal component exerted in a direction away from the posterior body portion of the shrimp SMP, e.g., in an anterior direction with respect to the head shell portion HSP. [0226] Optionally, deshelling may comprise engaging the head shell portion to keep it fixed while a directional force may be applied to the posterior body portion of the crustacean, including shrimp.

[0227] Fig. 4f illustrates an optional de-gilling of the shrimp SMP where the gills are removed. In this example the de-gilling is applied to a deshelled shrimp SMP.

[0228] De-gilling is performed by engaging the shrimp with a de-gilling arrangement DGA at a de-gilling engagement point DEP. In this example, the de-gilling engagement point(s) is located at the posterior end of the gills. More specifically, at the physical connection that connects the left gill LGL and the right gill RGL. The physical connection is illustrated in fig. 3. A force is then exerted at the physical connection to detach the gills from the shrimp SMP. By engaging at the physical connection, both gills are removed from the shrimp SMP in one step. Also, by engaging at the physical connection, the head section meat piece may be preserved on the shrimp.

[0229] The force exerted to the de-gilling engagement point(s) may optionally be a pull away from the shrimp. Thereby, the gills may be pulled off. Alternatively, the force may be applied so as to scrape out the gills from the soft tissue head section of the shrimp. In an alternative embodiment, the force may be applied via a rotating brush which removes the gills. In a further alternative embodiment, a cutting arrangement or a waterjet stream may be applied to cut away the gills.

[0230] Optionally, de-gilling may be performed before deshelling. Advantageously, this has the effect that the head shell portion may provide support during the de-gilling, and so less of the soft tissue head segment may be damaged or removed during the de- gilling.

[0231] Fig. 4g illustrates a shrimp SMP with the head shell portion HSP and the gills LGL, RGL removed. The soft tissue head section SHS of the shrimp SMP still comprises non-muscle tissue, such as, e.g., intestines INT. [0232] Fig. 4h illustrates an optional removing of intestine(s) INT from said soft tissue head segment SHS of the shrimp SMP. The intestine(s) INT is removed using a intestine removal arrangement IRA. In this example, the intestine removal arrangement is illustrated as a tweezer like gripping arrangement, configured to grip the intestines and to remove the intestines. However, the illustration illustrates the principle of intestine removal, and hence, it should be understood that intestines INT may be removed in multiple ways. E.g., by flushing with liquid such as water, by squeezing them off of the soft tissue head segment SHS, by gripping and pulling them off, by cutting, to name a few.

[0233] The shrimp SMP with removed intestine(s) ITS, removed gills and removed head shell portion is illustrated in fig. 4i. The shrimp illustrated in fig. 4i has been deshelled, de-gilled, and intestines has been removed from the soft tissue head section. Thereby, the head segment meat piece HSM has been exposed. Advantageously, the non-muscle tissue in form of gills and intestine(s) may be utilized for, e.g., animal food products. Further advantageous, the exposed head segment meat piece may give an additional meat yield of between 3-10% for each processed shrimp.

[0234] Fig. 4 illustrates an optional trimming of the soft tissue head segment and/or of the head segment meat piece.

[0235] The automatic trimming may be applied to trim off a portion of the soft tissue head section or the entire soft tissue head section after the head shell portion has been removed. In this example, the automatic trimming is applied to trim off the head segment meat piece HSM of the shrimp to obtain a head segment meat piece HSM and a posterior body portion PP of the shrimp SMP. Optionally, automatic trimming may also be applied to trim off a sub-portion of the head segment meat piece HSM.

[0236] Notice that the head shell portion, the gills and intestines have been removed prior to the trimming. The trimming is performed using a trimming arrangement TRA, which in this example is illustrated as a cutting arrangement. Notice, however, that this is a schematical illustration of the principles of the crustacean processing method, and that other embodiments may perform the automatic trimming in different ways. E.g. other embodiments may perform the trimming by squeezing, compressing, cutting with a jet stream using liquid such as water, using a circular saw or using a guillotine knife, etc.

[0237] Optionally, the trimming may comprise straightening the soft tissue head segment and/or the head segment meat piece. The straightening advantageously, enable more precise trimming and the possibility to trim closer to the posterior body portion of the crustacean which in this example is a shrimp.

[0238] Optionally, straightening of the soft tissue head segment and/or of the head segment meat piece may be performed by blowing air towards the soft tissue head segment and/or the head section meat piece from below when the shrimp is positioned horizontally with respect to the gravitational force. The shrimp is easily damaged, and hence, advantageously, this way of straightening enables straightening of the shrimp without damaging the shrimp and in particular the soft tissue head segment and/or the head segment meat piece. Straightening may optionally be performed by sliding the shrimp (also including other crustaceans) on a gradually elevating chute. Optionally, the chute may be flushed with water to decrease the friction between the shrimp and the chute and thereby minimize the risk of damaging parts of the shrimp.

[0239] The crustacean processing method exemplified in relation to fig. 4 to fig. 4j advantageously provides removal of a head shell portion to expose a soft tissue head segment. The method comprises further optional steps, including de-gilling, removal of intestine(s) and automatic trimming.

[0240] Fig. 4k illustrates the various parts of a crustacean, in this example a shrimp SMP, that may be separated from each other using the crustacean processing method exemplified in, e.g., fig. 4a-fig.4j, and hence, may advantageously be utilized for separate purposes. These parts include the posterior body portion PP, the heat shell portion HSP, the head segment meat piece HSM, and the non-muscle tissue NT comprising at least the gills RGL, LGL, and also the intestine(s) INT. Notice that the head segment meat piece HSM is typically discarded as a waste product during traditional deheading of the shrimp. [0241] Notice that the optional step of automatic trimming may be applied at any time during the crustacean processing after the deshelling where the head shell portion is removed. Thereby the trimming may be utilized to trim off a soft tissue head segment or part of a soft tissue head segment or to trim off the head segment meat piece or to trim off part of the head segment meat piece.

[0242] Fig. 5 schematically illustrates a crustacean processing system CPS with an optional trimming arrangement, according to an embodiment of the invention. The crustacean processing system is configured to perform the crustacean processing method, e.g., as described in relation to fig. 4b to fig. 4e, including positioning and deshelling a head shell portion to expose a soft tissue head segment. Notice that the system may in principle be used to process crustaceans in general and, hence, the system is not limited to the exemplified processing of shrimps or prawns of fig. 4a to fig. 4k.

[0243] The crustacean processing system comprises a positioning arrangement PA, a deshelling arrangement DSA, and an optional trimming arrangement TRA. In addition, the system comprises an optional transport conveyor TCB, which transports the crustacean between each of the mentioned arrangements.

[0244] The positioning arrangement PA receives crustaceans and positions the received crustaceans such that a head end is oriented toward a deshelling arrangement, as described in relation to fig. 4b. Notice that in this example, the system comprises a transport conveyor TCB, and, hence, the positioning comprises orienting the crustacean on the transport conveyor such that when the conveyor has transported the crustacean to the deshelling arrangement, the head end of the crustacean is oriented toward the deshelling arrangement.

[0245] The deshelling arrangement performs the removal of the head shell portion of the crustacean as, e.g., described in relation to fig. 4c which illustrates the engaging with the crustacean, and fig 4d and fig 4e which illustrate the exertion of a directional force to detach the head shell portion from the crustacean to expose the soft tissue head shell portion. [0246] After deshelling with the deshelling arrangement, the deshelled crustaceans may optionally be transported with the transport conveyor TCA to the trimming arrangement. The trimming arrangement trims the exposed soft tissue head segment, as described in relation to fig. 4j. Notice however, that in this example, the intestines and the gills have not been removed before performing the optional step of trimming by the trimming arrangement TCA. Thereby, in this example, the trimming arrangement may trim off substantially the entire head segment soft tissue or a portion of the soft tissue head segment. The trimmed off soft tissue head section may optionally be collected and used for, e.g., animal food products while the head shell portion may be dried and processed further to obtain a dye. Advantageously, the energy consumption of drying is minimized since the head shell portion has been liberated form the soft tissue head shell portion. The rest of the crustacean that has not been trimmed off may be utilized for food products and may, e.g., undergo further processing such as, e.g., removal of the exoskeletal portion of the posterior body portion.

[0247] Fig. 6 schematically illustrates a crustacean processing system CPS with a non-muscle tissue removal arrangement NRA and an optional trimming arrangement TRA, according to an embodiment of the invention.

[0248] The system illustrated in fig. 6 is similar to the system illustrated in fig. 5 with the exception that the system of fig. 6 comprises a non-muscle tissue removal arrangement NRA. In this example, the non-muscle tissue removal arrangement receives crustaceans that has been deshelled with the deshelling arrangement DSA. The non-muscle tissue removal arrangement is configured to remove non-muscle tissue of the soft tissue head segment. It should be understood that non-muscle tissue does not comprise the head segment meat piece also included in the soft tissue head segment. Although it should be understood that some minor portion of the head segment meat piece might sometimes be removed during the process of removing the non-muscle tissue. The non-muscle tissue removal arrangement may, e.g., perform de- gilling as described in relation to fig. 4f and fig. 4g and intestine removal as described in relation to fig. 4h and fig. 4i. Hence, after non-muscle tissue has been removed from the soft tissue head segment, the head section meat piece is exposed and may optionally be trimmed with the optional trimming arrangement TRA as described in relation to, e.g., fig. 4j.

