A novel omnidirectional image sensing system for assembling parts with arbitrary cross-sectional shapes

In contrast with relatively simple cross-sectional shapes, it is difficult to discern misalignments in relative position and angular orientation between mating parts with complicated cross-sectional shapes. This motivates the development of a new sensing method for detecting misalignments. However, in the area of assembly, such a method has not been fully developed; for the most part, only local sensing techniques using proximity, tactile, force, and vision sensors have been developed. In this paper, a novel omnidirectional image sensing system for assembling parts with arbitrary cross-sectional shapes is proposed, and its features are investigated theoretically. Its feasibility for assembly is also shown by experiments. Utilizing a pair of conic mirrors and a camera, this system can immediately acquire a 2π coaxial image of the misalignment along the mating boundary interface between mating parts without experiencing self-occlusion