WO2025078885A1

WO2025078885A1 - Self-propelled module and self-propelled system

Info

Publication number: WO2025078885A1
Application number: PCT/IB2024/053128
Authority: WO
Inventors: Pavel Ruslanovich Andreev
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-10-13
Filing date: 2024-03-30
Publication date: 2025-04-17
Anticipated expiration: 2026-04-13

Abstract

The present invention relates to systems for forming three-dimensional objects and to technical means capable of moving by their own propulsion force, in particular to a self-propelled system and self-propelled module which may be part of said self-propelled system and which comprises (i) a housing provided with legs; and (ii) a control device coupled to at least one of said legs so as to enable controlled altering of the spatial orientation thereof with respect to said housing, the length or the shape thereof to move said housing over a movement surface, wherein at least one of said legs is configured to interact with other self-propelled module so as to enable placement of said housing on said other self-propelled module or enable movement of said housing over said other self-propelled module.

Description

SELF-PROPELLED MODULE AND SELF-PROPELLED SYSTEM

FIELD OF THE INVENTION

The present invention relates to systems for forming three-dimensional objects and to technical means capable of moving by their own propulsion force, in particular to a self-propelled module and a self-propelled system comprising interacting with one another self-propelled modules.

BACKGROUND OF THE INVENTION

To date, many various automated or semi-automated self-propelled modules have been developed that are capable of moving over a movement surface. However, despite the fact that state-of-the-art automated or semi-automated self-propelled modules can move relatively quickly over a movement surface, they have a significant disadvantage of impossibility of movement thereof over one another, that is, over self-propelled modules of the same type.

Accordingly, in view of at least the above disadvantage of state-of-the-art self-propelled modules capable of performing movement over a movement surface, there is a need to develop improved self-propelled modules.

In particular, U.S. Patent No. 7327112 (US 7327112) published on February 05, 2008 provides a self-propelled module comprising a housing provided with legs and a control device coupled to at least one of said legs so as to enable controlled altering of the length thereof to move said housing over a movement surface.

Of note, the self-propelled module disclosed in US 7327112 also does not solve the above disadvantage of impossibility of movement thereof over other self-propelled modules of the same type. In particular, an attempt to place the housing of one self-propelled module having a structural design disclosed in US 7327112 on the housing of other self-propelled module having a structural design disclosed in US 7327112, or an attempt to move the housing of one self-propelled module having a structural design disclosed in US 7327112 over the housing of other self-propelled module having a structural design disclosed in US 7327112 may cause damage to the legs thereof or cause an emergency situation which at least one of these self-propelled modules may get into.

Thus, there is an obvious need for further improvement of the known self-propelled modules, in particular to enable placement thereof over one another or enable movement over one another.

Accordingly, the main technical problem solved by the present invention is to create a self-propelled module which at least partially overcomes at least the above disadvantage of the known self-propelled module, of the impossibility of placement thereof on the housing of other self-propelled module of the same type or the impossibility of movement thereof over the housing of other self-propelled module of the same type.

Also, the general object of the claimed invention can be to expand the range of self-propelled modules capable of performing movement over the movement surface which may be the surface of the housing of other self-propelled module of the same type.

DISCLOSURE

The object of the present invention is to create a self-propelled module and a self-propelled system solving each at least the above main technical problem of the prior art.

Yet another object of the present invention is to create an alternative self-propelled module compared to the self-propelled module known from the prior art.

Each of the tasks at hand is solved in the first aspect of the present invention by the fact that in the subject self-propelled module comprising (i) a housing provided with legs; and (ii) a control device coupled to at least one of said legs so as to enable controlled altering of the spatial orientation thereof with respect to said housing, the length or the shape thereof to move said housing over a movement surface, at least one of said legs is configured to interact with other self-propelled module so as to enable placement of said housing on said other self-propelled module or enable movement of said housing over said other self-propelled module.

Furthermore, each of the tasks at hand is solved in the second aspect of the present invention by the fact that the subject self-propelled system comprises: two or more self-propelled modules according to the first aspect of the present invention brought into interaction with one another using one or more legs in each of said interacting self-propelled modules.

The above first and second aspects of the present invention provide each a technical result of improving passing ability (i.e. the ability to traverse various obstacles, including other self-propelled modules), maneuverability, speed of movement, and/or the like.

Furthermore, the above first and second aspects of the present invention provide each additional technical result of improving the stabilization of the housing of the self-propelled module on the housing of other self-propelled module of the same type, including while movement of said other self-propelled module over the movement surface.

Furthermore, the above first and second aspects of the present invention provide each yet another additional technical result of expanding the range of self-propelled modules capable of performing movement over the movement surface which may be the housing of other self-propelled module of the same type.

Yet another technical result fairly achieved while implementation of the claimed technical solution is the possibility of controlled formation of three-dimensional objects and surfaces from a plurality of self-propelled modules.

The accompanying drawings which are included to provide further understanding of the principles of the present invention constitute a part hereof and are incorporated herein to illustrate the below embodiments and aspects of the present invention. The accompanying drawings, together with the description below, serve to explain the principles of the present invention. In the drawings:

shows one of illustrative embodiments of the self-propelled module according to the present invention as part of a self-propelled system and shows one of examples of the process of interaction of such self-propelled modules with one another;

shows the state of the self-propelled modules withdrawn from interaction with one another at the end of the interaction process shown in ;

shows another illustrative embodiment of the self-propelled module according to the present invention and shows another example of the process of interaction of such self-propelled modules with one another;

Figs. 7-12 show another illustrative embodiment of the self-propelled module according to the present invention and show variations of the process of interaction of such self-propelled modules with one another;

Figs. 13a-13e show another illustrative embodiment of the self-propelled module according to the present invention and show, in stepped manner, one of the illustrative embodiments of the process of interaction of such self-propelled modules with one another;

Figs. 14-20 show another illustrative embodiment of the self-propelled module according to the present invention and show, in stepped manner, one of the illustrative embodiments of the process of interaction of such self-propelled modules with one another;

schematically shows a three-dimensional object formed from the self-propelled modules according to the present invention brought into interaction with one another.

DETAILED DESCRIPTION

Hereinafter, various exemplary embodiments of the present invention are described with reference to the accompanying drawings; however, it should be understood that the description below does not define or limit the scope of the present invention.

In the following description, a detailed description of known functions and designs will be omitted as this unimportant information may obscure the concept of the present invention.

It is to be understood that in the following description the terms such as "first", "second", "upper", "lower", "lateral", "front", "rear", etc. are used solely for convenience, and they should not be interpreted as limiting terms. In particular, as used in the present invention, unless explicitly stated otherwise in the description herein, the terms "first", "second", "third" or the like are used to distinguish elements, components, parts, assemblies, modules, blocks, embodiments or the like, to which they pertain, from one another and not meant to describe any particular relationship therebetween.

References to an item in the singular should be understood to include such items in the plural, and vice versa, unless explicitly stated otherwise or clear from the context herein.

Grammatical conjunctions are intended to express any and all disjunctive and conjunctive combinations of conjoined clauses, sentences, words and the like, unless otherwise stated or clear from the context. Thus the term "or" should be understood to generally mean "and/or" and so forth.

Recitation of ranges of values herein is not intended to be limiting, referring instead individually to any and all values falling within the range, unless otherwise indicated herein, and each separate value within such a range is incorporated into the description as if it was individually recited herein.

Words "about," "approximately" or the like, when accompanying a numerical value, are to be construed as including any deviation as would be understood by one of ordinary skill in the art to operate satisfactorily for an intended purpose. Ranges of values and/or numeric values are provided herein as examples only, and do not constitute a limitation on the scope of the described embodiments.

Any and all examples provided herein or at least a portion thereof, as well as corresponding phrases ("for example", "such as", "in particular" or the like), are used merely to facilitate understanding of the principles of the present invention and to provide for sufficient disclosure of the present invention; however, these phrases do not pose any limitations on the embodiments of the present invention, for description of which embodiments they are utilized herein, in particular they do not limit practical implementations of elements, components, parts, assemblies, modules, blocks, devices, means and/or the like utilized to disclose the principles of design and operation of the present invention.

Terms and definitions used in the description herein

The term "illustrative" means a non-limiting example, instance or illustration. In a similar manner, the terms "for example" and "by way of example" used herein set off lists of one or more non-limiting examples, instances or illustrations. As used herein, circuitry is "configured" to perform a function whenever the circuitry comprises the necessary hardware and code (if any is necessary) to perform the function, regardless of whether performance of the function is blocked or forbidden (for example, by an operator-configurable setting, factory trim, or the like).

As used in the present invention, the term "correspondence" and derivatives thereof (i.e. adjective, verb, adverb) does not necessarily mean exact conformity or exact equality in/to/between whatsoever in any respect but may imply a departure or deviation from said equality within specified limits. For example, the term "corresponding coordinates", unless the description herein clearly dictates otherwise, means not only that these coordinates may be exactly equal to one another or may exactly coincide with one another but also implies that said equality or coincidence of coordinates may be established with some error (for example, with the error of operation of a GPS system) or within the bounds of a predetermined geographic region surrounding an exact geographic point or region to which these coordinates belong or an exact geographic location to which these coordinates belong.

In the context of the present invention, the term "self-propelled module", unless the description herein clearly dictates otherwise, refers to an independent apparatus or device structurally assembled from typical or standard (commercially available) parts, elements, blocks, assemblies, devices and/or the like and capable of moving under its own power over the movement surface, over land (ground), over water, under water and/or over the surface of a stationary or movable physical object at least partially disposed in at least one of air space, ground space, surface space, and underwater space.

In the context of the present invention, the term "housing", unless the description herein clearly dictates otherwise, refers to a framework, skeleton, shell, panelling, fuselage, load-bearing structure or housing of a physical inanimate object, each of which may be formed from a single load-bearing element or a combination of coupled to one another load-bearing elements, wherein the type, shape, overall dimensions, design features and/or material of such housing are not specifically limited in any way.

As used in the present invention, the term "module", unless the description herein clearly dictates otherwise, refers to a functional element or a combination of functional elements of a device in the form of a part, node, block or other assembly unit that performs certain technical functions that provide for the functioning of the device. The module generally may be implemented in practice using a combination of known structural elements, a combination of known structural elements and known hardware, a combination of known structural elements and known software and hardware or a combination of known hardware and known software. Accordingly, for example, the control device can be implemented using hardware and software. As used in the present invention, the control device may be a physical device, an apparatus, or a plurality of modules implemented using hardware, for example, using an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA), or a combination of hardware and software, for example, using a microprocessor system and a set of instructions implementing the functionality of the control device, which (when executed) transform the microprocessor system into an application-specific device or system (for example, automatic pilot system). Furthermore, each of the modules described herein or at least one of them may be implemented in the form of a combination of hardware and software, wherein some of the functionality described herein with respect to one of the modules may be implemented by means of hardware only, whereas other functionality described herein in relation to the same module or other module may be implemented by way of using hardware in combination with software. Furthermore, in the context of the present invention, the docking module may be configured to detachably interact with at least one aircraft apparatus, wherein the docking module may be implemented using a combination of known structural elements, a combination of known structural elements and hardware, a combination of structural elements and software and hardware or a combination of hardware and software.

As used in the present invention, the term "navigation command", unless the description herein clearly dictates otherwise, refers to an instruction directed to aircraft apparatuses which must be coupled to the housing of the self-propelled module or which have been discoupled from the housing of the self-propelled module. Navigation commands may be presented or provided by the movement control system of the self-propelled modules in the form of digital or analog data, instructions, control signals or the like. Navigation commands may be initially generated by, without limitation, an automatic operator, an operator (whether locally or remotely situated) and/or an obstacle-avoidance system. In particular, navigation commands may be received, for example, by a control unit for controlling an aircraft apparatus being part of a self-propelled module.

As used in the present invention, the term "charging device", unless the description herein clearly dictates otherwise, refers to a device for replenishing the range of a self-propelled module by way of recharging the rechargeable battery thereof and/or by replenishing the fuel capacity thereof.

As used in the present invention, the term "database", unless the description herein clearly dictates otherwise, refers to any structured data set that does not depend on a specific structure, database management software, hardware of the computer that stores data, uses data or otherwise makes data available for use. The database may be present on the same hardware running the process that stores or uses the information stored in the database or it may be present on separate hardware, for example, a dedicated server or on a plurality of servers.