[0249] Fig. 7 schematically illustrates a crustacean processing system CPS with a non-muscle tissue removal arrangement NRA comprising a de-gilling arrangement DGA and an intestine removal arrangement IRA, according to an embodiment of the invention. The system further comprises a transport conveyor and an optional trimming arrangement TRA.

[0250] The system is similar to the crustacean processing system described in fig. 5 except that this system is capable of performing de-gilling and intestine removal as described in relation to fig. 4f to fig. 4i. Notice that de-gilling with the de-gilling arrangement is performed after deshelling with the deshelling arrangement. This is advantageous in that the gills are exposed and more easily engageable by the de-gilling arrangement when the head shell portion has been removed by the deshelling arrangement.

[0251] Fig. 8 schematically illustrates a crustacean processing CPS system with a de- gilling arrangement DGA positioned before a deshelling arrangement DSA, according to an embodiment of the invention.

[0252] In this embodiment of a crustacean processing system, the crustaceans positioned by the positioning arrangement as described in relation to fig. 5 and fig. 4b is transported by a transport conveyor TCB to the de-gilling arrangement DGA to be de-gilled. The de-gilled crustaceans are then transported to the deshelling arrangement to be deshelled before the intestines are removed by the intestine removal arrangement. Optionally trimming may be performed by the trimming arrangement.

[0253] By de-gilling before deshelling the crustacean, the de-gilling is performed while the gills and the soft tissue head segment are stabilized by the head shell portion. Thereby, the engagement on the de-gilling engagement point may be more precise. Advantageously, this may have the effect that it minimizes the amount of additional soft tissue, including the head section meat piece, which is removed during the de- gilling of the crustacean. Thereby, this may increase the meat yield.

[0254] The de-gilling arrangement DGA, de-shelling arrangement DSA, intestine removal arrangement IRA and trimming arrangement TRA may perform the processing steps described in relation to fig. 4b to fig. 4k.

[0255] Notice that the parts of the crustacean that have been removed from the crustacean with any of the described and illustrated crustacean processing systems, including gills, head section portion, intestines, and the head segment meat piece, may be collected. Thus, these parts may advantageously be utilized in various products, such as food products for animals and humans and for producing dye, instead of simply being discarded as waste products.

[0256] Notice that the crustacean processing systems may be configured to perform the crustacean processing method.

[0257] Optionally, embodiments of any of the illustrated crustacean processing system may comprise a transport conveyor, and further be configured to perform the crustacean processing stepwise, e.g., in synchronized steps. The transport conveyor and the processing arrangement area are thereby controlled to move in synchronized steps, e.g., by one or more controllers.

[0258] Optionally, embodiments of any of the illustrated crustacean processing system may be configured with a transport conveyor and further be configured to perform continuous processing. This means that the transport conveyor and the processing arrangements are configured to perform the crustacean processing in a continuous manner. The continuous movement of the transport conveyor and the processing arrangements are thus controlled to move continuously and in sync with one another. This advantageously increases the processing capacity of the system. The synchronization is controlled by one or more controllers. The processing arrangements refer to one or more of the deshelling arrangements, de-gilling arrangements, intestine removal arrangements, the trimming arrangements and the non-muscle tissue removal arrangements. [0259] Continuous deshelling of crustaceans may be performed using various types of the embodied deshelling arrangements. In the continuous deshelling of crustaceans, the deshelling arrangement engages with the shell of the crustacean by moving at least one part of the deshelling arrangement that engages with the shell of the crustacean continuously, and such that the shell is removed from the crustacean as described elsewhere in this disclosure. The continuous deshelling may as mentioned be performed using different deshelling arrangement according to various embodiments of the invention, including, e.g., the deshelling arrangements illustrated in fig. 11, fig. 12. These two embodiments comprises deshelling conveyers

[0260] Fig. 9 schematically illustrates control of a crustacean processing system with a control system comprising controllers CTR and optionally a global controller GCTR. The illustrated control system may be implemented in embodiments of the crustacean processing system, e.g. the embodiments described in relation to fig. 5 to fig. 8, to perform the crustacean processing method, e.g., one or more of the crustacean processing described in relation to fig. 4a to fig. 4k. Further examples of processing arrangements that may be controlled by one or more of the controllers CTR and the optional global controller GCTR are illustrated in fig. 10 to fig. 16.

[0261] The crustacean processing system illustrated in fig. 9 comprises a transport conveyor TCB configured to transport crustaceans between processing arrangements. The processing arrangements being one or more of a positioning arrangement PA, a deshelling arrangement DSA, a de-gilling arrangement DGA, an intestine removal arrangement IRA, and a trimming arrangement TRA. Each of the processing arrangements and the transport conveyor TCB comprise a controller CTR configured to control the processing arrangement, e.g., controlling the mechanical motion, including the speed of moving parts of the processing arrangement and the transport conveyor TCB. Each of the controllers may communicate with each other to enable each synchronized motion and processing among each of the one or more processing arrangement and the transport conveyor TCB. The synchronized motion is typically controlled to enable continuous processing where the one or more processing arrangements move in a continuous motion. Advantageously, this enables a high processing capacity, e.g., more crustaceans may be processed over time compared to stepwise processing.

[0262] Optionally, the controllers CTR may control the processing arrangements and the transport conveyor TCB to stepwise processing. In the optional stepwise processing, the transport conveyor TCB and the mechanical motion of moving parts of the processing arrangement are controlled to stepwise motion. The stepwise motion is controlled to be synchronized.

[0263] Optionally, the one or more processing arrangements and the transport conveyor may be controlled by a global controller GCTR via communication link to each processing arrangement and to the transport conveyor. The communication link CLK may be wired or wireless or a combination of both.

[0264] Optionally, the crustacean processing system may be configured with a controller CTR for each of the one or more processing arrangements and the transport conveyor TCB and with a global controller GCTR.

[0265] Fig 10a, fig. 10b and fig. 10c and fig. 11 and fig. 12 illustrate various deshelling arrangements DSA according to embodiments of the invention. The illustrated deshelling arrangement may be implemented in a crustacean processing system such as, e.g., the systems illustrated in fig. 5 to fig. 9 and in fig. 16. The deshelling arrangement DSA is configured to perform automatic deshelling of a head shell portion of a crustacean, which as described in relation to fig. 4c to fig. 4e comprises engaging with a head shell portion of a crustacean at a point(s) of engagement, and exerting a directional force to detach a head shell portion of a crustacean and thereby expose a soft tissue head segment of the crustacean. Similar to, e.g., the deshelling arrangement illustrated in fig. l lnd fig. 12, the deshelling arrangement illustrated in fig. 10a, 10b, 10c may perform continuous deshelling of crustaceans. The continuous deshelling may be performed by having a portion of the deshelling arrangement that engages with the shell of the crustacean moving continuously. In this embodiment, both of the two rotating discs may be configured tp move continuously to provide continuous deshelling of crustaceans. The deshelling arrangement may also perform step-wise deshelling by having the two discs FD, SD moving step-wise, and preferably moving in synchronized steps. Continuous deshelling may, advantageously, provide fast deshelling.

[0266] Fig. 10a schematically illustrates a side view of the deshelling arrangement DSA. The exemplified deshelling arrangement comprises a first rotating disc FD and a second rotating disc SD. The two rotating discs are positioned at a disc engagement angle DEA of 30 degrees and so that the discs engage at a desheller point(s) of engagement DPE which is at an edge of each disc. The disc engagement angle facilitates an engagement with a head shell portion that enables deshelling and may facilitate deshelling where the soft tissue head segment is substantially contained on the deshelled crustacean instead of being removed with the head shell portion. The desheller point(s) of engagement may be understood as an area, the disc contact area, where the two discs are in contact with each other. A motor rotates the two rotating discs in the same rotation direction with substantially the same rotation speed at the circumference of the two rotating discs. In this embodiment the rotational speed is 150 mm/s at the circumference of the discs. The rotational speed may also be referred to as the peripheral speed. In other embodiments the rotational speed may be more or less. Notice that the rotational speed of the two discs may be synchronized with the speed of the transport conveyor. The two discs engage with the point(s) of engagement of the crustacean at the disc contact area. Thereby, the head shell portion of the crustacean is compressed between the two rotating discs as it engages with the discs at the desheller point(s) of engagement DPE. Due to the rotation of the discs, the discs exert a directional force on the head shell portion of the crustacean and thereby the head shell portion is detached from the crustacean and a soft tissue head shell portion of the crustacean is exposed.

[0267] Notice that the disc engagement angle DEA may be varied. E.g., the disc engagement angle DEA may also be more or less than 30 degrees.

