Patent ID: 11971727
Assignee: INNOVATION FIRST, INC.
Field: Control (Instruments)
Classification: CPC G  A | IPC A  G

Claim 3:
4. A method for determining position and orientation of a device being positioned within a surrounding structure, the device having a movement control system configured to move the device within the surrounding structure, the method comprising:
placing a predetermined continuous pattern (code strip) on the surrounding structure, wherein the predetermined continuous pattern is printed with a predetermined, non-repeating sequence of black blocks and white blocks occurring at regularly spaced intervals, and wherein some of the blocks are twice as long as others as measured lengthwise, wherein the surrounding structure includes a plurality of corners, designating one of the corners as the starting position, and mounting the code strip on the surrounding structure with the beginning end of the code strip positioned at the corner that is designated as the starting position, whereby each of the feature points in the coded strip is located at the respective predetermined distance from the corner that is designated as the starting position and wherein the code strip is a predetermined continuous pattern on the surrounding structure, wherein the predetermined continuous pattern is printed with a predetermined, non-repeating sequence of black blocks and white blocks occurring at regularly spaced intervals, and wherein some of the blocks are twice as long as others as measured lengthwise;
using a positioning system on the device which continuously captures images of the continuous pattern;
determining a three-dimensional position and three degrees of orientation within the surrounding structure based on the captured images; and
utilizing the movement control system to move the device within the surrounding structure based on the determined three-dimensional position and three degrees of orientation, and
wherein the positioning system being capable of capturing images in a field of view configured to determine three degrees of orientation with respect to the continuous pattern.