As used in the present invention, the term "parking station", unless the description herein clearly dictates otherwise, means an unmovable or movable structure adapted to accommodate, store and/or replenish the range (for example, recharge) of self-propelled modules therein.

As used in the present invention, the term "control device" refers to computing equipment executing a computer program for enabling receipt of requests (for example, from other computing devices) over a communication network, execution or processing of such requests and/or transmission of such requests over a communication network (for example, to other computing devices). The computing equipment executing a computer program may be, without limitation, a single physical computer or a single physical computer system. As used in the present invention, the use of the term "control device" does not mean that each computational task (for example, received instructions or commands) or any other specific task will be received, executed or cause performance by one and the same control device (i.e. by one and the same software and/or hardware), which means that any quantity of pieces of software or hardware may be involved in receiving/transmitting, executing or may cause performance of any task or request or the consequences of any task or request, where all that software and hardware may be implemented in the form of one or more control devices.

As used in the present invention, the term "server" refers to computing equipment executing a computer program for enabling receipt of requests (for example, from other computing devices) over a communication network, execution or processing of such requests and/or transmission of such requests over a communication network (for example, to other computing devices). The computing equipment executing a computer program may be, without limitation, a single physical computer or a single physical computer system. As used in the present invention, the use of the term “server” does not mean that each computational task (for example, received instructions or commands) or any other specific task will be received, executed or cause performance by one and the same server (i.e. one and the same software and/or hardware), which means that any quantity of pieces of software or hardware may be involved in receiving/transmitting, executing or may cause performance of any task or request or the consequences of any task or request, where all that software and hardware may be implemented in the form of one or more servers.

Self-propelled module

is one of illustrative embodiments of the self-propelled system 1000 comprising two self-propelled modules 500 interacting with one another or between themselves so as to enable movement of at least one or each of said self-propelled modules 500 over a movement surface which may be the surface of the ground or the surface of any other object which in turn may be present on the surface of the ground, on the surface of water and/or in the air space, or enable mutual movement thereof (for example, movement with respect to one another, movement over one another, movement on one another, placement on one another, and the like).

As shown in , each of the interacting with one another self-propelled modules 500 comprises a spherical or ball-shaped housing 100 provided with legs 200 extending from the housing 100 in different directions and configured integral with the housing 100, wherein the legs 200 are uniformly distributed over the surface of the housing 100.

In one of the embodiments of the present invention, the self-propelled system 1000 may comprise two or more interacting with one another self-propelled modules 500 (for example, two, three, four, five, six, seven, eight, nine, ten or more self-propelled modules 500).

As shown in , each of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500, is formed from an elongated portion or rod 210 whose end is provided with a head 220 configured integral with the rod 210 and disposed at a predetermined distance from the surface of the housing 100.

Furthermore, as clearly shown in , the interaction of the self-propelled modules 500 being part of the system 1000 with one another takes place as a result of entrance of one or more legs 200 provided to the housing 100 in one of the interacting with one another self-propelled modules 500 into a detachable interaction at a time with one or more legs 200 which are provided to the housing 100 in other one of the interacting with one another self-propelled modules 500 under the control of the control devices of said self-propelled modules 500. In particular, the detachable interaction of the leg 200 of one self-propelled module 500 with the leg of other self-propelled module 500 takes place as a result of entrance of the head 220 being part of the leg 200 of one self-propelled module 500 into a detachable interaction with the head 220 being part of the leg 200 of other self-propelled module 500, wherein said heads 220 are at least temporarily (during a predetermined period of time) interact with one another as a result of entrance of the internal sides of the heads 220 at least partially into detachable contact with one another, followed by withdrawal from interaction or contact with one another (as shown in ).

Of note, an embodiment of the present invention is possible wherein at least one or each of the legs 200, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in as part of the system 1000, may enter at a time (for example, in a unit of time or a predetermined period of time) into interaction with two or more legs 200, which are provided to the housing 100 in other one of the interacting with one another self-propelled modules 500 shown in as part of the system 1000. Furthermore, an embodiment of the present invention is possible, wherein, at each moment of time (for example, in unit of time or a predetermined period of time) of interaction of the self-propelled modules 500 with one another, only one leg 200 from each of said interacting with one another self-propelled modules 500 may enter into interaction or contact with one another. Furthermore, yet another embodiment of the present invention is possible, wherein at each moment of time (for example, in unit of time or a predetermined period of time) of interaction of the self-propelled modules 500 with one another, one of the legs 200, which are provided to the housing 100 in one of said interacting with one another self-propelled modules 500, may enter into interaction or contact with two or more legs, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500. Furthermore, yet another embodiment of the present invention is possible, wherein, at each moment of time (for example, in unit of time or a predetermined period of time) of interaction of the self-propelled modules 500 with one another, each of two or more legs 200, which are provided to the housing 100 in one of said interacting with one another self-propelled modules 500, may enter into interaction or contact with one or more legs, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500.

It should also be noted that the control device in each of the self-propelled modules 500 may enable altering of the state of at least one of the legs 200 (for example, one, two, three, four or more legs 200), which are provided to the housing 100 in said self-propelled module 500, at each predetermined moment of time, which in turn enables movement of said self-propelled module 500 over the movement surface (for example, to a target region in which this self-propelled module may enter into interaction with other self-propelled module 500 or may be placed on a parking station), enables placement of said self-propelled module 500 on other self-propelled module 500 (in particular, on the housing 100 thereof) or enables movement of said self-propelled module 500 over other self-propelled module 500 (in particular, over the housing 100 thereof).

In particular, the control device in at least one or each of the interacting self-propelled modules 500 may provide for at least one of the following possibilities associated with altering the state of one or more legs 200 in said self-propelled module: (i) the possibility of a controlled altering of the spatial orientation of at least one of the legs 200 (for example one, two, three, four or more legs 200), which are provided to the housing 100 in said self-propelled module 500, at each predetermined moment of time; (ii) the possibility of controlled altering of the length of at least one of the legs 200 (for example, one, two, three, four or more legs 200), which are provided to the housing 100 in said self-propelled module 500, at each predetermined moment of time; and (iii) the possibility of controlled altering of the shape of at least one of the legs 200 (for example, one, two, three, four or more legs 200), which are provided to the housing 100 in said self-propelled module 500, at each predetermined moment of time.

In one of the embodiments of the present invention, the head 220 in at least one or each of the legs 200, which are provided to the housing 100 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, may be rigidly secured or detachably installed at the end of the rod 210. In another embodiment of the present invention, at least one or each of the legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be coupled to the housing 100 so as to uncouple therefrom (i.e., detachably coupled) or detachably secured on the housing 100, wherein said leg 200 has a fixed length or has a variable length. In yet another embodiment of the present invention, at least two legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may have the same length or different lengths pre-selected (chosen) or pre-adjusted (determined) so as to enable movement of the self-propelled module 500 over a movement surface.

In another embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may be a framework, skeleton, bearing frame, or any other suitable load-carrying structure known in the prior art, wherein the legs 200 may be secured on coupled to one another structural elements defining said load-carrying structure. In one of the variations of this embodiment of the present invention, on the load-carrying structure, in the form of which the housing 100 may be configured in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, there may be secured panelling, and the legs 200 may be detachably or undetachably secured on said panelling or may be configured integral with said panelling, wherein said panelling may be made of flexible or rigid material. In another variation of this embodiment of the present invention, the load-carrying structure, in the form of which the housing 100 may be configured in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be at least partially covered with a coating, and the legs 200 may be detachably or undetachably secured on said coating or may be configured integral with said coating, wherein said coating may be made of flexible or rigid material. In yet another variation of this embodiment of the present invention, the load-carrying structure, in the form of which the housing 100 may be configured in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be at least partially surrounded with a shell, and the legs 200 may be detachably or undetachably secured on said shell or may be configured integral with said coating, wherein said shell may be made of flexible or rigid material. In another variation of this embodiment of the present invention, the load-carrying structure in the form of which the housing 100 may be configured in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, the legs 200 may be installed on structural elements defining the load-carrying structure, in the form of which the housing 100 may be configured in the self-propelled module 500 shown in , and may extend through the panelling, coating or shell disposed on top of said structural elements as a result of attachment thereof to said load-carrying structure.

The housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may have any suitable geometric shape and overall dimensions characteristic of any self-propelled module known in the prior art and may be made of any suitable material known in the prior art and typically used for the manufacture of various housings of self-propelled modules, in particular of a composite material (for example, composite sandwich panels), metal (for example, coupled to one another metal/steel channel beams), aluminum (for example, coupled to one another aluminum carrying beams), plastic (for example, a solid piece of plastic), titanium material (for example, titanium sandwich panels), any other suitable material known in the prior art, including using any suitable combination of the above materials (for example, of a sandwich panel or titanium panels with an aluminum honeycomb core) and/or the like. Thus, the type, shape, overall dimensions, and material of the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 are not specifically limited in any way within the scope of the present invention.

In one of the embodiments of the present invention, the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured in the form of a regular or irregular three-dimensional geometric figure, for example, in the form of a cube, cuboid, ball or sphere, square pyramid, tetrahedron (triangular pyramid), hexagonal pyramid, triangular prism, hexahedron (octahedron), pentagonal prism, hexagonal prism, dodecahedron, ellipsoid, 20-sided polyhedron (icosahedron), cone, cylinder or any other known three-dimensional figure.

In another embodiment of the present invention, at least a portion of the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may have a sectional (longitudinal- or cross-sectional) shape of a triangle, square, circle, oval, rectangle, parallelogram, rhombus, trapezium, quadrilateral, pentagon, hexagon, heptagon, octagon, nonagon, decagon, icosagon or any other known regular or irregular geometric figure.

In some other embodiment of the present invention, the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured to alter the shape and/or dimensions thereof. In the first variation of this embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may be a collapsible mesh (not shown) provided with rigid or elastic legs 200 and configured to unfold or deploy so as to provide for increase in the dimensions or geometric sizes thereof, wherein said self-propelled module 500 may further comprise a drive device (not shown) operating under the control of the control device of the self-propelled module 500 which in turn may receive control commands from an external control source and operably coupled to said collapsible mesh of the self-propelled module 500 so as to enable unfolding or deployment thereof in response to control commands from the external control source. It should be noted that in the first variation of the embodiment of the present invention, the collapsible mesh of the self-propelled module 500 may be present in two states: (1) a folded state or a collapsed state which corresponds to the original (initial) position of the mesh of the self-propelled module 500 and in which said mesh of the self-propelled module 500 may be present while movement of the self-propelled module 500 over the movement surface prior to the entrance of said self-propelled module 500 into interaction with at least one other self-propelled module 500 or following the withdrawal of said self-propelled module 500 from interaction with said at least one other self-propelled module 500, and (2) a unfolded state in which the mesh of the self-propelled module 500 may be present while interaction of said self-propelled module 500 with at least one other self-propelled module 500 to form a functional pair of self-propelled modules, wherein the mesh of the self-propelled module 500 in the collapsed state has its minimum overall size, and the mesh of the self-propelled module 500 in the unfolded state has its maximum overall size. In the second variation of this embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may be formed from individual functional portions (not shown), at least one or each of which may be provided with one or more rigid or elastic legs 200, and may further comprise a drive device (not shown) operably coupled to said functional portions so as to enable expansion or deployment of these functional portions to alter the shape and/or overall dimensions of the housing 100. In the third variation of this embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may be formed from individual controlled functional portions (not shown), at least one or each of which may be provided with one or more rigid or elastic legs 200, and the control device of said self-propelled module 500 may be further communicatively coupled to said controlled functional portions so as to enable displacement (altering of spatial locations) of said functional portions with respect to one another in response to the control commands of said control device of the self-propelled module 500, which in turn may be generated by the control device of the self-propelled module 500 in response to respective control commands from an external control source to alter the shape and/or overall dimensions of the housing 100. In the fourth variation of this embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may be formed from individual controlled functional portions (not shown), at least one or each of which may be provided with one or more rigid or elastic legs 200, and the control device of said self-propelled module 500 may be communicatively coupled to said controlled functional portions so as to enable expansion or deployment of these functional portions in response to the control commands of said control device of the self-propelled module 500, which in turn may be generated by said control device of the self-propelled module 500 in response to respective control commands from an external control source to alter the shape and/or dimensions of the housing 100.