[0268] Fig. 10b schematically illustrates a top view of the deshelling arrangement DSA of fig. 10a arranged with a transport conveyor TCB, according to an embodiment of the invention. [0269] The transport conveyor comprises fixation mechanisms FM within which crustaceans CN are fixed and positioned with a head end towards the deshelling arrangement. The transport conveyor TCB moves the fixed crustaceans in a transport direction TPD from left to right. The transport conveyor TCB thereby transport the crustaceans toward the desheller point(s) of engagement where the point(s) of engagement of the head shell portion of the crustaceans engages with the first rotating disc FD and the second rotating disc SD at the desheller point(s) of engagement DPE. At engagement, the two rotating discs FD, SD may be said to grip the head shell portion between each other. Because the two rotating discs are rotating, a directional force is exerted on the head shell portion HSP such that the head shell portion HSP is pulled away from the crustacean CN fixed in the fixation mechanism FM to expose the soft tissue head segment SHS. The two rotating discs are arranged such that the two rotating discs are in contact with each other (engaged) and such that the disc contact area has a longitudinal pull distance of 130 mm. Thereby, the two discs engage with the head shell portion to pull the head shell portion at a distance corresponding to the longitudinal pull distance PD. In this example, the pull distance is 130 mm. The pull distance may be more or less in other embodiments of the invention. Since different crustaceans require different pull distances in order for the head shell portion to be removed, the pull distance may optionally be adjusted according to type and size of the Crustacea.

[0270] The transport conveyor TCB and the two rotating discs move at substantially similar speed at the desheller point(s) of engagement and the rotation direction RD of the two rotating discs. Thereby, the head shell portion is pulled off in a continuous motion, while the crustacean keeps moving forward along the transport conveyor TCB. The deshelling thereby does not require the transport conveyor TCB to stop and thereby the deshelling capacity may be high, especially when compared to, e.g., stepwise processing. Also this ensures that the head shell portion HSP is removed in a gentle process. This may, advantageously, facilitate that the soft tissue head segment SHS is contained on the crustacean instead of being removed along with the head shell portion HSP. [0271] In this example, the crustaceans are positioned horizontally with respect to the deshelling arrangement. However, the crustaceans and the deshelling arrangement could in principle be positioned in any other direction as long as the point(s) of engagement of the head shell portion may engage with the deshelling arrangement. E.g., the crustaceans could be hanging with a tail end upwards and the head end downwards and with the deshelling arrangement positioned with the desheller point(s) of engagement facing upwards. This would still ensure that the head end of the crustaceans may engage with the deshelling arrangement.

[0272] Fig. 10c schematically illustrates a side view of a deshelling arrangement DSA arranged at a conveyor engagement angle CEA with respect to a transport conveyor TCB, according to an embodiment of the invention.

[0273] The deshelling arrangement DSA is similar to the deshelling arrangement illustrated in fig. 10a and fig. 10b and hence comprises a first rotating disc FD that engages with a second rotating disc SD and wherein a motor MT drives the rotation of the two rotating discs FD, SD. The two rotating discs are tilted slightly downwards with respect to the conveyor belt, as indicated by the conveyor engagement angle CEA. In this embodiment the conveyor engagement angle is 15 degrees. In other embodiments, the conveyor engagement angle may be more or less. Thereby, the two rotating discs FD, SD are tilted slightly downwards along the x direction and with respect to the conveyor. This may have the effect that if the crustacean is hanging a bit downwards, e.g., due to the gravitational force, it still engages with the two rotating discs FD, RD. Furthermore, the tilt may provide a directional force that pulls both in a longitudinal direction, but it may also pull upwards. This may, advantageously, facilitate that the head shell portion breaks off of the rest of the exoskeleton of the crustacean during deshelling without damaging the soft tissue head segment or the posterior body portion of the crustacean.

[0274] The two rotating discs FD, SD may be made of various types of materials. In this embodiment the two rotation discs are made of a rubber. The two rotating discs may be made of other types of materials. The materials could be non-elastic materials or more flexible elastic materials. Typically, the best results may be achieved with flexible materials with at least some elastic properties, such as e.g. materials comprising one or more elastomers, rubber etc.

[0275] Optionally, the two rotating discs may be made of different materials.

[0276] Optionally, one of the two rotating discs may be made of a non-flexible material while the other disc may be made of a flexible material. Non-flexible materials could include, e.g., stiff plastic materials and metals. By at least having one disc made of flexible material, the risk of damaging the crustacean during deshelling may be minimized. Furthermore, flexible materials may, advantageously, provide more friction and thereby a more secure grip (engagement) may be made between the head shell portion and the rotating disc made of flexible material. The flexible material may comprise, e.g., elastomer.

[0277] Fig. 11 illustrates a side view of a deshelling arrangement with a deshelling conveyor DCV, according to an embodiment of the invention.

[0278] The deshelling arrangement comprises a pinch element, a motor and a deshelling conveyor DCV which is essentially a conveyor belt. The deshelling conveyer may be configured to move continuously and thereby provide continuous deshelling of crustaceans. The deshelling conveyer could also be configured to move step-wise and thereby the deshelling arrangement could be implemented to perform step-wise deshelling of crustaceans. In step wise implementation of the deshelling arrangement, the conveyer belt that carries the crustaceans may optionally be configured to move in a step-wise manner and optionally, the movement of the deshelling conveyer and the movement of the conveyer belt moving the crustaceans may be synchronized. One or more step-motor may be implemented to perform step- wise deshelling of the crustacean. A portion of the deshelling conveyor DCV is arranged in parallel to the pinch element PEL, and the pinch element PEL and the deshelling conveyor DCV are arranged at a pull angle PUA with respect to a transport conveyor TCB. The pinch element and the deshelling conveyor are arranged so close to each other that when a point(s) of engagement of a head shell portion HSP of a crustacean CN engages at the desheller point(s) of engagement DPE, the head shell portion HSP is gripped in between the deshelling conveyor and the pinch element. The deshelling conveyor is moved in a transport direction TPD by the motor MT. Due to the pull angle PUA, the engaged head shell portion HSP is pulled in a longitudinal direction away from the crustacean CN fixed at the transport conveyor TCB as the deshelling conveyor DCV moves, and thereby the head shell portion HSP is removed to expose the soft tissue head segment of the crustacean which is fixed on the transport conveyor TCB.

[0279] The conveyor belt may be made of a flexible material. In exemplified embodiment it is made of rubber. However, other embodiments may utilize other materials, including both flexible and non-flexible materials.

[0280] In this embodiment, the pinch element is made of a corrosion resistance metal. Other embodiments may utilize other materials.

[0281] Fig. 12 illustrates a deshelling arrangement DS A with two parallelly arranged deshelling conveyors DCVa, DCVb, according to an embodiment of the invention. The illustrated deshelling arrangement DSA functions similar to the deschelling arrangement illustrated in fig. 11 with the exception that the pinch element is replaced by a second deshelling conveyor DCVb. The two deshelling conveyors are driven by a motor MT to both move in the same direction as the transport conveyor TCB, and with substantially the same speed. Hence, when a point(s) of engagement of a head shell portion of a crustacean engages with the two deshelling conveyors DCVa, DCVb, at the desheller point(s) of engagement DPE, the two conveyors gradually pull off the head shell portion as the crustacean moves along the transport conveyor TCB, while the head shell portion moves along the two deshelling conveyors arranged at a pull angle PUA away from the transport conveyor. It is the pull angle away from the conveyor that provides the directional force, e.g., the longitudinal pull on the head shell portion HSP. Similar to the deshelling arrangement illustrated in fig. 11, the deshelling arrangement illustrated in fig. 12 may perform continuous deshelling of crustaceans. The continuous deshelling may be performed by having a portion of the deshelling arrangement that engages with the shell of the crustacean moving continuously. In this embodiment, both of the two deshelling conveyers DCVa, DCVb may move continuously. The deshelling arrangement may also perform step-wise deshelling by having the two conveyers moving step-wise, and preferably moving in synchronized steps. Continuous deshelling may, advantageously, provide fast deshelling. Continuous or stepwise deshelling of crustaceans may also be performed using other embodiments of deshelling arrangements according to the invention, including, e.g., the embodiment illustrated fig. 17.

[0282]

[0283] Advantageously, the two deshelling conveyors DCVa, DCVb both move the head shell portion forward and hence minimize the risk of a head shell portion getting stuck.

[0284] Fig. 13a schematically illustrates a top view of de-gilling with a de-gilling arrangement DGA according to an embodiment of the invention. The de-gilling arrangement may be implemented to perform de-gilling in a crustacean processing system, e.g., the crustacean processing systems illustrated in fig. 5 to fig. 9 and in fig. 16. The de-gilling arrangement may perform de-gilling, e.g., such as described in relation to fig. 4f to fig. 4g. In this example, de-gilling is performed on deshelled crustaceans where the head shell portion has already been removed. However, de- gilling with the illustrated de-gilling arrangement may also be performed on crustaceans that still comprise the head shell portion in which case the de-gilling arrangement would engage the gills from a ventral side of the crustacean. The de- gilling arrangement DGA illustrated in fig. 5 comprises a de-gilling conveyor DGC and a pinch element PEL. The de-gilling conveyor DGC comprises small protrusions on the thin edge of the belt that that faces upwards (X direction). These protrusions enable the conveyor belt to engage with the physical connection between the two gills or optionally with the gills. The transport conveyor TCB transports deshelled crustaceans fixed in the fixation mechanisms FM from left towards right on the illustration which is the transport direction TPD. The de-gilling conveyor DGC and the pinch element PEL are angled at a pull angle PUA with respect to the transport conveyor TCB, such that the distance between the transport conveyor and both the de- gilling conveyor DGC and pinch element PEL increases from left to right which corresponds to the transport direction TPD.

[0285] In this example, the crustaceans CN are arranged with a ventral side facing upwards corresponding to the x direction in fig. 13a. When the crustaceans CN transported with the transport conveyor TCN reaches the de-gilling arrangement, the de-gilling conveyor DGC engages with the physical connection of the gills RGL, LGL with the mentioned protrusions. The engagement occurs from a ventral side of the soft tissue head segment SHS and/or of the gills. At least a portion of the gills are then pinched between the pinch element PEL and the de-gilling conveyor DGC. As the crustacean continues to move in the transport direction, the gills and the physical connection are pulled away from the crustacean CN fixed in the fixation mechanism FM because of the pull angle PA. In this example the pull angle is 20 degrees. However, the pull angle may be more or less than 20 degrees.

[0286] In this example, the gills are engaged at a proximal end of the physical connection of the gills.

[0287] Optionally, the gills RGL, LGL including the physical connection may be engaged along the longitudinal direction of the crustacean substantially corresponding to the location proximal end of the most posteriorly located leg of the anterior portion of the crustacean. Advantageously, by engaging the gill and/or the physical connection at a posterior end, the gill is removed. If the gill is engaged at a more anterior end of the gill or physical connection, the gill may break during the pull by the de-gilling arrangement and a portion of the gill may not be removed.

[0288] The de-gilling arrangement removes both the left gill LGL and the right gill RGL.

[0289] The protrusions of the de-gilling conveyor may have different shapes and may be arranged at different distances to each other. The protrusions may be tooth like, and they may be dull and not sharp. However, the protrusions may also be arranged as small spikes or saw tooths, or as small hooks. [0290] In this exemplified embodiment, the de-gilling conveyor DGC is made of metal. Nevertheless the de-gilling conveyor DCB may also be made of other materials, including e.g. plastics and rubber and/or other elastomer.

[0291] The de-gilling conveyor DGC may be driven by a motor (not illustrated).

[0292] At least a part of the de-gilling arrangement that engages with gills of the crustaceans to perform de-gilling may be configured to move continuously and thereby provide continuous de-gilling of crustaceans. E.g., the de-gilling conveyer may be configured to move continuously, to provide continuous de-gilling of the crustaceans. The de-gilling conveyer may also be configured to move step-wise and thereby the de- gilling arrangement could be implemented to perform step-wise de-gilling of crustaceans. In step wise implementation of the de-gilling arrangement, the conveyer belt that carries the crustaceans may optionally be configured to move in a step-wise manner and optionally, the movement of the de-gilling conveyer and the movement of the conveyer belt moving the crustaceans may be synchronized. One or more stepmotor may be implemented to perform step-wise de-gilling of the crustacean.

[0293] Continuous or stepwise de-gilling of crustaceans may also be performed using other embodiments of de-gilling arrangements according to the invention, including, e.g., the embodiment illustrated in fig. 13b and fig. 17.

[0294] Fig. 13b schematically illustrates a de-gilling arrangement according to an embodiment of the invention. The de-gilling arrangement DGA in principle corresponds to the de-gilling arrangement illustrated in fig. 13a, except that the de- gilling arrangement DGA is illustrated with a motor.

[0295] Fig. 14 and fig. 15 illustrate trimming arrangements TRA according to embodiments of the invention. Each of the trimming arrangements may be implemented in a crustacean processing system, e.g., the crustacean processing systems illustrated in fig. 5 to fig. 9 and in fig. 16. The trimming arrangements may perform automatic trimming, e.g., such as described in relation to fig. 4k. In the embodiment illustrated in fig. 14, automatic trimming is performed to trim off the head segment meat piece HSM from crustaceans where the head shell portion, the gills and the intestines have already been removed. The trimming arrangement illustrated in fig. 15 is utilized for automatic trimming off the soft tissue head segments comprising both the head segment meat piece and non-muscle soft tissue.

[0296] Fig. 14 schematically illustrates a top view of automatic trimming with a trimming arrangement TRA according to an embodiment of the invention.

[0297] The illustrated trimming arrangement TRA comprises a first trimming disc FTD, a second trimming disc STD and a straightening arrangement STA. The two trimming discs are arranged at a trimming angle with respect to each other and so that the edge of each trimming discs engages. In this example the diameter differs between the first trimming disc FTD and the second trimming disc STD. However, in other optional embodiments of the invention, the diameter of the discs may be substantially identical. Also, in other optional embodiments of the invention, the diameter of the first trimming disc may be larger than the diameter of the second trimming disc, or the diameter of the second trimming disc may be larger than the diameter of the first trimming disc. As illustrated, an edge of the second trimming disc STD engages with a top surface of the first trimming disc and near the circumference of the first trimming disc. It should be understood that this point on the first trimming disc where the two discs engage may also be considered as at an edge of the first trimming disc. Thus, at an edge may be understood as being substantially at an edge or close to an edge. However, in other embodiments of the invention, the second trimming disc may also engage at another point of the surface of the first trimming disc. In this example, the trimming disc angle is 90 degrees. However, notice that other trimming disc angles may be utilized. E.g., a trimming disc angle below 90 degrees may, e.g., ensure that less of the posterior portion of the crustacean CN is compressed during the automatic trimming. In other embodiments, the trimming disc angle may be more or less than 90 degrees. Furthermore, the second trimming disc STD is arranged at a pull angle PUA with respect to the transport conveyor TCB. The pull angle PUA may be more or less in other embodiments of the invention. Also, the pull angle may be an angle relative to both discs in other embodiments of the invention. The discs are configured to rotate in a rotation direction. The rotation speed of the two discs at the circumference is substantially the same as the transport speed of the transport conveyor TCB. The rotation of the discs is driven by a motor (not illustrated). In this embodiment, the rotational speed corresponds to a peripheral speed of 150 mm/s. However, the rotational speed may be more or less in other embodiments of the invention.

[0298] In this exemplified embodiment, the trimming arrangement is illustrated alongside a transport conveyor TCB, which transport crustaceans CN individually fixed in fixation mechanisms FM. The transport conveyor TCB transports the crustaceans CN in a transport direction TPD towards and away from the trimming arrangement TRA. When a crustacean comes close to the trimming engagement point of the two trimming discs, the straightening arrangement lifts the head section meat piece HSM so that it engages more easily in between the two discs which detach the head segment meat piece from the crustacean fixed on the transport conveyor TCB. The detaching of the head segment meat piece HSM is done by compressing the posterior portion of the head segment meat piece in between the edge of the two trimming discs.

[0299] The discs may be made of flexible or non-flexible material. In this exemplified embodiment, both trimming discs are made of rubber. However, other embodiments may utilize other materials, such as plastics and metals. Notice also that one of the trimming discs may be made of a different material than the other trimming disc.

[0300] In this embodiment, the trimming discs have substantially the same diameter. The thickness of the two discs is the same. However, in some embodiments, the thickness of the second trimming disc may be made thinner than the first trimming disc to limit the area of the crustacean that is compressed during the trimming.

[0301] Optionally, the straightening arrangement may be a chute.

[0302] Fig. 15 illustrates a side view of a trimming arrangement TRA with an air straightener according to an embodiment of the invention. The trimming arrangement TRA is similar to the trimming arrangement illustrated in fig. 14 except that the straightening arrangement of this embodiment is an air straightener. The exemplified embodiment further comprises a first trimming disc FTD, a second trimming disc STD arranged at a trimming disc angle TDA with respect to each other and a motor configured to drive the two trimming discs FTD, STD to rotate in the rotation direction RD. Also illustrated is a transport conveyor TCB configured to transport crustaceans CN in a transport direction TP. In this example, the trimming arrangement is utilized for trimming off a soft tissue head segment SHS comprising both head segment meat piece and non-muscle tissue.

[0303] In a first automatic trimming step, a straightening arrangement STA lifts the soft tissue head segment by blowing an airstream AS towards the soft tissue head segment SHS from below. This ensures that the soft tissue head segment is straightened when it engages in between the two rotating trimming discs FTD, STD, to be trimmed off. The trimming is performed by squeezing the crustacean at the point where separation of the soft tissue head segment from the rest of the crustacean is desired.

[0304] The position at which the soft tissue head segment engages with the two rotating trimming discs FTD, STD determines how much of the soft tissue head segment that is trimmed off. Therefore, accurate positioning in the longitudinal direction of the crustacean is important as this positioning determines the trimming engagement point and thereby the amount of soft tissue head segment that is trimmed off. Notice that the same applies when the trimming arrangement is applied to trimming of head segment meat piece.