In another embodiment of the present invention, the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be provided with two or more legs 200, each of which has a predetermined length and which are installed on the housing 100 at a predetermined distance from one another.

In some other embodiment of the present invention, the housing 100 in at least one or each of the interacting with one another self-propelled modules 500, shown in as part of the self-propelled system 1000, may be formed from two or more detachably docked or coupled between one another individual fuselages, frameworks, skeletons, housings or other load-carrying structures known in the prior art (for example, of two, three, four, five, six, seven, eight, nine, ten or more separate load-carrying structures).

In other embodiments of the present invention, the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured to deliver, carry or transport people, various living beings and/or cargos of various types (solid, gaseous, liquid, fluid, bulk, viscous, radioactive, chemical, and/or the like) over a movement surface to a target location which in turn may be located on the surface of the ground (on land), on the surface of a mobile or stationary ground object (for example, on a ground platform, bridge, TV tower, truck housing, roof of a building, or the like), the surface of a stationary water object (for example, on an offshore platform, a marine buoy, pontoon, or the like), the surface of a movable water object (for example, on the deck of a ship, barge, diesel-engine-powered ship, liner, power boat, or the like), the surface of a stationary or movable air object (for example, on the fuselage of an airplane, balloon, or the like) or the surface of any other suitable objects known from the prior art.

In some other embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded or integrated into the housing 100 so as to at least partially or fully extend from the housing 100 using a leg extension mechanism for altering the degree of leg extension (for example, a drive or a drive device for extending the leg) which may also be referred to as a mechanism or module for altering the leg length and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiments of the present invention, the leg extension mechanism for altering the degree of leg extension may be operably coupled to at least one of the legs 200 so as to enable full or at least partial extension (drawing-out) of said at least one leg 200 from the housing 100 or enable retraction (drawing-in) of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg extension mechanism under the control of the control device of the self-propelled module 500. Of note, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially retracted or drawn-in into the housing 100 such that said leg 200 may be switched or may transit from the retracted (drawn in) state to the extended state (drawn out state) and thereafter, vice versa, from said extended state (drawn out state) to said retracted state (drawn in state) under the control of the control device of the self-propelled module 500. Alternatively, in this embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially extended (drawn out) such that said leg 200 may be switched or may transit from the extended state (drawn out state), in which it has a longer length or visually becomes longer (i.e. elongated), to the retracted state (drawn in state), in which it has a shorter length or visually becomes less long (i.e. short), and thereafter, vice versa, from said retracted state (drawn in state) to said extended state (drawn out state) under the control of the control device of the self-propelled module 500. In other words, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured extendable, and the possibility of extension (drawing-out) and the possibility of retraction (drawing-in) of said leg 200 may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg extension mechanism (not shown) for altering the degree of leg extension, which at least determines the spatial extent or length of said leg 200 beyond the housing 100. In such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the extended state (drawn out state) and the retracted state (drawn in state) while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a retracted state (drawn in state) upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take an extended state (elongated state) upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take a retracted state (drawn-in state) at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately extending and retracting at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of retraction and the cycle of extension of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

In some other embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to at least partially or fully expand using a leg expansion mechanism to alter the degree of expansion of the leg (for example, a drive or a drive device for expanding the leg) which may also be referred to as a mechanism or module for altering the leg length and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiments of the present invention, the leg expansion mechanism for altering the degree of leg expansion may be operably coupled to at least one of the legs 200 so as to enable full or at least partial expansion of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg expansion mechanism under the control of the control device of the self-propelled module 500. Of note, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially folded such that said leg 200 may be switched or may transit from the folded state to the expanded state and thereafter, vice versa, from said expanded state to said folded state under the control of the control device of the self-propelled module 500. Alternatively, in this embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially expanded such that said leg 200 may be switched or may transit from the expanded state, in which it has a longer length or visually becomes longer (i.e. elongated), to the folded state, in which it has a shorter length or visually becomes less long (i.e. short), and thereafter, vice versa, from said folded state to said expanded state under the control of the control device of the self-propelled module 500. In other words, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured expandable or telescopic, and the possibility of expansion and the possibility of folding of said leg 200 may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg expansion mechanism (not shown) for altering the degree of leg expansion, which at least determines the spatial extent or length of said leg 200. In such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the expanded state and the folded state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a folded state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take an expanded state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take a folded state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately folding and expanding at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of folding and the cycle of expansion of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

In various embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to at least partially or fully unfold using a leg unfolding mechanism for altering the degree of leg unfolding (for example, a drive or a drive device for unfolding the leg) which may also be referred to as a mechanism or module for altering the leg length and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiments of the present invention, the leg unfolding mechanism for altering the degree of leg unfolding may be operably coupled to at least one of the legs 200 so as to enable full or at least partial unfolding of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg unfolding mechanism under the control of the control device of the self-propelled module 500. Of note, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially folded such that said leg 200 may be switched or may transit from the folded state to the unfolded state and thereafter, vice versa, from said unfolded state to said folded state under the control of the control device of the self-propelled module 500. Alternatively, in this embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially unfolded such that said leg 200 may be switched or may transit from the unfolded state, in which it has larger sizes or visually becomes larger in size, to the folded state, in which it has smaller sizes or visually becomes smaller in size, and thereafter, vice versa, from said folded state to said unfolded state under the control of the control device of the self-propelled module 500. In other words, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured expandable or telescopic, and the possibility of unfolding and the possibility of folding of said leg 200 may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg unfolding mechanism (not shown) for altering the degree of leg unfolding, which at least determines the spatial extent or length of said leg 200. In such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the unfolded state and the folded state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a folded state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take an unfolded state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take a folded state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately folding and unfolding at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of folding and the cycle of unfolding of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

In various other embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to at least partially or fully deploy using a leg deployment mechanism for altering the degree of leg deployment (for example, a drive or a drive device for deploying the leg) which may also be referred to as a mechanism or module for altering the leg shape/size and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiments of the present invention, the leg deployment mechanism for altering the degree of leg deployment may be operably coupled to at least one of the legs 200 so as to enable full or at least partial deployment of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg deployment mechanism under the control of the control device of the self-propelled module 500. Of note, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially folded such that said leg 200 may be switched or may transit from the folded state to the deployed state and thereafter, vice versa, from said deployed state to said folded state under the control of the control device of the self-propelled module 500. Alternatively, in this embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially deployed such that said leg 200 may be switched or may transit from the deployed state, in which it has larger sizes or visually becomes larger in size, to the folded state, in which it has smaller sizes or visually becomes smaller in size, and thereafter, vice versa, from said folded state to said deployed state under the control of the control device of the self-propelled module 500. In other words, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured expandable or telescopic, and the possibility of deployment and the possibility of folding of said leg 200 may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg deployment mechanism (not shown) for altering the degree of leg deployment, which at least determines or adjusts the sizes of said leg 200. In such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the deployed state and the folded state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a folded state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 on the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a deployed state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take a folded state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately folding and deploying at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of folding and the cycle of deployment of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

In various other embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to alter the shape thereof, dimensions thereof and/or spatial orientation thereof using the leg state control mechanism for altering the leg state (for example, a drive or a drive device for controlling the leg state) whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiments of the present invention, the leg state control mechanism for altering the leg state may be operably coupled to at least one of the legs 200 so as to enable full or at least partial extension, expansion, unfolding, deployment, or the like of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg state control mechanism under the control of the control device of the self-propelled module 500.

In various other embodiments of the present invention, the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be provided with one or more guides (for example, one, two, three, four, five, six, seven, eight, nine, ten and more guides of the housing 100) at least partially embedded or integrated into said housing 100, wherein on at least one or each of said guides of the housing 100 there may be installed at least one or each of the legs 200, which may be provided to said housing 100, so as to move along said guide. In one of the variations of such embodiments of the present invention, one or more guides of the housing 100 may be placed, installed or secured on the housing 100, i.e., may be installed or secured on the external side of the housing 100 using any suitable connecting or fastening means known in the prior art. Furthermore, in such embodiments of the present invention, the housing 100 may further comprise a leg movement module (not shown) operating under the control of the control device of the self-propelled module 500 and configured to interact with at least one of the legs 200, which are provided to the housing 100, so as to enable movement of said at least one leg 200 along at least one of the guides of the housing 100. In one of the variations of this embodiment of the present invention, the leg movement module (not shown) may be a robotic manipulator or grip configured to grip at least one of the legs 200, with which the housing 100 is provided, upon actuation thereof (i.e., upon activation or switching-on thereof) so as to enable movement of said gripped leg 200 along at least one of the guides of the housing 100. In another variation of this embodiment of the present invention, the leg movement module (not shown) may be a pusher configured to momentarily exert force upon at least one of the legs 200, with which the housing 100 is provided, so as to enable movement of said leg 200 exposed to force along at least one of the guides of the housing 100, wherein the housing 100 may further comprise a drive or a drive device (not shown) operating under the control of the control device of the self-propelled module 500 and operably coupled to said pusher so as to actuate (activate or switch on) same for performing interaction with said at least one leg 200. In another variation of this embodiment of the present invention, the leg movement module (not shown) may be installed on at least one additional guide (not shown) other than the guides of the housing 100 on which guides there are installed the legs 200 with which the housing 100 is provided, and may be configured to move along said additional guide under the control of the control device of the self-propelled module 500 so as to enable movement of at least one of the legs 200 along at least one of said guides of the housing 100. In another variation of this embodiment of the present invention, the leg movement module (not shown) may further be configured to demount (detach, uncouple or remove) at least one of the legs 200, which are provided to the housing 100, from at least one of the guides of the housing 100. In some variation of this embodiment of the present invention, the housing 100 may further be provided with a guide movement module (for example, a drive or a drive device for moving a guide) which may operably interact or may be operably coupled to at least one of the guides of the housing 100 so as to enable movement thereof with respect to the housing 100 together with one or more legs 200, which may be provided to said movable guide of the housing 100. In such a variation of this embodiment of the present invention, each of the guides of the housing 100, which may be moved over the surface of the housing 100 using the guide movement module (not shown), may be installed or secured immediately on the guide movement module itself which in turn may be installed in the housing 100 so as to move with respect thereto under the control of the control device of the self-propelled module 500 such that the movement of the guide movement module may propel said movable guide of the housing 100 so as to enable altering of position thereof on the housing 100 and, accordingly, enable altering of the position of one or more legs 200, which may be installed on said movable guide of the housing 100, with respect to the housing 100. Alternatively, in such variation of this embodiment of the present invention, each of the guides of the housing 100, which may be moved over the surface of the housing 100 using the guide movement module (not shown), may be configured telescopic such that the guide movement module, in response to actuation thereof under the control of the control device of the self-propelled module 500, may enable at least partial or full folding/unfolding of said guide of the housing 100 and, accordingly, enable movement of one or more legs 200, which may be installed on retractable or extendable segments (portions or parts) of said telescopic guide of the housing 100 in relation to the housing 100.

In various other embodiments of the present invention, at least one or each of the legs 200, which are provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, may be installed on the housing 100 so as to turn around the axis thereof with respect to the surface of the housing 100, wherein, in order to turn said leg 200, in the housing 100 there may be installed a leg turning mechanism (for example, a drive for turning a leg) operating under the control of the control device of the self-propelled module 500 and operably coupled to said leg 200 so as to enable turning thereof by a predetermined angle or rotation thereof upon actuation (activation or switching-on) of said leg turning mechanism in response to respective control commands of the control device of the self-propelled module 500.