[0305] Optionally, the trimming arrangement may comprise a collection arrangement configured to collect the trimmed off soft tissue head segment SHS and/or head segment meat piece. The collecting arrangement may comprise an inlet connected to an outlet of the straightening arrangement. The collecting arrangement may further be configured to suck in air at this inlet. The air sucked in at the inlet of the collecting arrangement may be utilized to produce the airstream of the straightening arrangement.

[0306] Notice that the straightening arrangement configured to straightening crustaceans based on an airstream may be implemented with other trimming arrangements. These also include trimming arrangements utilizing different means of trimming, including cutting arrangements such as a guillotine knife, a saw, cutting by jet stream etc.

[0307] Fig. 16 illustrates a crustacean processing system CPS according to an embodiment of the invention.

[0308] The crustacean processing system comprises a deshelling arrangement DSA, a de-gilling arrangement DGA, an intestine removal arrangement IRA, a trimming arrangement TRA, and a transport conveyor TCB configured to transport crustaceans between the processing arrangements. The crustacean processing system may, e.g., be configured to perform the crustacean processing method described in relation to fig. 4a to 4k.

[0309] The crustacean processing system CPS receives crustaceans CN positioned on the transport conveyor TCB, in fixation mechanisms fixating the crustacean CN in the longitudinal direction. The received crustaceans are then deshelled, de-gilled, intestines are removed, and the head section meat piece is trimmed off.

[0310] Optionally, the crustacean processing system CPS may comprise a vision guided positioning robot configured to position the crustaceans in fixation mechanisms arranged on the transport conveyor TCB.

[0311] Fig. 17 illustrates a schematical perspective view of a second rotating disc SD for a deshelling arrangement further comprising a de-gilling arrangement DGA comprising a plurality of gill engagers GE according to an embodiment of the invention. The gill engagers GE of the de-gilling arrangement is arranged around the circumference of the second rotating disc and at a distance to the circumferential edge of the second rotating disc SD.

[0312] The second rotating disc SD may form part of a deshelling arrangement as, e.g., the second rotating disc of the deshelling arrangements illustrated in, e.g., fig. 10a, 10b and 10c. Thereby the second rotating disc may be used to remove a head shell portion of a crustacean as described in relation to these embodiments of deshelling arrangements. In addition to deshelling, the gill engagers GE of the second rotating disc further enables de-gilling of crustaceans. De-gilling using the gill engagers GE is performed substantially simultaneously to deshelling when the illustrated second rotating disc is implemented as second rotating disc together with a first rotating disc in the deshelling arrangements illustrated in, e.g., fig. 10a, 10b, 10c. As described in relation to these embodiments, the head shell portion of the crustacean is pulled off of the crustacean when the first and the second rotating disc is rotating in the same direction. When using a second rotating disc SD with gill engagers GG, the gill engagers GE engages with the gills of the crustacean and thereby as the second rotating disc and the first rotating disc rotates, the gills are removed by the gill engagers, while the head shell portion is pulled off by the two rotating discs as described in relation to the deshelling embodiments of the invention comprising a first and a second rotating disc. The gill engagers engages with the gills and essentially the gills are forced off of the rest of the crustacean by the gill engagers as the gill engagers moves with the rotation of the second rotating disc. A deshelling arrangement comprising a second rotating disc comrpsign gill engagers GE may be considered a combined deshelling and de-gilling arrangement. Hence, according to an embodiment of the invention, the second rotating disc may comprise gill engagers arranged at a circumference of the second rotating disc and wherein the gill engagers are configured to engage with gills of a crustacean during simultaneous rotation of the first and the second rotating disc. Wherein the rotation of the first and the second rotating discs may be in the same direction, according to an embodiment of the invention.

Advantageously, a deshelling arrangement wherein the second rotating disc comprises gill engagers enables substantially simultaneous deshelling and de-gilling of crustaceans. This is advantageous in that it provides faster processing of crustaceans. Furthermore, this may provide continuous de-gilling of crustaceans, which may be more efficient than step-wise de-gilling. However, the second rotating disc may also be implemented to perform step-wise de-gilling.

Fig. 18 illustrates a schematical cross-sectional side view of a deshelling arrangement DS A comprising a de-gilling arrangement DGA with gill engagers GE according to an embodiment of the invention and the arrangements being illustrated in relation to a shrimp SMP. The deshelling arrangement may sometimes be referred to as a combined deshelling and de-gilling arrangement. The illustrated embodiment may advantageously perform deshelling and de-gilling substantially simultaneous, without removing the soft tissue head segment of crustaceans being processed with the arrangement.

The illustrated deshelling arrangement is similar to the deshelling arrangements illustrated in fig. 10a, 19b and 10c, however, this particular embodiment further comprises a de-gilling arrangement DGA comprising gill engagers GE. Crustaceans is fed to the illustrated arrangement as described in relation to fig. lOa-lOc and the deshelling is also performed as described in relation to these illustrated embodiments of the invention.

The combined deshelling and de-gilling arrangement illustrated in fig. 18 comprises a first moving disc FD a second moving disc SD configured to rotate in the same rotation direction. The two discs are arranged such that the edge of the discs engages and further may engage at a point of engagement PE with a head shell portion HSP of crustaceans including shrimps SMP being fed to the arrangement. As the discs rotates, the head shell portion is pulled off of the shrimp SMP. The second rotating disc SD further comprises a de-gilling arrangement DGA with gill engagers positioned around the circumference of the second rotating disc SD. The gill engagers GE are positioned at a slight distance to the edge of the second rotating disc such that one end of the gill engagers GE may engage with the gills of shimps (crustaceans) at a de-gilling engagement point DEP during rotation of the first and the second rotating discs FD,SD. The gill engagers may also be positioned directly at the circumference of the disc or at a longer or shorter distance to the circumference of the disc, according to alternative embodiments of the invention. The crustaceans are fixated and moved substantially along the y direction while the rotation of the first and the second rotating discs exerts er pull to the head shell portion and to the gills of the shrimp SMP via the gill engagers GE and thereby the head shell portion and the gills are forced off of the shrimp. Thereby, deshelling and de-gilling is performed in substantially one processing step or substantially simultaneously. Notice that depending on the positioning of the gill engagers in relation to the point of engagement, the removal of the gills may be initiated or completed slightly before or after the shell of the shrimp is removed.

The gill engagers may be designed in various different shapes. According to an embodiment of the invention, the gill engagers may be hooks. In another embodiment of the invention, the gill engagers may be angled needles pointing towards the gills from the gills. In a further embodiment of the invention, the gill engagers may be small tubes extending from the second rotating disc toward the first rotating discs. The discance between the tubes is configured to enable the shrimp hear to be squeezed inbetween the tubes, to enable engagement on both sides of the shimp to facilitate removal of gills on both sides of the crustacean. Examples of different embodiments of gill engagers that may be utilized is illustrated in fig. 19a, 19b and in fig. 20, fig. 21 and fig. 22. These embodiments are examples of gill engagers, however, other gill engagers may also be utilized for de-gilling crustaceans according to embodiments of the invention.

The illustrated deshelling arrangement DS A comprising a de-gilling arrangement DGA with gill engagers GE (combined deshelling and de-gilling arrangement) may be utilized in crustacean processing systems. E.g., the crustacean processing systems illustrated in fig. 7, 8 and 9 all comprises a deshelling arrangement and a de-gilling arrangement. These systems could advantageously utilize the combined deshelling and de-gilling arrangement. Also the combined deshelling and degilling arrangement may in principle replace the deshelling arrangement in any of the embodied crustacean processing systems according to the invention if de-gilling is desired in these processing systems.

Fig. 19a and 19b illustrates a schematical representation of a gill engager from a front view and from a side view, respectively. The gill engagers may be considered examples of the gill engagers illustrated in fig. 17 and fig. 18.

The gill engager comprises a body portion BP and two protrusions PSI and PS2 extending outwards away from the body portion. In this embodiment both the body portion BP and the protrusions PSI and PS2 are relatively flat. The two protrusions are triangular in shape with the distance between the end points of each protrusion having a lengt L2 being longer than distance between the two protrusions further toward the body portion as illustrated by the shorter length LI. Thereby the triangular shape of at the end of each protrusion functions as a guide that guide, e.g., a crustacean in-between the two protrusions. Notice that the protrusions may have other shapes than triangular, including tubular shape, conical shape etc. As illustrated in fig. 19b, the protrusion bends at an angle with respect to the body portion BP. This particular configuration may provide sufficient engagement with gills of a crustacean to force the gills of off the crustacean.

Optionally, the gill engagers GE may be implemented on a rotating disc, e.g. a second rotating disc, such as the second rotating disc illustrated in fig. lOa-lOc to enable the illustrated deshelling arrangement to also perform de-gilling, as describe din relation to fig. 18. Multiple gill enagagers may be arranged around the entire circumference of a second rotating disc, to ensure engagement with the gills of a crustacean irrespective of the particular angular rotation of the rotating disc.

Fig. 20, fig. 21 and fig. 22 illustrates schematical representations of different gill engagers from a front view.