In one of the embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to compress or elongate using a leg elongation mechanism for elongating the leg (for example, a drive or a drive device for elongating the leg) which may also be referred to as a mechanism or module for altering the leg length and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiment of the present invention, the leg elongation mechanism for altering the leg length may be operably coupled to at least one of the legs 200 so as to enable compression or elongation of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg elongation mechanism under the control of the control device of the self-propelled module 500. It should be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially compressed such that said leg 200 may be switched or may transit from the compressed state, in which it has a smaller length or visually becomes less long (i.e. short), to the elongated state, in which it has a longer length or visually becomes longer (i.e. elongated), and thereafter, vice versa, from said elongated state to said compressed state under the control of the control device of the self-propelled module 500. Alternatively, in this embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially elongated such that said leg 200 may be switched or may transit from the elongated state, in which it has a longer length or visually becomes longer (i.e. elongated), to the compressed state, in which it has a shorter length or visually becomes less long (i.e. short), and thereafter, vice versa, from said compressed state to said elongated state under the control of the control device of the self-propelled module 500. In other words, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured elongatable, and the possibility of compression and the possibility of elongation of said leg 200 may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg elongation mechanism (not shown) for altering the leg length, which at least determines or adjusts the spatial extent or length of said leg 200. In such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the elongated state and the folded state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a folded state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take an elongated state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take an elongated state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take a compressed state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately compressing and elongating at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of compression and the cycle of elongation of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

In another embodiment of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to bend or straighten using a leg straightening mechanism for altering the leg shape (for example, a drive or a drive device for straightening the leg) which may also be referred to as a mechanism or module for altering the leg shape and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiment of the present invention, the leg straightening mechanism for altering the leg shape may be operably coupled to at least one of the legs 200 so as to enable straightening or bending of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg straightening mechanism under the control of the control device of the self-propelled module 500. It should be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially bent such that said leg 200 may be switched or may transit from the bent state, in which it has an altered shape (i.e., it becomes at least partially curved, bent, contorted or curvilinear) or visually becomes shorter (shortened) into the straightened state in which it has a substantially straight shape (it becomes more rectilinear or aligned into a straight line) or visually becomes longer (elongated), and then, vice versa, from said straightened state to said bent state under the control of the control device of the self-propelled module 500. Alternatively, in this embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially straightened such that said leg 200 may be switched or may transit from the straightened state in which it has a substantially straight shape (becomes more rectilinear or aligned into a straight line) or visually becomes longer (elongated) into the bent state in which it has an altered shape (i.e., becomes at least partially curved, bent, contorted or curvilinear) or visually becomes shorter (shortened), and then, vice versa, from said bent state into said straightened state under the control of the control device of the self-propelled module 500. In other words, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured to alter the shape thereof, and the possibility of bending and the possibility of straightening of said leg 200 may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg straightening mechanism (not shown) for altering the leg shape, which at least determines or adjusts the shape of said leg 200. In such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the straightened state and the compressed state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the compressed state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the straightened state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the straightened state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take the bent state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately bending and straightening at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of bending and the cycle of straightening of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

In yet another embodiment of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to bend using a leg bending mechanism for altering the leg shape (for example, a drive or a drive device for bending the leg) which may also be referred to as a mechanism or module for altering the leg shape and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiment of the present invention, the leg bending mechanism for altering the leg shape may be operably coupled to at least one of the legs 200 so as to enable bending of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg straightening mechanism under the control of the control device of the self-propelled module 500. Of note, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be initially or originally fully or at least partially bent such that said leg 200 may be switched or may transit from one bent state into other bent state, avoiding the intermediate state in which said leg 200 has a generally straight shape (i.e. becomes rectilinear or aligned into a straight line). In other words, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured to alter the shape thereof, and the possibility of bending of said leg 200 in different directions may be implemented under the control of the control device of the self-propelled module 500 presenting control commands to the leg bending mechanism (not shown) for altering the leg shape, which at least determines or adjusts the shape of said leg 200. In such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) different bent states while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the first bent state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. It should also be noted that in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the second bent state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Alternatively, in such embodiment of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the second bent state upon termination of movement of said self-propelled module 500 over the movement surface (i.e., upon stopping of travel of said self-propelled module 500 over the movement surface) or upon withdrawal of said leg 200 from interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and may take the first bent state at the beginning of movement of said self-propelled module 500 over the movement surface (i.e., at the start of travel of said self-propelled module 500 over the movement surface) or upon entrance of said leg 200 into interaction with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500. Thus, in this embodiment of the present invention, the possibility of alternately bending in different directions (i.e. the possibility to take different bent states) at least one leg 200 in each self-propelled module 500 (i.e., sequentially carrying out or alternating the cycle of bending in one direction and the cycle of bending in other direction of at least one leg 200, regardless of which of these cycles will be carried out first) enables movement of said self-propelled module 500 over the movement surface, including the possibility of placing the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or the possibility of moving the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another.

The control device being part of each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 is installed interiorly to the housing 100 (alternatively, it may be installed on the housing 100, i.e., on the external side of the housing 100) and configured to control the operation of the self-propelled module 500, in particular, to control functional components (i.e. functional devices, mechanisms, drives, modules, functional units, and the like) as part of said self-propelled module 500 described herein. Thus, the control device of the self-propelled module 500 may be configured to establish communication with at least one or each of the functional components of the self-propelled module 500 installed in or on the housing 100 so as to enable presenting of control commands to said functional component of the self-propelled module for actuation (i.e. activation or switching-on), switching-off (i.e. deactivation), altering (setting or adjusting) the operating parameters or altering (setting or adjusting) the operating mode of said functional component of the self-propelled module 500.

The control device in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be configured to receive control commands or navigation commands from an external control source so as to provide for the implementation of, for example, at least one of the following features of the self-propelled module 500: (i) the possibility of actuation (switching-on or activation) of the self-propelled module 500, (ii) the possibility of deactivation or switching-off of the self-propelled module 500, (iii) the possibility of setting or altering the speed of movement of the self-propelled module 500, (iv) the possibility of setting or altering the direction of movement of the self-propelled module 500, (v) the possibility of setting or altering the shape, size and/or spatial position of at least one of the legs 200, (vi) the possibility of setting or altering the location of the self-propelled module 500 in relation to at least one other self-propelled module of the interacting with one another self-propelled modules 500, (vii) the possibility of directing the self-propelled module 500 over a movement surface from the parking station (not shown), parking spot or current location in a predetermined region of space to a target region of space in which this self-propelled module 500 is contemplated to bring into interaction with one or more other self-propelled modules 500 by way of bringing the legs 200 thereof into interaction with one another, (viii) the possibility of undocking or uncoupling of the self-propelled module 500 from one or more other self-propelled modules 500 by way of withdrawal of the legs 200 thereof from interaction with one another, (ix) the possibility of directing the self-propelled module 500 undocked or uncoupled from one or more other self-propelled modules 500 to one of the parking stations (not shown) to accommodate therein or thereon so as to enable storage of said self-propelled module 500 in said parking station and/or to enable replenishment of the range (charging) of said self-propelled module 500, and (x) the possibility of directing the self-propelled module 500 undocked or uncoupled from one or more other self-propelled modules 500 over the movement surface to a target self-propelled module 500 for subsequent docking or coupling thereto by way of bringing the legs 200 thereof into interaction with one another or to a target region of space in which there is present said target self-propelled module 500.

According to one of the embodiments of the present invention, the control device in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be installed exteriorly to the housing 100.

Furthermore, each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may comprise at least one of the following means of wireless communication: an SW band radio antenna, USW radio antenna, UHF radio antenna, an optical communication module, half-duplex/simplex satellite communication module, 2G/3G/4G/LTE/5G cellular communication module, wireless communication module, wired communication module and the like, thus allowing said self-propelled module 500 to receive navigation commands and/or control commands from the control device being part of other self-propelled module of said self-propelled modules 500 or from an external control source to enable control of the operation of said self-propelled module 500. Of note, navigation commands and/or control commands being received by the self-propelled module 500 from an external control source or control device of other self-propelled module using the wireless communication means of the self-propelled module 500 are transmitted from said wireless communication means of the self-propelled module 500 to the control device of the self-propelled module 500 for processing same by this control device of the self-propelled module 500.

Furthermore, an external control source (not shown) which can establish communication with at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 is configured to receive and process data (including system requests) from said self-propelled module 500 and is configured to generate control commands (instructions) and/or navigation commands (instructions) based on said received data and the results of processing thereof so as to enable presenting or directing such generated control commands and/or navigation commands to said self-propelled module 500, including in response to a request from said self-propelled module 500. To present navigation commands and/or control commands to at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, the external control source (not shown) may be communicatively coupled, by means of a wireless communication network (not shown), to said self-propelled module 500 or may be configured to establish communication, by means of a wireless communication network (not shown), with said self-propelled module 500 so as to exchange data therewith.

According to another embodiment of the present invention, the control device in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may perform the functions (functional capabilities) of an external control source described herein. In other words, in this embodiment of the present invention, the external control source (not shown) may be configured in the form of a single control device being part of one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 or in the form of jointly operating control devices, each of which is part of one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000.

According to another embodiment of the present invention, at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, may be provided with one or more of the above wireless communication means, wherein the wireless communication means of said self-propelled module 500 may be configured to receive navigation commands and/or control commands from the control device of other self-propelled module of said interacting with one another self-propelled modules 500. In one of the variations of this embodiment of the present invention, navigation commands and/or control commands presented by the control device of the second self-propelled module 500 to the control device of the first self-propelled module 500 may be created or generated by the control device of the second self-propelled module 500 in response to the corresponding navigation commands and/or control commands received by the control device of the second self-propelled module 500 from an external control source (not shown).

According to another embodiment of the present invention, the control device in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may not be part of said self-propelled module 500 but may be configured in the form of a single server which may be configured in the form of, for example, the Dell™ PowerEdge™ server with the Ubuntu Server or Windows Server operating system installed thereon.

According to some embodiment of the present invention, the control device in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may have or may acquire access to at least one remote or external database (not shown) via a communication network (not shown) or in other (wired or wireless) manner, or may have or may acquire access to at least one local database stored on a storage device (not shown) or in the memory (not shown) being part of such control device.

According to some other embodiment of the present invention, the communication protocols and/or technical means used for data transfer or data exchange between the control devices of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be at least partially different from one another and/or may at least partially coincide with one another. Furthermore, for data transfer or data exchange between the control devices of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 there may be simultaneously used one or more standard communication protocols and respective standard technical means of communication.

According to some other embodiment of the present invention, the control device in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may further be configured to organize safety of movement of said self-propelled module 500 over the movement surface.

According to one of the embodiments of the present invention, the control device in at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may be any suitable hardware, application software, system software, or any combination thereof.

According to another embodiment of the present invention, the functions of the external control source described herein may be shared among multiple external computer devices or computing devices, for example, may be implemented using multiple servers coupled to one another via the communication network so as to mutually exchange data therebetween.

According to yet another embodiment of the present invention, the functions of the external control source described herein may be performed by (i) a control device of one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, (ii) a group or plurality of control devices being part of at least a portion of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, (iii) a control device being part of the self-propelled module 500 to be docked to at least one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, or (iv) any other suitable computing device configured to generate control commands and/or navigation commands and further configured to present said generated commands to the control device of at least one or each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000.

The communication network (not shown) to which there may be communicatively coupled the interacting with one another self-propelled modules 500 shown in substantially allows the control devices thereof to exchange between one another the system data and/or operational data which they use for implementing functions thereof or functional capabilities thereof described herein in real-time mode or in real time. Such communication network may be, for example, any suitable wireless communication link known in the prior art, such as a Wi-Fi wireless technology-based communication link, 2G, 3G, 4G or 5G wireless technology-based communication link, LTE technology-based communication link and/or the like.

According to another embodiment of the present invention, in order to perform mutual data exchange between the interacting with one another self-propelled modules 500 shown in in real time mode or in real time, the control devices thereof may use two or more wireless communication networks.

Furthermore, each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 comprises an (embedded) integrated power supply source (not shown) configured in the form of a battery, one or more rechargeable batteries, an internal combustion engine generator, a hydrogen engine generator, a generator based on one or more solar panels, or a generator based on any other suitable energy source known from the prior art, wherein said integrated power supply source may also be configured to be charged from an external power supply source (not shown) using a charging device (not shown) of a suitable type coupled to said external power supply source and configured to couple thereto said integrated power supply source. In particular, the integrated power supply source in each self-propelled module 500 is coupled, by means of the power supply circuit of the self-propelled module 500, to the control device of the self-propelled module 500 and any other functional components of the self-propelled module 500 described herein so as to enable the supply of power thereto or to enable them to be powered.

According to some embodiment of the present invention, the integrated power supply source in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may be charged in a wireless manner using an external charging device (not shown) whose operation may be based on, for example, the principle of electromagnetic induction which will be appreciated by one skilled in art.

According to some other embodiment of the present invention, a parking station (not shown), to which the control device in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may direct said self-propelled module 500, may be provided with one or more charging devices (not shown) electrically coupled each to at least one of the power supply sources of a parking station and enabling each coupling thereto of said self-propelled module 500 for at least partial charging or at least partial replenishment of the range of said coupled self-propelled module 500 such that this self-propelled module 500 may switch to a state with at least partially replenished range or with a fully replenished range, thus allowing for reuse of this self-propelled module 500 to move the self-propelled module 500 over the movement surface, followed by interaction with other self-propelled module 500.

According to another embodiment of the present invention, at least one or each of the legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be configured to transfer electricity from the charging device to this self-propelled module 500 and/or to transfer electricity from one self-propelled module 500 to other self-propelled module 500 so as to provide for transfer and distribution of charge between the self-propelled modules 500. An embodiment is possible, according to which the self-propelled system 1000 is configured to be coupled to a charging device by means of self-propelled modules 500 electrically coupled to one another by respective legs 200.

An embodiment is possible according to which at least one of the legs 200 of the self-propelled module 500 is configured to electrically couple to the leg 200 of other self-propelled module 500 or to the housing 100 of other self-propelled module 500 so as to enable transfer of charge and/or control signals to the other self-propelled module 500.

An embodiment is possible according to which the self-propelled system 1000, in which at least one of the legs 200 of each self-propelled module 500 is configured to electrically couple to the leg 200 of other self-propelled module 500 or the housing 100 of other self-propelled module 500 so as to enable transfer of charge and/or control signals to other self-propelled module 500, wherein the system 1000 is configured to form an electrical coupling to a power supply source and/or consumer by means of the self-propelled modules 500 electrically coupled to one another by respective legs 200.

An embodiment of the system 1000 is possible, in which the self-propelled modules 500 are configured to form a predetermined three-dimensional object by means of mutual movement and bringing, into interaction with one another, of a plurality of self-propelled modules 500 by means of the legs 200 of the respective self-propelled modules. The shape and size of the three-dimensional object being formed may be determined by an external control source.

An embodiment is possible, according to which the self-propelled system 1000 is configured to be coupled to a power source and to transfer electrical energy to a consumer by means of the self-propelled modules 500 electrically coupled to one another by respective legs 200. An embodiment is possible, according to which the self-propelled system 1000 is configured to couple to a source of control signals and to transmit control signals to the consumer by means of self-propelled modules 500 electrically coupled to one another by respective legs 200. The electrical coupling of the leg 200 to the leg 200 of other self-propelled module 500 or the housing 100 of other self-propelled module 500 may be provided by means of, for example, a sliding contact, connector disposed on the leg 200 or housing 100 and configured to detachably couple for transferring charge while in movement and/or in certain intermediate static positions of the self-propelled modules 500 with respect to one another. Accordingly, in some embodiments, the self-propelled modules 500 of the self-propelled system 1000 may not withdraw from interaction with one another for replenishing the charge.

It should be noted that in embodiments of the present invention, at least one of the self-propelled modules 500 may be withdrawn from interaction with other self-propelled modules 500 and individually coupled to one or more charging devices of the parking station for charging same or replenishing the range thereof. In some embodiments, at least one of the self-propelled modules 500 which is electrically coupled to one or more other self-propelled modules 500 may be coupled to one or more charging devices of the parking station for charging same or replenishing the range thereof and/or for charging or replenishing the range of at least one other self-propelled module 500 coupled thereto. Each of the power supply sources of the parking station may be one or more batteries, a generator based on an internal combustion engine, a generator based on a hydrogen engine, a solar panel and any other suitable energy source known in the prior art. It should also be noted that at least one or each of the charging devices (not shown) in the parking station in such embodiments of the present invention may be a wireless charging device, a wired charging device or a charging dock. Alternatively, at least one or each of the charging devices in the parking station in such embodiments of the present invention may be configured, for example, in the form of a device for supplying electrical energy, a device for supplying liquid or gaseous fuel and/or the like. As yet another alternative, at least one or each of the charging devices in the parking station in such embodiments of the present invention may be hydraulically coupled to a pump (not shown) coupled by a hydraulic line to a reservoir or container (not shown) with fuel in a manner to enable intake of fuel from said container so as to enable supply of said intaken volume of fuel to the fuel tank of the self-propelled module 500 which fuel tank is hydraulically coupled to the fuel-powered engine of the self-propelled module 500, thus allowing to replenish the range of the self-propelled module 500 (in particular, due to at least partial replenishment of fuel volume in the fuel tank of the self-propelled module 500).

According to some other embodiment of the present invention, the control device in at least one or each of the self-propelled modules 500 with a replenished range may further enable entrance of said self-propelled module 500 with a replenished range into interaction with at least one other self-propelled module 500, wherein said other self-propelled module 500 during said process of interaction may be present on the movement surface of said self-propelled module 500 with a replenished range (for example, on the surface of the ground or the surface of other object which in turn may be present on the ground, on the surface of water and/or in the air). In one of the variations of this embodiment of the present invention, that process of bringing the self-propelled module 500 with a replenished range into interaction with other self-propelled module 500, the operation of said self-propelled module 500 with a replenished range, may be immediately controlled by the control device being part of said other self-propelled module 500, or the control device being part of said self-propelled module 500 with a replenished range by way of presenting thereto control commands and/or navigation commands.

According to one of the embodiments of the present invention, the control device in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may enable movement of said self-propelled module 500 with respect to one or more base or reference self-propelled modules of the self-propelled modules 500 by a predetermined distance in accordance with a predetermined route of movement corresponding to one of the predetermined schemes or patterns of movement which said control device of the self-propelled module 500 may automatically or semi-automatically select based on at least one of the following factors: (i) environmental conditions (for example, temperature, pressure, wind speed, weather, terrain of flight area, and the like) which may be determined, detected or measured using the readings of one or more respective sensors or measuring-and-computing instruments/devices which may further be provided to the housing 100 in said self-propelled module 500; (ii) the type of cargo accommodated in the housing 100 relating to said self-propelled module 500, and (iii) the distribution of cargo in the internal space of the housing 100, which may be determined using the readings of one or more weight sensors which may be further installed in the housing 100 relating to said self-propelled module 500; (iv) hindrances, interfering objects or obstacles in the path of travel of said self-propelled module 500, which may be detected, for example, using one or more obstacle detecting sensors (for example, LIDAR, localizer, ultrasonic sensor, IR sensor, radar, video sensor and/or the like), and the like. Alternatively, in this embodiment of the present invention, instead of the base or reference self-propelled module, there may be used any other base or reference object known in the prior art, wherein said base or reference object may be either movable or stationary.

According to another embodiment of the present invention, at least one or each of the legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be provided with one or more unmovable coupling means (for example, bracket, grip, fastener, cam, hook, suction cup, magnet, etc.) for coupling to a movement surface over which said self-propelled module 500 performs movement, thus enabling movement of said self-propelled module 500 over said movement surface, including enabling placement of the housing 100 relating to said self-propelled module 500 on the housing 100 relating to other self-propelled module 500, or enabling movement of the housing 100 relating to said self-propelled module 500 over the housing 100 relating to other self-propelled module 500 while interaction of these two self-propelled modules 500 with one another as a result of entrance of the legs 200 thereof into interaction with one another. Alternatively, in this embodiment of the present invention, one or more coupling means may be provided to the housing 100 relating to the self-propelled module 500 that performs movement over the movement surface, in particular further to one or more legs 200 with which said housing 100 is provided or instead of (in substitution for) said legs 200. In one of the variations of this embodiment of the present invention, at least one or each of the coupling means of the housing 100 and/or at least one or each of the coupling means in at least one or each of the legs 200, with which the housing 100 is provided, may be configured movable, wherein the control device of the self-propelled module 500 may be coupled to said movable coupling means so as to enable actuation (i.e. activation or switching-on) thereof for interaction thereof with the movement surface. In yet another variation of this embodiment of the present invention, at least one or each of the coupling means in at least one of the legs 200, which are provided to the housing 100 in at least one of the self-propelled modules 500, and said leg 200 corresponding to said coupling means may be actuated (i.e., activated or switched on) at a predetermined moment of time using the control device of said self-propelled module 500 to enable movement of the housing 100 relating to said self-propelled module 500 over a movement surface by means of using said leg 200 and said coupling means, wherein, at the next moment of time, said control device of said self-propelled module 500 may deactivate or disable the aforementioned actuated leg 200 and coupling means thereof and actuate (i.e. activate or switch on) at least one or each of the coupling means in at least one other of said legs 200, which are provided to the housing 100 in the self-propelled module 500, such that said control device of the self-propelled module 500 may substantially enable sequential actuation of at least one or each of the coupling means and of at least one of the legs 200 corresponding to said coupling means to move the housing 100 relating to said self-propelled module 500 over the movement surface.

According to another embodiment of the present invention, at least one or each of the legs 200 which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 and which may interact with other self-propelled module of said self-propelled modules 500 may be configured to detachably interact with the housing 100 relating to said other self-propelled module or with at least one of the legs 200 which may be provided to said housing 100 in other self-propelled module 500 so as to enable placement of these interacting with one another self-propelled modules 500 on one another (including to form a three-dimensional object consisting of a plurality of self-propelled modules 500 brought into interaction with one another) or enable movement of said brought into interaction with one another self-propelled modules over one another.

According to another embodiment of the present invention, at least one or each of the legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be configured in the form of a controlled grip operating under the control of the control device of said self-propelled module 500 and configured to grip at least one independent object (for example, cargo). Thus, in this embodiment of the present invention, the control device of the self-propelled module 500 may further be configured to control the operation of each of the controlled grips, in the form of which at least some legs 200 may be configured which are provided to the housing 100 in said self-propelled module 500, so as to enable gripping of at least one independent object and enable placement of said gripped independent object on or interiorly to the housing 100 relating to said self-propelled module 500. In one of the variations of this embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may further be provided with one or more receptacles (not shown) configured each to accommodate therein or thereon one or more independent objects, and the control device of said self-propelled module 500 may be further configured to enable the control of operation of one or more controlled grips to place each of the gripped independent objects in one of said receptacles of the housing 100.

According to one other embodiment of the present invention, at least one or each of the legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, may be provided with one or more controlled grips operating under the control of the control device of said self-propelled module 500 and configured each to grip at least one independent object (for example, cargo). Thus, in this embodiment of the present invention, the control device of the self-propelled module 500 may further be configured to control the operation of each of the controlled grips, which may be provided to at least some legs 200 which are provided to the housing 100 in said self-propelled module 500, so as to enable gripping of at least one independent object and enable placement of said gripped independent object on or interiorly to the housing 100 relating to said self-propelled module 500. In one of the variations of this embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may further be provided with one or more receptacles (not shown) configured each to accommodate therein or thereon one or more independent objects, and the control device of said self-propelled module 500 may be further configured to enable the control of operation of one or more controlled grips to place each of the gripped independent objects in one of said receptacles of the housing 100.

According to another embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may further be provided with an electromagnetic unit (not shown) installed in or on the housing 100 and operating under the control of the control device of said self-propelled module 500 such that said control device of the self-propelled module 500 enables actuation (activation or switching-on) of the electromagnetic unit of the housing 100 so as to enable magnetization of at least one independent metal object to said housing 100. In one variation of this embodiment, the electromagnetic unit may be installed on at least one of the legs 200, which are provided to the housing 100 in at least one or each of the self-propelled modules 500.

According to some embodiment of the present invention, the housing 100 in at least one or each of the self-propelled modules 500 shown in as part of the self-propelled system 1000 may further comprise a positioning sensor or navigation module (for example, a gyroscope senso, GPS, GLONASS, radar, and the like) configured to determine spatial coordinates of said self-propelled module 500 or the position of said self-propelled module 500 in relation to the reference self-propelled module in real time, and the control device of said self-propelled module 500 may be further coupled to the navigation module so as to receive the determined spatial coordinates and further configured to enable controlled altering of spatial orientation with respect to the housing 100 relating to said self-propelled module, shape or length of at least one of the legs 200, which are provided to said housing 100, depending on said received spatial coordinates to adjust the position of said self-propelled module 500 in space (for example, on a movement surface).

shows yet another illustrative embodiment of the self-propelled module 500 according to the present invention; further, also clearly illustrates yet another example of the process of interaction of the self-propelled modules 500 with one another.