Fig. 20 illustrates a gill engager GE with protrusions PSI, PS2 having a rounded end compared to the more pointy triangular shape of the protrusions on the gill engager illustrated in, e.g., fig. 19a. The rounded ends of the protrusions may be less prone to tear off excess soft tissue such as meat off of the crustacean compared to other types of gill engagers.

Fig. 21 illustrates a gill exchanger GE with protrusions PSI, PS2 having pointy ends, and wherein the pointy ends are angled such that the pointy ends point toward a center line of the gill engager, or points toward each other. This may enable the gill engager to more precisely engage at a de-gilling point of engagement. The angle of the pointy ends may be adjusted, e.g., according to the type of crustacean being processed. Fig. 2 illustrates a gill exchanger GE with protrusions PSI, PS2 having a grooved surface and the grooved surface of each of the two protrusions pointing toward a center line of the gill engager GE, or points toward each other. This may engage with the gills. E.g., this embodiment of a gill engager GE may be advantage, e.g., for de-gilling crustaceans that is arranged for degilling such that gills on each side of the crustacean engages with a respective grooved surfaces of the protrusions PSI, PS2. The graved surface could also be more or less pointy or sharp. It may be a sawtooth like structure or it may be a more soft and rounded.

Optionally, the gill engagers may be implemented on deshelling arrangements according to various embodiments of the invention, to enable substantially simultaneous deshelling and de-gilling of crustaceans, using the deshelling arrangements comprising gill engagers for de-gilling. Such deshelling arrangements may sometimes be referred to as combined deshelling and de-gilling arrangements. Non-limiting examples of deshelling arrangements that may utilize gill engagers to enable these deshelling arrangements to also perform de-gilling of crustaceans may comprise the deshelling arrangements illustrated in fig. 10a, fig. 10b, fig. 10c, fig. 11, fig. 12. Hence, different types of deshelling arrangement may be configured for combined deshelling and de-gilling of crustaceans, e.g., by having gill engagers engaging with the gills of the crustaceans to remove the gills from the crustaceans.

[0313] Without a particular reference to any illustrated crustacean processing system, it should be understood that the intestine removal arrangement may be implemented in various ways. E.g., the intestine removal arrangement may be configured to flush off the intestines using a stream of liquid such as, e.g., water. Other examples of intestine removal arrangements comprise the exemplified deshelling arrangements illustrated in fig. 11 and fig. 12 which may also optionally be utilized as intestine removal arrangements. E.g., the deshelling arrangement of fig. 11 may squeeze the soft tissue head segment comprising intestines and thereby the intestines are squeezed off as the crustaceans move in the direction of the transport conveyor. The same principle may be applied to remove intestines utilizing the deshelling arrangement illustrated in fig. 12. Other alternatives comprise utilizing squeezing in between two rollers the soft tissue head segment comprising intestines.

[0314] List of reference signs:

AP Anterior portion

AS Airstream

AT Antennae

BP Body portion

CEA Conveyor engagement angle

CFM Closed fixation mechanism

CLK Communication link

CN Crustacean

CP Carapace

CPS Crustacean processing system

CTR Controller

DEA Disc engagement angle

DEP De-gilling engagement point

DGA De-gilling arrangement

DGC De-gilling conveyor

DPE Desheller point(s) of engagement

DSA Deshelling arrangement

DCV Deshelling conveyor

EC Eye cavity

FD First rotating disc

FTD First trimming disc

GCTR Global controller

GE Gill engagers

GL Gills FM Fixation mechanism

HSM Head segment meat piece

HSP Head shell portion

INT Intestine(s)

IRA Intestine removal arrangement

L1-L2 Length

LD Longitudinal direction

LGL Left gills

LGS Legs

MT Motor

NT Non-muscle tissue

NRA Non-muscle removal arrangement

OFM Open fixation mechanism

PA Positioning arrangement

PCN Physical connection

PD Pull distance

PE Point(s) of engagement

PEL Pinch element

PL Pleopods

PP Posterior body portion

PS1-PS2 Protrusion

PUA Pull angle

RD Rotation direction

RGL Right gills

ROS Rostrum SD Second rotating disc

SHS Soft tissue head segment

SMP Shrimp

STA Straightening arrangement STD Second trimming disc

TA Tail

TCB Transport conveyor

TD Transverse direction

TDA Trimming disc angle TPD Transport direction

TRA Trimming arrangement

Claims

1. A crustacean processing method; wherein said method comprises processing a crustacean (CN) comprising a head shell portion (HSP) which at least partly covers a soft tissue head segment (SHS) of said crustacean (CN); wherein said method comprises: positioning said crustacean (CN) with a head end of said crustacean (CN) oriented toward a deshelling arrangement (DSA); and wherein said method comprises the processing steps of: automatically deshelling said head shell portion (HSP) of said crustacean (CN) to expose at least said soft tissue head segment (SHS); wherein said automatically deshelling comprises: engaging said crustacean (CN) at one or more Point(s) of engagement (PE) of said crustacean (CN) with said deshelling arrangement (DSA); wherein one or more Point(s) of engagement (PE) forms part of said head shell portion (HSP); and exerting a directional force at said one or more Point(s) of engagement (PE) with said deshelling arrangement (DSA) to detach said head shell portion (HSP).

2. A crustacean processing method according to claim 1, wherein said positioning of said crustacean (CN) comprises fixing said crustacean (CN) in a Longitudinal direction (LD).

3. A crustacean processing method according to any of the claims 1-2, wherein said positioning of said crustacean (CN) with a headend of said crustacean (CN) oriented toward a deshelling arrangement (DSA) comprises fixing said crustacean (CN) in a fixation mechanism (FM).

4. A crustacean processing method according to any of the preceding claims, wherein said fixation mechanism (FM) is configured to automatically fixing said crustacean (CN) in said fixation mechanism (FM) when said crustacean (CN) engages with said fixating mechanism, and/or when a positioning robot engages with said fixation mechanism.

5. A crustacean processing method according to any of the preceding claims, wherein said fixation mechanism (FM) is arranged on a transport conveyor (TCB) configured to move.

6. A crustacean processing method according to any of the preceding claims, wherein said transport conveyor (TCB) is configured to move continuously.

7. A crustacean processing method according to any of the preceding claims, wherein said transport conveyor (TCB) is configured to move continuously and wherein said Point(s) of engagement (PE) during engagement in relation to deshelling is moving along the direction of the movement path.

8. A crustacean processing method according to any of the preceding claims, wherein said transport conveyor (TCB) is configured to move continuously and wherein the Point(s) of engagement (PE) during engagement in relation to de-gilling is moving along the direction of the movement path.

9. A crustacean processing method according to any of the preceding claims, wherein positioning said crustacean (CN) comprises positioning said crustacean (CN) in a supine position.

10. A crustacean processing method according to any of the preceding claims, wherein said positioning is performed by an automatic positioning arrangement (PA) comprising a positioning robot and a vision system and wherein said positioning robot is controlled based on said vision system.

11. A crustacean processing method according to any of the preceding claims, wherein said positioning system is configured to automatically localize a crustacean and to pick up said crustacean (CN) and to automatically position said crustacean (CN) in a fixation mechanism (FM).

12. A crustacean processing method according to any of the preceding claims, wherein said positioning system is configured to automatically localize a crustacean and to pick up said crustacean (CN) and to automatically position said crustacean (CN) in a fixation mechanism (FM), said fixation mechanism (FM) being one of a plurality of fixation mechanisms attached to a conveyor.

13. A crustacean processing method according to any of the preceding claims, wherein said de-shelling of crustacean is performed while the crustacean is fixed in said fixation mechanism (FM) and moving along a movement path defined by said conveyor.

14. A crustacean processing method according to any of the preceding claims, wherein said de-shelling of crustacean is performed while the crustacean is fixed in said fixation mechanism (FM) and continuously moving along a movement path defined by said conveyor.

15. A crustacean processing method according to any of the preceding claims, wherein said one or more Point(s) of engagement (PE) comprises at least an anterior portion of a rostrum (ROS) of said crustacean (CN).

16. A crustacean processing method according to any of the preceding claims, wherein said one or more Point(s) of engagement (PE) comprises at least an eye cavity (EC) of said crustacean (CN).

17. A crustacean processing method according to any of the preceding claims, wherein said Point(s) of engagement (PE) comprises at least an anterior end of a carapace (CP) closest to a rostrum (ROS) of said crustacean (CN) and/or closest to an eye cavity (EC) of said crustacean (CN).

18. A crustacean processing method according to claim 17, wherein said anterior end of said carapace (CP) comprises at least between one-tenth to two-thirds of a carapace (CP), such as at least between one-eighth to two-thirds of said carapace (CP), such as at least between one-sixth to one-half of said carapace (CP), such as at least between one-fourth to one-half of said carapace (CP), such as at least between one-third to one- half of said carapace (CP), such as at least no less than one-fifth of said anterior end of said carapace (CP) located closest to said rostrum (ROS) of said crustacean (CN).