Each of the legs 200, which are provided to the housing 100 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, is secured on the housing 100 so as to bend in different directions using a leg bending mechanism to alter the shape of the leg (for example, a drive or a drive device for bending a leg), which mechanism is part of said housing 100 and whose operation is controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, the leg bending mechanism for altering the leg shape is operably coupled to at least one of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500 shown in , so as to enable bending of said at least one leg 200 in at least two different directions upon actuation (i.e., switching-on or activation) of said leg bending mechanism in response to the corresponding control commands from the control device of the self-propelled module 500. Each of the legs 200 in each of the self-propelled modules 500 interacting with one another shown in as part of the self-propelled system 1000 is initially or originally fully bent in one of the directions such that said leg 200 may be switched or may transit from the first bent state (i.e. from the initial state) which corresponds to the original bent state and in which it has one altered shape (i.e., it is configured at least partially curved, bent, contorted or curvilinear in the first direction) into a second bent state (i.e., the operating state) which corresponds to the operating state and in which it also has other altered shape (i.e., it is configured to at least partially curved, bent, contorted or curvilinear, but now in the second direction) under the control of the control device of the self-propelled module 500. It should be noted that, while transition between the straightened state and the bent state, each leg 200 in any one of the self-propelled modules 500 shown in may take one or more intermediate bent states in which said leg 200 is present in a state between the initial state of the leg 200 and the operating state of the leg 200. It should also be noted that in order to enable bending, each of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, is defined by two hingedly coupled to one another portions, one of which is configured to alter the spatial position thereof with respect to the other portion of said hingedly coupled to one another portions of the leg 200 under the control of the control device of the self-propelled module 500, in particular by way of turning the hinge coupling said portions of the leg 200 with one another so as to enable turning or displacement of the first portion of the leg 200, distal from the housing 100 from which said leg 200 extends, with respect to the second portion of the leg 200 hingedly coupled to said housing 100 by a predetermined angle corresponding to the angle of turning of the hinge coupling said portions of the leg 200. In other words, as shown in , each of the legs 200 in each of the interacting with one another self-propelled modules 500 may be configured to alter the shape thereof by way of bending (in particular, it can bend in half so as to provide for placement of that portion of the leg 200 at right angle with respect to other portion of the leg 200), whereas the possibility of bending in the first direction and the possibility of bending in the second direction of said leg 200 may be provided under the control of the control device of the self-propelled module 500 presenting control commands to the leg bending mechanism (not shown) for altering the leg shape, which at least determines or adjusts the shape of said leg 200. Thus, each of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the first state and the second bent state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000. In particular, as shown in , at least one of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take a second bent state (i.e., operating state) at a predetermined period of time prior to entrance of said leg 200 into interaction with at least one of the legs 200 which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and also may maintain said second bent state during the period of interaction of said leg 200 with said at least one leg 200 relating to said other self-propelled module 500, and may fully or at least partially maintain said second bent state during a predetermined period of time following withdrawal of said leg 200 from interaction with said at least one leg 200 relating to said other self-propelled module 500, wherein, upon the expiration of said predetermined period of time after withdrawal of said leg 200 from interaction with said at least one leg 200 relating to said other self-propelled module 500, said leg 200 withdrawn from interaction takes the first bent state (i.e., the initial state). Of note, as shown in , while interaction with one another, the legs 200 relating to the self-propelled modules 500 interacting with one another are present each in a second bent state (i.e., in the operating state) from which they transit each back to the first bent state (i.e., the initial state) upon the expiration of a predetermined period of time following the withdrawal thereof from interaction with one another. In one of the embodiments of the present invention, the leg 200 which is provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in may be present in the first bent state (i.e., the initial state) or the second bent state (i.e., the operating state), and the interacting therewith leg 200 which is provided to the housing 100 in other one of said interacting with one another self-propelled modules 500 must be present in the second bent state (i.e., the operating state). In one other embodiment of the present invention, the leg 200 which is provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in must be present in the second bent state (i.e., the operating state), and the interacting therewith leg 200 which is provided to the housing 100 in other one of said interacting with one another self-propelled modules 500 may be present in the first bent state (i.e., the initial state) or the second bent state (i.e., the operating state). It should also be noted that in the process of interaction between one another of the legs 200 relating to the interacting self-propelled modules 500 shown in , other legs 200, which also relate to said interacting self-propelled modules 500 and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, now fully or partially take each the second bent state (i.e., the operating state). Alternatively, the other legs 200, which relate to the interacting with one another self-propelled modules 500 shown in and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, may fully or partially take each second bent state (i.e., the operating state) even prior to the entrance of the previous legs 200 relating to said interacting self-propelled modules 500 into interaction with one another, or following the withdrawal of said previous legs 200 from interaction with one another under the control of the control devices relating to said interacting self-propelled modules 500. In one of the embodiments of the present invention, simultaneously or substantially simultaneously, each of the two or more legs 200 in the second bent state (i.e., in the operating state), which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, may enter into interaction with the respective one of the two or more legs 200 in the first bent state (i.e., the initial state) or the second bent state (i.e., the operating state), which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500, so as to enable turning movement of said self-propelled modules 500 with respect to one another (for example, enable movement of the housing 100 relating to one of the interacting with one another self-propelled modules 500 over the housing 100 relating to other one of said interacting with one another self-propelled modules 500). It should be noted that for the withdrawal of the self-propelled modules 500 shown in as part of the self-propelled system 1000 from interaction with one another, the interacting with one another legs 200 relating to said self-propelled modules 500 and being each present in the second bent state (i.e., the operating state) transit from the second bent state to the first bent state (initial state) under the control of the control devices of the self-propelled modules 500 such that the legs 200 in each of the self-propelled modules 200 withdrawn from interaction with one another are each present in the first bent state (i.e., the initial state). In one of the embodiments of the present invention, for the withdrawal of the self-propelled modules 500 shown in as part of the self-propelled system 1000 from interaction with one another, the interacting with one another legs 200 relating to said self-propelled modules 500 and being each present in the second bent state (i.e., the operating state) may transit from the second bent state to a different bent state other than the first bent state (i.e. other than the initial state) under the control of the control devices of the self-propelled modules 500 such that the legs 200 in each of the self-propelled modules 200 withdrawn from interaction with one another may be present each in a different bent state other than the initial state or operating state and characterized by a different degree of bending of the leg 200 or a different direction of bending of the leg 200. After the withdrawal of the self-propelled modules 500 shown in from interaction with one another, the control device in each of said self-propelled modules 500 may enable performance of at least one of the following operations: (i) moving the self-propelled module 500 over the movement surface (for example, over the surface of the ground, over the pavement, over the road, and the like) by way of sequential or alternating altering of the state of one or more of the legs 200, which are provided to the housing 100 in said self-propelled module 500, from the first bent state (i.e. the initial state) to the second bent state (i.e. operating state) and vice versa so as to enable the interaction of each of said one or more legs 200 with said movement surface during each cycle of interaction of said self-propelled module 500 with said movement surface; (ii) bringing the self-propelled module 500 into interaction with other self-propelled module 500 (including again with the self-propelled module 500 from the interaction with which it has just withdrawn or from the interaction with which it withdrew some time ago) by way of sequential or alternating altering of the state of one or more of the legs 200, which are provided to the housing 100 in said self-propelled module 500, from the first bent state (i.e. the initial state) to the second bent state (i.e. the operating state) and vice versa so as to enable interaction of each of said one or more legs 200 in the second bent state (the operating state) with one or more of the legs 200 in the first bent state (i.e. the initial state) or the second bent state (i.e. the operating state), which are provided to the housing 100 in said other self-propelled module 500, during each cycle of interaction with one another of the legs 200 relating to said interacting self-propelled modules 500.

Each of the legs 200, which are provided to the housing 100 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, is secured on the housing 100 so as to bend or straighten using a leg straightening mechanism for altering the leg shape (for example, a drive or a drive device for straightening a leg), which mechanism is part of said housing 100 and whose operation is controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, the leg straightening mechanism for altering the leg shape is operably coupled to at least one of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500 shown in , so as to enable straightening or bending of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg straightening mechanism in response to the corresponding control commands from the control device of the self-propelled module 500. Each of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 is initially or originally completely straightened such that said leg 200 may be switched or may transit from the straightened state (i.e. from the original state) in which it has a substantially straight shape (i.e., configured rectilinear or aligned into a straight line) and visually looks longer (i.e., elongated) into a bent state (i.e., the operating state) in which it has an altered shape (i.e., configured at least partially curved, bent, contorted or curvilinear) and visually looks shorter (i.e. shortened) under the control of the control device of the self-propelled module 500. It should be noted that, while transition between the straightened state (i.e. the initial state) and the bent state (i.e. the operating state), each leg 200 in any one of the self-propelled modules 500 shown in may take one or more intermediate states in which said leg 200 is present in a state between said initial state of the leg 200 and said operating state of the leg 200.It should also be noted that in order to enable bending, each of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, is defined by two hingedly coupled to one another portions, one of which is configured to alter the spatial position thereof with respect to the other portion of said hingedly coupled to one another portions under the control of the control device of the self-propelled module 500, in particular by way of turning the hinge coupling said portions of the leg 200 with one another so as to enable turning or displacement of the first portion of the leg 200, distal from the housing 100 from which said leg 200 extends, with respect to the second portion of the leg 200 hingedly coupled to said housing 100 by a predetermined angle corresponding to the angle of turning of the hinge coupling said portions of the leg 200. In other words, as shown in , each of the legs 200 in each of the interacting with one another self-propelled modules 500 may be configured to alter the shape thereof by way of bending (in particular, to bend in half so as to provide for placement of a portion of the leg 200 at right angle), whereas the possibility of bending and the possibility of straightening of said leg 200 may be provided under the control of the control device of the self-propelled module 500 presenting control commands to the leg straightening mechanism (not shown) for altering the leg shape, which at least determines or adjusts the shape of said leg 200. Thus, each of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the straightened state and the bent state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000. In particular, as shown in , at least one of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the bent state at a predetermined period of time prior to entrance of said leg 200 into interaction with at least one of the legs 200 which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and also may maintain said bent state during the period of interaction of said leg 200 with said at least one leg 200 relating to said other self-propelled module 500, and may fully or at least partially maintain said bent state during a predetermined period of time following withdrawal of said leg 200 from interaction with said at least one leg 200 relating to said other self-propelled module 500, wherein, upon the expiration of said predetermined period of time after withdrawal of said leg 200 from interaction with said at least one leg 200 relating to said other self-propelled module 500, said leg 200 withdrawn from interaction takes the straightened state. Of note, as shown in , while interaction with one another, the legs 200 relating to the self-propelled modules 500 interacting with one another are present each in the bent state from which they transit each back to the straightened state upon the expiration of a predetermined period of time following the withdrawal thereof from interaction with one another. It should also be noted that in the process of interaction between one another of the legs 200 relating to the interacting self-propelled modules 500, other legs 200, which also relate to said interacting self-propelled modules 500 and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, now take each the bent state (or at least partially bent state). Alternatively, the other legs 200, which relate to the interacting with one another self-propelled modules 500 and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, may take each the bent state (or at least partially bent state) even prior to the entrance of the previous legs 200 relating to said interacting self-propelled modules 500 into interaction with one another, or following the withdrawal of said previous legs 200 from interaction with one another under the control of the control devices relating to said interacting self-propelled modules 500. In one of the embodiments of the present invention, simultaneously or substantially simultaneously, each of the two or more legs 200 in the bent state, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, may enter into interaction with the respective one of the two or more legs 200 in the bent state, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500, so as to enable turning movement of said self-propelled modules 500 with respect to one another (for example, enable movement of the housing 100 relating to one of the interacting with one another self-propelled modules 500 over the housing 100 relating to other one of said interacting with one another self-propelled modules 500). It should be noted that for the withdrawal of the self-propelled modules 500 shown in as part of the self-propelled system 1000 from interaction with one another, the interacting with one another legs 200 relating to said self-propelled modules 500 and being present each in the bent state transit from the bent state to the straightened state under the control of the control devices of the self-propelled modules 500 such that the legs 200 in each of the self-propelled modules 200 withdrawn from interaction with one another are present each in the straightened state. After the withdrawal of the self-propelled modules 500 shown in from interaction with one another, the control device in each of said self-propelled modules 500 may enable performance of at least one of the following operations: (i) moving the self-propelled module 500 over the movement surface (for example, over the surface of the ground, over the pavement, over the road, and the like) by way of sequential or alternating altering of the state of one or more of the legs 200, which are provided to the housing 100 in said self-propelled module 500, from the straightened state (i.e. the initial state) to the bent state (i.e. operating state) and vice versa so as to enable the interaction of each of said one or more legs 200 with said movement surface during each cycle of interaction of said self-propelled module with said movement surface; (ii) bringing the self-propelled module 500 into interaction with other self-propelled module 500 (including again with the self-propelled module 500 from the interaction with which it has just withdrawn or from the interaction with which it withdrew some time ago) by way of sequential or alternating altering of the state of one or more of the legs 200, which are provided to the housing 100 in said self-propelled module 500, from the straightened state (i.e. the initial state) to the bent state (i.e. the operating state) and vice versa so as to enable interaction of each of said one or more legs 200 in the bent state (i.e. the operating state) with one or more of the legs 200 in the bent state (i.e. the operating state), which are provided to the housing 100 in said other self-propelled module 500, during each cycle of interaction with one another of the legs 200 relating to said interacting self-propelled modules 500.

Each of the legs 200, which are provided to the housing 100 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, is secured on the housing 100 so as to tilt in different directions using a leg tilting mechanism for altering the spatial position of the leg or altering the spatial orientation of the leg (for example, a drive or a drive device for tilting a leg), which mechanism is part of said housing 100 and whose operation is controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, the leg tilting mechanism for altering the spatial orientation of the leg is operably coupled to at least one of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500 shown in , so as to enable tilting in the first direction or tilting in the second direction of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg straightening mechanism in response to the corresponding control commands from the control device of the self-propelled module 500. Each of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 is initially or originally tilted in the first direction such that said leg 200 may be switched or may transit from the first tilted state (i.e., from the initial state) in which it has a substantially straight shape (i.e., it is configured rectilinear or aligned in a straight line) and is disposed at one (predetermined) angle to the housing 100, from which it extends, into a second tilted state (i.e., the operating state), in which it has the same straight shape and the same dimensions and in which it is disposed at other angle to said housing 100, under the control of the control device of the self-propelled module 500. It should be noted that during the transition between the first tilted state (i.e., the initial state) and the second tilted state (i.e., the operating state), each leg 200 in any one of the self-propelled modules 500 shown in may take one or more intermediate tilted states in which the angle of tilt of the leg 200 is in the range between the angle of tilt of the leg corresponding to the initial state of the leg 200 and the angle of tilt of the leg 200 corresponding to the operating state of the leg 200.It should also be noted that in order to enable tilting, each of the legs 200, which are provided to the housing 100 in each of the self-propelled modules 500 shown in as part of the self-propelled system 1000, is hingedly coupled to said housing 100 so as to enable altering of spatial orientation thereof with respect to this housing 100 under the control of the control device of the self-propelled module 500, in particular by way of turning the hinge coupling said leg 200 to said housing 100, wherein the angle of tilt of said leg 200 substantially corresponds to the angle of turning of said hinge. In other words, as shown in , each of the legs 200 in each of the interacting with one another self-propelled modules 500 may be configured to alter the spatial orientation thereof by way of tilting by a predetermined angle with respect to the housing 100 from which it extends, whereas the possibility of tilting in the first direction and the possibility of tilting in the second direction of said leg 200 may be provided under the control of the control device of the self-propelled module 500 presenting control commands to the leg tilting mechanism (not shown) for altering the spatial orientation of the leg, which at least determines or adjusts the angle of tilt of said leg 200. Thus, each of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) the first tilted state and the second tilted state while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000. In particular, at least one of the legs 200 in at least one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000 may take the second tilted state at a predetermined period of time prior to entrance of said leg 200 into interaction with at least one of the legs 200 which are provided to the housing 100 in other self-propelled module 500 of said interacting with one another self-propelled modules 500, and also may maintain said second tilted state during the period of interaction of said leg 200 with said at least one leg 200 relating to said other self-propelled module 500, and may fully or at least partially maintain said second tilted state during a predetermined period of time following withdrawal of said leg 200 from interaction with said at least one leg 200 relating to said other self-propelled module 500, wherein, upon the expiration of said predetermined period of time after withdrawal of said leg 200 from interaction with said at least one leg 200 relating to said other self-propelled module 500, said leg 200, withdrawn from interaction, partially or fully takes the first tilted state. As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 are present in different states, in particular, one leg 200, which is provided to the housing 100 in one of said self-propelled modules 500, is present in the initial state thereof, and four legs 200, which are provided to the housing 100 in other one of said self-propelled modules 500, are present in the operating states thereof in which they interact each with said leg 200 in the initial state so as to provide for clamping or pinching thereof on different sides (i.e., a grip), wherein, after withdrawing from interaction with the leg 200 in the initial state, the four legs 200 transit each from the operating state thereof to the initial state thereof (in particular, upon expiration of a predetermined period of time from the moment of withdrawal thereof from interaction with the leg 200 in the initial state). In one of the embodiments of the present invention, while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 shown in may be each present in the operating state, wherein one or more of the legs 200 in the operating state, which are provided to the housing 100 in one of said interacting with one another self-propelled modules 500, may be clamped or pinched on different sides (i.e., gripped) using two or more legs 200 in the operating state, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500. In one other embodiment of the present invention, while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 shown in may be present in different states, wherein one or more of the legs 200 in the initial state, which are provided to the housing 100 in one of said interacting with one another self-propelled modules 500, may be clamped or pinched on different sides using two or more legs 200 in the operating state, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500.

It should also be noted that in the process of interaction between the legs 200, which are provided to the housing 100 in the interacting with one another self-propelled modules 500 shown in , other legs 200, also relating to the interacting with one another self-propelled modules 500 and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, may also in similar manner be present in the above different states such that for clamping or pinching, on the different sides, the next leg 200 in the initial state relating to one of said interacting with one another self-propelled modules 500 there may also be used four legs 200 in operating states (alternatively, two legs 200, three legs 200, five legs 200 and more legs 200 in operating states) relating to other one of said interacting with one another self-propelled modules 500, wherein said four legs 200 in the operating states may be next four legs 200 of this self-propelled module 500 (i.e. new four legs 200 of this self-propelled module 500 that are distinct from the previous four legs 200 of this self-propelled module 500 previously used to grip the previous one leg 200 in the initial state) or may comprise at least one previous leg 200 of this self-propelled module 500 in the operating state and the next legs 200 of this self-propelled module 500 in operating state (i.e. new legs 200 of this self-propelled module 500, neither of which relates to the previous four legs 200 of this self-propelled module 500 which were previously used to grip the previous one leg 200 in the initial state) in the residual (missing) quantity. Thus, the above transition to the next legs 200 in each of the interacting with one another self-propelled modules 500 shown in illustrates the principle of sequential or alternate interaction of at least one of the legs 200, with which the housing 100 is provided in one of said self-propelled modules 500, at a time (i.e., at each cycle of interaction of the legs 200) with at least one other leg of the legs 200, which are provided to the housing 100 in other one of said self-propelled modules 500.

According to one of the embodiments of the present invention, in which the legs 200, which are provided to the housings 100 in the interacting with one another self-propelled modules 500 shown in , while interaction with one another, are present each in the operating state thereof, the other legs 200, which also relate to said interacting with one another self-propelled modules 500 and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, may fully or partially take each the second tilted state (i.e., the operating state) or an intermediate state close to said second tilted state during the process of interaction between one another of the previous legs 200 relating to said interacting with one another self-propelled modules 500. According to yet another embodiment of the present invention, in which the legs 200, which are provided to the housings 100 in the interacting with one another self-propelled modules 500 shown in , while interaction with one another, are present each in the operating state thereof, the other legs 200, which also relate to said interacting with one another self-propelled modules 500 and which must be the next ones to enter into interaction with one another to continue movement of said self-propelled modules 500 with respect to one another, may fully or partially take each the second tilted state (i.e., the operating state thereof) or an intermediate state close to said second tilted state even prior to the entrance of the previous legs 200 relating to said interacting with one another self-propelled modules 500 into interaction with one another or following the withdrawal of said previous legs 200 from interaction with one another under the control of control devices relating to said interacting with one another self-propelled modules 500.

According to one other embodiment of the present invention, simultaneously or substantially simultaneously, each of the two or more legs 200 in the second tilted state (i.e., in the operating state), which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in as part of the self-propelled system 1000, may enter into interaction with the respective one of the two or more legs 200 in the second tilted state (i.e., the operating state) or the first tilted state (i.e., the initial state), which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500, so as to enable turning movement of said self-propelled modules 500 with respect to one another (for example, enable movement of the housing 100 relating to one of the interacting with one another self-propelled modules 500 over the housing 100 relating to other one of said interacting with one another self-propelled modules 500).

Of note, for withdrawal of the self-propelled modules 500 shown in as part of the self-propelled system 1000 from interaction with one another, the legs 200 in the operating state of the interacting with one another legs 200 relating to said self-propelled modules 500 transit from the second tilted state (i.e., the operating state) back to the first tilted state (i.e., initial state) under the control of the control device of the self-propelled module 500, to which said legs 200 in the operating state relate, such that the legs 200 in each of the self-propelled modules 200 which have withdrawn from interaction with one another are present each in the first tilted state (i.e., the initial state). After the withdrawal of the self-propelled modules 500 shown in from interaction with one another, the control device in each of said self-propelled modules 500 may enable performance of at least one of the following operations: (i) moving the self-propelled module 500 over the movement surface (for example, over the surface of the ground, over the pavement, over the road, and the like) by way of sequential or alternating altering, each time, of the state of one or more of the legs 200, which are provided to the housing 100 in said self-propelled module 500, from the first tilted state (i.e. the initial state) to the second tilted state (i.e. operating state) and vice versa so as to enable the interaction of each of said one or more legs 200 with said movement surface during said cycle of interaction of said self-propelled module 500 with said movement surface; (ii) bringing the self-propelled module 500 into interaction with other self-propelled module 500 (including again with the self-propelled module 500 from the interaction with which it has just withdrawn or from the interaction with which it withdrew some time ago) by way of sequential or alternating altering of the state, at a time (i.e. at each cycle of interaction of the legs 200 with one another), of one or more of the legs 200, which are provided to the housing 100 in said self-propelled module 500, from the first tilted state (i.e. the initial state) to the second tilted state (i.e. the operating state) and vice versa so as to enable interaction of each of said legs 200 in the operating state (i.e. in a state altered to the operating state) with one or more of the legs 200 in the first tilted state (i.e. the initial state) or the second tilted state (i.e. the operating state), which are provided to the housing 100 in said other self-propelled module 500, during each cycle of interaction with one another of the legs 200 relating to said interacting self-propelled modules 500.

shows yet another illustrative embodiment of the self-propelled module 500 according to the present invention; further, also clearly illustrates yet another example of the process of interaction of the self-propelled modules 500 with one another. It should be noted that each of the self-propelled modules 500 shown in is an alternative embodiment of any one of the self-propelled modules 500 described above with reference to ; accordingly, the above description of the design and functional features of the self-propelled modules 500 which description is associated with the use of the leg tilting mechanism for altering the leg spatial position and the transition of the legs between the first and second tilted states will not be described again below with respect to said self-propelled modules 500 shown in to improve the readability hereof.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 are present in different states. In particular, one leg 200, which is provided to the housing 100 in one of said self-propelled modules 500 shown in , is present in the initial state thereof (i.e. it extends from the housing 100 at a predetermined angle with respect thereto), and two legs 200, which are provided to the housing 100 in other one of said self-propelled modules 500, are present in the operating states thereof, in which they interact each with said one leg 200 in the initial state so as to provide for clamping or pinching thereof on two different sides and, accordingly, gripping thereof, wherein, during the period of said interaction, the other legs 200 in said interacting with one another self-propelled modules 500, which must be the next ones to enter into interaction with one another, are present in the initial states thereof. Thus, for interaction of the self-propelled modules 500 shown in with one another, the gripped leg 200 relating to one of said interacting with one another self-propelled modules 500 may maintain the initial state thereof, and the gripping legs 200 relating to other one of said interacting with one another self-propelled modules 500 must be switched from the initial states thereof to the operating states thereof (i.e., each of them must be deflected so as to provide for placement of each tilted leg 200 at a predetermined angle thereof to the housing 100 on which they are installed) under the control of the control devices of said interacting with one another self-propelled modules 500, which will allow the movement of said interacting with one another self-propelled modules 500 with respect to one another.