19. A crustacean processing method according to any of the preceding claims, wherein said head shell portion (HSP) is engaged by said deshelling arrangement (DSA) from at least a ventral side and/or from at least a dorsal side of said crustacean (CN).

20. A crustacean processing method according to any of the preceding claims, wherein said engaging said crustacean (CN) comprises gripping said crustacean (CN) at at least said Point(s) of engagement (PE).

21. A crustacean processing method according to any of the preceding claims, wherein exerting said directional force comprises exerting a force in a Longitudinal direction (LD) of said crustacean (CN).

22. A crustacean processing method according to any of the preceding claims, wherein said exerting said directional force comprises pulling in a Longitudinal direction (LD) away from a body portion of said crustacean (CN).

23. A crustacean processing method according to any of the preceding claims, wherein said pulling in a Longitudinal direction (LD) comprises pulling said head shell portion (HSP) at a longitudinal pull distance (PD).

24. A crustacean processing method according to any of the preceding claims, wherein said longitudinal pull distance (PD) is within the range of 5mm to 130mm, such as within the range of 10mm to 130mm, such as within the range of 15mm to 100mm, such as within the range of 15mm to 80mm, such as within the range of 15mm to 50mm, such as within the range of 10mm to 30mm, such as within the range of 15mm to 30mm, such as at least 15mm.

25. A crustacean processing method according to any of the preceding claims, wherein said engaging said crustacean (CN) comprises engaging said crustacean (CN) at a disc contact area formed between an edge of a first rotating disc (FD) and an edge of a second rotating disc (SD) arranged at a disc engagement angle (DEA) with respect to one another; wherein said rotating discs are included in said deshelling arrangement (DSA).

26. A crustacean processing method according to any of the preceding claims, wherein said disc engagement angle (DEA) is within the range of 10 degrees to 70 degrees, such as withing the range of 15 degrees to 60 degrees, such as within the range of 25 degrees to 40 degrees, such as within the range of 25 degrees to 35 degrees.

27. A crustacean processing method according to any of the preceding claims, wherein said first rotating disc (FD) and said second rotating disc (SD) are configured to rotate in the same direction and thereby is configured to exerting said directional force to a crustation engaged at said contact area.

28. A crustacean processing method according to any of the preceding claims, wherein said first rotating disc (FD) and said second rotating disc (SD) are configured to pull said head shell portion (HSP) a longitudinal pull distance (PD).

29. A crustacean processing method according to any of the preceding claims, wherein a size of said contact area is determined according to said longitudinal pull distance (PD).

30. A crustacean processing method according to any of the preceding claims, wherein said first rotating disc (FD) and said second rotating disc (SD) are tilted at a Conveyor engagement angle (CEA) with respect to said transport conveyor (TCB).

31. A crustacean processing method according to any of the preceding claims, wherein said Conveyor engagement angle (CEA) is within the range of 2 degrees to 30 degrees, such as within the range of 8 degrees to 25 degrees, such as within the range of 14 degrees to 25 degrees.

32. A crustacean processing method according to any of the preceding claims, wherein at least one of said first rotating disc (FD) and said second rotating disc (SD) is made of flexible material.

33. A crustacean processing method according to any of the preceding claims, wherein said flexible material is selected from the list of elastomer comprising: rubber, silicone, PIB, SBR, PUR.

34. A crustacean processing method according to any of the preceding claims, wherein said first rotating disc (FD) and said second rotating disc (SD) is rotating with a circumferential speed substantially corresponding to a speed of a transport conveyor (TCB) configured to transport said crustacean (CN) towards said deshelling arrangement (DSA).

35. A crustacean processing method according to any of the preceding claims, wherein said method comprises removing said non-muscle tissue (NT) of said soft tissue head segment (SHS).

36. A crustacean processing method according to any of the preceding claims, wherein said method comprises automatically de-gilling said crustacean (CN).

37. A crustacean processing method according to any of the preceding claims, wherein said automatically de-gilling said crustacean (CN) comprises: engaging one or more gills (GL) of said crustacean (CN) at a de-gilling engagement point (DEP) with a de-gilling arrangement (DGA); and forcing off said one or more gills (GL) of said crustacean (CN) with said de- gilling arrangement (DGA).

38. A crustacean processing method according to any of the preceding claims, wherein forcing off said one or more gills (GL) comprises pulling at a de-gilling engagement point (DEP).

39. A crustacean processing method according to any of the preceding claims, wherein said automatically deshelling a head shell portion (HSP) of a shell of said crustacean (CN) is performed before said step of automatically de-gilling said crustacean (CN).

40. A crustacean processing method according to any of the preceding claims, wherein said automatically de-gilling of said crustacean (CN) is performed before said automatically deshelling a head shell portion (HSP) of a shell of said crustacean (CN).

41. A crustacean processing method according to any of the preceding claims, wherein said de-gilling arrangement (DGA) comprises a de-gilling conveyor (DGC) configured to engage with said de-gilling engagement point (DEP).

42. A crustacean processing method according to any of the preceding claims, wherein said de-gilling conveyor (DGC) is arranged at a pull angle (PUA) with respect to a transport conveyor (TCB) configured to transport crustaceans and so that a distance between said transporting conveyor belt and said de-gilling conveyor (DGC) gradually increases along the direction of transport of said transport conveyor (TCB).

43. A crustacean processing method according to any of the preceding claims, wherein said de-gilling conveyor (DGC) and said transport conveyor (TCB) runs at substantially the same velocity at an entry point of said de-gilling conveyor (DGC).

44. A crustacean processing method according to any of the preceding claims, wherein said pull angle (PUA) between said de-gilling conveyor (DGC) and said transport conveyor (TCB) is within the range of 2 degrees to 45 degrees, such as within the range of 10 degrees to 20 degrees.

45. A crustacean processing method according to any of the preceding claims, wherein said de-gilling comprises engaging with a physical connection (PCN) of said gills (GL).

46. A crustacean processing method according to any of the preceding claims, wherein said method comprises removing one or more intestine(s) (INT) included in said soft tissue head segment (SHS) of said crustacean (CN).

47. A crustacean processing method according to any of the preceding claims, wherein said removing one or more intestine(s) (INT) is performed by an intestine removal arrangement (IRA).

48. A crustacean processing method according to any of the preceding claims, wherein said method comprises automatically trimming of said soft tissue head segment (SHS) and/or said head segment meat piece (HSM).

49. A crustacean processing method according to any of the preceding claims, wherein said automatically trimming according to claim 48 comprises collecting said trimmed off soft tissue head segment (SHS) and/or said head segment meat piece (HSM).

50. A crustacean processing method according to any of the preceding claims, wherein said automatically trimming according to any of the claims 48-49 comprises squeezing of said soft tissue head shell segment and/or said head section meat piece (HSM).

51. A crustacean processing method according to any of the claims 48-50, wherein said automatically trimming comprises straightening at least said soft tissue head segment (SHS) and/or said head segment meat piece (HSM).

52. A crustacean processing method according to any of the preceding claims, wherein said straightening is performed by blowing an airstream (AS) towards said soft tissue head segment (SHS) and/or towards said head segment meat piece (HSM).

53. A crustacean processing method according to any of the preceding claims, wherein said airstream (AS) is directed towards a dorsal side of said soft tissue head segment (SHS) and/or towards a dorsal side of said head segment meat piece (HSM).

54. A crustacean processing method according to any of the preceding claims, wherein said collecting of said trimmed off soft tissue head segment (SHS) and/or said head segment meat piece (HSM) comprises exerting an air suctioning pressure on said trimmed off soft tissue head segment (SHS) and/or on said head section meat piece.

55. A crustacean processing method according to any of the preceding claims, wherein said air suctioning is utilized to generate said airstream (AS).

56. A crustacean processing method according to any of the preceding claims, wherein said automatically trimming is performed by a trimming arrangement (TRA).

57. A crustacean processing method according to any of the preceding claims, wherein said straightening is performed by a straightening arrangement (STA) comprised by said trimming arrangement (TRA).

58. A crustacean processing method according to any of the preceding claims, wherein said trimming arrangement (TRA) can be adjusted to determine an amount of trimmed off soft tissue head segment (SHS) and/or head segment meat piece (HSM) that is trimmed off of said crustacean (CN).

59. A crustacean processing method according to any of the preceding claims, wherein said method comprises trimming off non-muscle tissue (NT) of said soft tissue head segment (SHS) using a trimming arrangement (TRA).

60. A crustacean processing method according to any of the preceding claims, wherein said trimming arrangement (TRA) comprises two engaging trimming discs, wherein a first trimming disc (FTD) and a second trimming disc (STD) of said two engaging trimming discs are engaging at an edge of one another.

61. A crustacean processing method according to any of the preceding claims, wherein said two engaging trimming discs are arranged at a trimming disc angle (TDA) with respect to one another, wherein said trimming disc angle (TDA) is less than 100 degrees, such as less than 105 degrees, such as between 95 degrees and 70 degrees, such as between 95 degrees and 80 degrees, such as between 92 degrees and 85 degrees.

62. A crustacean processing method according to any of the preceding claims, wherein said method comprises collecting said head shell portion (HSP).

63. A crustacean processing method according to any of the preceding claims, wherein said crustacean (CN) is a shrimp (SMP) and/or a prawn.

64. A crustacean processing method according to any of the preceding claims, wherein said method may be applied to continuously process crustaceans.

65. A crustacean processing method according to any of the preceding claims, wherein said automatically deshelling a head shell portion (HSP) and/or an automatic de-gilling of said crustacean (CN) and/or a trimming off said soft tissue head segment (SHS) is performed when said crustacean (CN) is fixed in said fixation mechanism (FM).

66. A crustacean processing method according to any of the preceding claims, wherein said automatically deshelling a head shell portion (HSP) and/or a de-gilling of said crustacean (CN) and/or a trimming off said soft tissue head segment (SHS) is performed during a continuous movement of said fixation mechanism (FM) by said moveable transport conveyor (TCB) when said crustacean (CN) is fixed in said fixation mechanism (FM).

67. A crustacean processing system (CPS); wherein said system comprises: a positioning arrangement (PA) configured to positioning said crustacean (CN) with a headend of said crustacean (CN) oriented toward a deshelling arrangement (DSA); a deshelling arrangement (DSA) configured to automatically deshelling a head shell portion (HSP) of a shell of said crustacean (CN) to expose at least a soft tissue head segment (SHS) contained within an interior of said head shell portion (HSP) of said crustacean (CN); and wherein said crustacean processing system (CPS) is configured to perform said crustacean processing method according to any of the claims 1-66.

68. A crustacean processing system (CPS) according to claim 67, wherein said system comprises a de-gilling arrangement (DGA) configured to automatically de-gilling said crustacean (CN).

69. A crustacean processing system (CPS) according to any of the claims 67-68, wherein said system comprises a trimming arrangement (TRA) configured to automatic trimming of a soft tissue head segment (SHS) and/or a head segment meat piece (HSM).

70 A crustacean processing system (CPS) according to any of the claims 67-68, wherein said trimming arrangement (TRA) comprises two engaging trimming discs, wherein a first trimming disc (FTD) and a second trimming disc (STD) of said two engaging trimming discs are engaging at an edge of one another.

71. A crustacean processing system (CPS) according to any of the claims 67-70, wherein said trimming arrangement (TRA) comprises two engaging trimming discs arranged at a trimming disc angle (TDA) with respect to one another, wherein said trimming disc angle (TDA) is less than 100 degrees, such as less than 105 degrees, such as less than 95 degrees, such as less than 91 degrees, such as less than 85 degrees, such as less than 75 degrees.

72. A crustacean processing system (CPS) according to any of the claims 67-71, wherein said at least two engaging trimming discs are compressed against each other at said edge.

73. A crustacean processing system (CPS) according to any of the claims 67-72, wherein said trimming of a soft tissue head segment (SHS) and/or a head segment meat piece (HSM) comprises squeezing in between said two engaging trimming discs said soft tissue head segment (SHS) and/or said head segment meat piece (HSM).

74. A crustacean processing system (CPS) according to any of the claims 67-73, wherein said trimming arrangement (TRA) comprises a straightening arrangement (STA) configured to straighten a crustacean.

75. A crustacean processing system (CPS) according to any of the claims 67-74, wherein said straightening arrangement (STA) is positioned before said two engaging discs.

76. A crustacean processing system (CPS) according to any of the claims 67-75, wherein said straightening arrangement (STA) is configured to blow an airstream (AS) on at least said soft tissue head segment (SHS) and/or said head segment meat piece (HSM) to facilitate straightening of said soft tissue head segment (SHS) and/or said head segment meat piece (HSM).

77. A crustacean processing system (CPS) according to any of the claims 67-76, wherein said straightening arrangement (STA) is configured to straighten said crustacean (CN) along its Longitudinal direction (LD).

78. A crustacean processing system (CPS) according to any of the claims 67-77, wherein said straightening arrangement (STA) comprises an air nozzle arranged to blow an airstream (AS) on said crustacean (CN) to straighten said crustacean (CN).

79. A crustacean processing system (CPS) according to any of the claims 67-78, wherein said deshelling arrangement (DSA) comprises a first rotating disc (FD) and a second rotating disc (SD) arranged at disc engagement angle (DEA) with respect to one another to form a contact area between an edge of said first rotating disc (FD) and an edge of said second rotating disc (SD).

80. A crustacean processing system (CPS) according to any of the claims 67-79, wherein at least one of said first rotating disc (FD) and said second rotating disc (SD) are made of a flexible material.

81. A crustacean processing system (CPS) according to any of the claims 67-80; wherein said flexible material comprises an elastomer.

82. A crustacean processing system (CPS) according to any of the claims 67-81, wherein said system comprises an intestine removal arrangement (IRA).

83. A crustacean processing system (CPS) according to any of the claims 67-82, wherein said system comprises a transport conveyor TCB configured to automatically transport said crustations.

84. A crustacean processing system (CPS) according to any of the claims 67-83, wherein said transport conveyor (TCB) is configured to transport said crustacean (CN) to and/or from one or more of the list comprising: a deshelling arrangement (DSA), a de-gilling arrangement (DGA), a trimming arrangement (TRA), an intestine removal arrangement (IRA).

85. A crustacean processing system (CPS) according to any of the claims 67-84, wherein said positioning arrangement (PA) comprises a vision system and a positioning robot configured to automatically pick up said crustacean (CN) and further configured to position said crustacean (CN) in a fixation mechanism (FM); wherein said robot arm is controlled based on said vision system.

86. A crustacean processing system (CPS) according to any of the claims 67-85, wherein said positioning arrangement (PA) is configured to provide automatic positioning, and wherein said positioning system comprises a positioning robot and a vision system, and wherein said positioning robot is controlled based on said vision system.

87. A crustacean processing system (CPS) according to any of the claims 67-86, wherein said positioning system is configured to automatically localize a crustacean via said vision system and to pick up said crustacean (CN) with said positioning robot and automatically position said crustacean (CN) in a fixation mechanism (FM).

88. A use of a crustacean processing system (CPS) according to any of the claims 67- 87, wherein said crustacean processing system (CPS) is used to process one or more crustaceans according to the crustacean processing method of any of the claims 1-66.

89. A crustacean processing method according to any of the claims 1-66, wherein said point(s) of engagement comprises an anterior end of a carapace of said crustacean, wherein said anterior end of said carapace (CP) includes only between one-tenth to two-thirds of an anterior part of carapace (CP), such as only between one-eighth to two-thirds of an anterior part of said carapace (CP), such as only between one-sixth to one-half of an anterior part of said carapace (CP), such as only between one-fourth to one-half of an anterior part of said carapace (CP), such as only between one-third to one-half of an anterior part of said carapace (CP), such as only one-fifth of said anterior part of said carapace (CP).

90. A crustacean processing system according to any one or more of the preceding claims 67-88, wherein said system comprises a de-gilling arrangement (DGA), wherein said de-gilling arrangement and said deshelling arrangement is arranged as a combined deshelling and de-gilling arrangement.

91. A crustacean processing system according to any one or more of the preceding claims 67-88 or 90 wherein said deshelling arrangement and said de-gilling arrangement is configured to perform said de-shelling and said de-gilling substantially simultaneously.

92. A crustacean processing system according to any one or more of the preceding claims 67-88 or 90-91, wherein said deshelling arrangement and said de-gilling arrangement is configured to perform said deshelling and said de-gilling in a same processing step.

93. A crustacean processing method according to any one or more of the preceding claims 1-66 or 89, wherein said method comprises a step of automatically de-gilling said crustacean (CN), and wherein said step of de-gilling and said step of deshelling is performed substantially simultaneously.

94. A crustacean processing method according to any one or more of the preceding claims 1-66 or 89 or 93, wherein said method comprises a step of de-gilling said crustacean, and wherein said de-gilling and/or said deshelling is a continuous process.

95. A crustacean processing system according to any one or more of the preceding claims 67-88 or 90-91, wherein at least one part of said deshelling arrangement engages with said head shell portion and wherein said at least one part of said deshelling arrangement is configured to continuously move during deshelling of a plurality of crustaceans.

96. A crustacean processing system according to any one or more of the preceding claims 67-88 or 90-91 or 95, wherein said continuous movement of said at least one part of said deshelling arrangement is a movement in one direction.

97. A crustacean processing system according to any one or more of the preceding claims 67-88 or 90-91 or 95-96, wherein said system comprises a de-gilling arrangement, and wherein at least one part of said de-gilling arrangement is configured to engage with a gill of said crustacean, and wherein said at least one part of said de- gilling arrangement is configured to continuously move during de-gilling of a plurality of crustaceans.

98. A crustacean processing system according to any one or more of the preceding claims 67-88 or 90-91 or 95-97, wherein said continuous movement of said at least one part of said de-gilling arrangement is a movement in one direction.

99. A crustacean processing system according to any one or more of the preceding claims 67-88 pr 90-91 or 95-98, wherein said second rotation disc and/or said first rotating disc comprises one or more gill engagers.