Furthermore, as shown in , each of the legs 200 relating to the interacting with one another self-propelled modules 500 is provided with a thickening or knob, wherein the length of said legs 200, the place of provision of the knobs on said legs 200 and the dimensions of the knobs of the legs 200 are pre-selected such that, while the above gripping of one of the legs 200, which are provided to the housing 100 in one of said interacting with one another self-propelled modules 500, the knob of said gripped leg 200 on two opposite sides thereof is in close contact with the legs 200, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500 and which are used to grip said gripped leg 200, wherein said gripped leg 200 may be in close contact with at least one of the knobs of said gripping legs 200.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 are present in different states. In particular, the gripped leg 200-3, which is provided to the housing 100 in one of said self-propelled modules 500 shown in , is present in the initial state thereof (i.e., it extends from the housing 100 or is tilted with respect to said housing 100 at a predetermined angle), wherein the leg 200-2 of two gripping legs 200, which are provided to the housing 100 in other one of said self-propelled modules 500 and which grip said one leg 200-3 in the initial state thereof by way of clamping or pinching same on two different sides, is present in the initial state thereof (i.e., it extends from the housing 100 or is tilted with respect to said housing 100 at a predetermined angle), and the leg 200-1 of said gripping legs 200 is present in the operating state thereof (i.e., it is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the initial state of the leg 200).

As shown in , during the period of interaction of the legs 200-1, 200-2, 200-3 with one another in the interacting with one another self-propelled modules 500, the other legs 200 in said interacting with one another self-propelled modules 500, which must be the next ones to enter into interaction with one another, are present in the initial states thereof. Thus, in order for the self-propelled modules 500 shown in to interact with one another, the gripped leg 200-3 relating to one of said interacting with one another self-propelled modules 500 and one of the gripping legs 200-1, 200-2 relating to other one of said interacting with one another self-propelled modules 500 may maintain each the initial state thereof, and the other one of said gripping legs 200-1, 200-2 must be switched from the initial state thereof to the operating state thereof (i.e., it must be deflected so as to provide for placement thereof at its predetermined angle with respect to the housing 100 on which it is installed, wherein said altered angle of tilt must differ from the initial angle of tilt at which this leg 200 is disposed in the initial state thereof with respect to said housing 100) under the control of the control devices of said interacting with one another self-propelled modules 500, which will allow the movement of said interacting with one another self-propelled modules 500 with respect to one another.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 are present in different states. In particular, the gripped leg 200-3, which is provided to the housing 100 in one of said self-propelled modules 500 shown in , is present in the initial state thereof (i.e., it extends from the housing 100 or is tilted with respect to said housing 100 at a predetermined angle), wherein the gripping legs 200-1, 200-2, which are provided to the housing 100 in other one of said self-propelled modules 500 and which grip said one leg 200-3 in the initial state thereof by way of clamping or pinching same on two different sides, are present in the operating states thereof (i.e., are tilted each by a predetermined angle with respect to the initial spatial position thereof corresponding to the initial state).

As shown in , during the period of interaction of the legs 200-1, 200-2, 200-3 with one another in the interacting with one another self-propelled modules 500 shown in , the other legs 200 in said interacting with one another self-propelled modules 500, which must be the next ones to enter into interaction with one another, are present in the initial states thereof (i.e., they extend each from the housing 100 or are tilted each with respect to said housing 100 at their predetermined angle). Thus, in order for the self-propelled modules 500 shown in to interact with one another, the gripped leg 200-3 relating to one of said interacting with one another self-propelled modules 500 may maintain the initial state thereof, and the gripping legs 200-1, 200-2 relating to other one of said interacting with one another self-propelled modules 500 must be switched both from the initial states thereof to the operating states thereof (i.e., must be deflected so as to provide for placement of each of same at its predetermined angle with respect to the housing 100 on which they are installed, wherein said altered angle of tilt of said leg 200-1/200-2 must differ from the initial angle of tilt at which this leg 200-1/200-2 is disposed in the initial state thereof with respect to said housing 100) under the control of the control devices of said interacting with one another self-propelled modules 500, which will allow the movement of said interacting with one another self-propelled modules 500 with respect to one another.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 are present in the same or similar states, i.e., in the operating states thereof or in states close to the operating states thereof, wherein, during (in the course of) each cycle of interaction of the legs 200 in one of said interacting with one another self-propelled modules 500 shown in , there occur to be employed two legs 200 each of which performs the function of a gripping leg, and simultaneously in the other one of said interacting with one another self-propelled modules 500 there occur to be employed only one leg 200, which performs the function of a gripped leg.

In particular, the leg 200-3, which is provided to the housing 100 in one of said self-propelled modules 500 shown in , is present in the operating state (i.e., it is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the initial state of this leg 200-3), and the legs 200-1, 200-2, which are provided to the housing 100 in other one of said self-propelled modules 500 and which are present in the operating states thereof (i.e., each of the legs 200-1, 200-2 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the initial state thereof), grip said one leg 200-3 in the operating state by way of pinching same on two different sides by means of said legs 200-1, 200-2 or clamping same between said legs 200-1, 200-2.

Thus, for interaction of the self-propelled modules 500 shown in with one another, the leg 200-3 relating to one of the interacting with one another self-propelled modules 500 needs to be switched from the original state thereof (i.e. the state in which it extends from the housing 100, on which it is installed, or is tilted with respect to said housing 100 at a pre-determined angle thereof) into the operating state thereof, and simultaneously the legs 200-1, 200-2 relating to other one of the interacting with one another self-propelled modules 500 must be switched both from the initial state thereof (i.e. states in which each of the legs of 200-1, 200-2 extends from the housing 100, on which it is installed, or is tilted with respect to said housing 100 at a pre-determined angle thereof) to the operating states thereof (i.e. the legs 200-1, 200-2 must be deflected so as to provide for placement of each of same at their predetermined angle with respect to the housing 100 on which they are installed, wherein said altered angle of tilt of the leg must differ from the original angle of tilt at which this leg is disposed in the original state thereof with respect to the housing 100) so as to provide for pinching of the leg 200-3 on two sides by means of the legs 200-1, 200-2 or clamping the leg 200-3 between the legs 200-1, 200-2 under the control of the control devices of said interacting with one another self-propelled modules 500, which will allow the movement of said interacting with one another self-propelled modules 500 with respect to one another.

Furthermore, as shown in , during the period of interaction of the legs 200-1, 200-2, 200-3 with one another in the interacting with one another self-propelled modules 500 shown in , other legs 200 (in particular, legs 200-4, 200-5, 200-6) in said interacting with one another self-propelled modules 500, which must be employed in the next cycle of interaction of the legs 200 in said interacting with one another self-propelled modules 500, are already present in the operating states thereof (i.e., they extend each from the housing 100 or are tilted each with respect to said housing 100 at their predetermined angle) or in states close to the operating states thereof.

In particular, upon the completion of the first cycle of interaction of the self-propelled modules 500 with one another, which employs the above leg 200-3 and the legs 200-1, 200-2, which occur to be employed to grip the gripped leg 200-3, the leg 200-1 withdraws from interaction with the leg 200-3 by way of transition of the leg 200-1 from the operating state thereof to the initial state thereof, and simultaneously therewith the other leg 200-4, which together with the leg 200-1 is installed on one and the same housing 100 in one of the interacting with one another self-propelled modules 500 shown in , enters into interaction with the leg 200-2, which together with the leg 200-1 which withdrew from interaction is installed on one and the same housing 100 in other one of said interacting with one another self-propelled modules 500 so as to provide for pressing of this leg 200-2 against the leg 200-3 such that the leg 200-2 becomes a gripped leg, and the legs 200-3, 200-4 become gripping legs. Next, upon the completion of the second cycle of interaction of the self-propelled modules 500 with one another, in which cycle there occur to be employed the above leg 200-2 performing the function of a gripped leg and the legs 200-3, 200-4 performing the function of gripping legs for pinching on two sides the gripped leg 200-2, now the leg 200-3 withdraws from interaction with the leg 200-2 by way of transition of the leg 200-3 from the operating state thereof to the initial state thereof, and simultaneously therewith the other leg 200-5, which together with the legs 200-1, 200-2 is installed on one and the same housing 100 in one of the interacting with one another self-propelled modules 500 shown in , enters into interaction with the leg 200-4, which together with the leg 200-3 which withdrew from interaction is installed on one and the same housing 100 in other one of said interacting with one another self-propelled modules 500 so as to provide for pressing of this leg 200-4 against the leg 200-2 such that the leg 200-4 becomes a gripped leg, and the legs 200-2, 200-5 become gripping legs. It should be noted that in order to continue movement of the self-propelled modules 500 shown in with respect to one another, the above process of altering the states of the interacting with one another legs 200 may be sequentially continued in the same manner.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 shown in are present in the same or similar states, i.e., in the operating states thereof or in states close to the operating states thereof, wherein, during each cycle of interaction of the legs 200 in each of said interacting with one another self-propelled modules 500 shown in , there occur to be simultaneously employed two legs 200 each of which performs the function of a gripping leg and one leg 200 which performs the function of a gripped leg.

In particular, the gripping legs 200-1, 200-2, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in and which are present in the operating states thereof (i.e. each of the legs 200-1, 200-2 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), grip one gripped leg 200-3 in the operating state thereof (i.e. in a state in which this leg 200-3 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), which is provided to the housing 100 in other one of the interacting with one another self-propelled modules 500, by way of pinching said leg 200-3 on two different sides by means of gripping legs 200-1, 200-2 or clamping said leg 200-3 between said gripping legs 200-1, 200-2, and simultaneously the gripped leg 200-6, which together with the gripping legs 200-1, 200-2 relates to one and the same self-propelled module 500 and which is present in the operating state thereof (i.e. it is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof) is gripped by the gripping legs 200-4, 200-5, which relate to said other self-propelled module and which are present in the operating states thereof (i.e. each of the legs 200-4, 200-5 is present in a state in which it is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), by way of pinching on two sides said gripped leg 200-6 by means of said gripping legs 200-4, 200-5 or clamping said gripped leg 200-6 between said gripping legs 200-4, 200-5.

As shown in , during (in the course of) the period of interaction of the legs 200-1, 200-2, 200-3, 200-4, 200-5, 200-6 with one another in the interacting with one another self-propelled modules 500 shown in , the other legs 200 in said interacting with one another self-propelled modules 500, which must be the next ones to enter into interaction with one another, are present in the initial states thereof (i.e., they extend each from the housing 100 or are tilted each with respect to said housing 100 at their predetermined angle).

Thus, for interaction of the self-propelled modules 500 shown in with one another under the control of the control devices of said interacting with one another self-propelled modules 500, there must be simultaneously or substantially simultaneously performed at least two of the following operations during each cycle of interaction: (1) the gripping legs 200-1, 200-2 relating to one of said interacting with one another self-propelled modules 500 must be switched from the initial states thereof into the operating states thereof, and the gripped leg 200-3 relating to other one of the interacting with one another self-propelled modules 500 must be switched from the original state thereof into the operating state thereof so as to provide for pinching thereof on two sides by means of said gripping legs 200-1, 200-2 in the operating states thereof or clamping thereof between said gripping legs 200-1, 200-2 in the operating states thereof; and (2) the gripped leg 200-6 relating together with the gripping legs 200-1, 200-2 to one and the same self-propelled module 500 must be switched from the initial state thereof into the operating state thereof, and the gripping legs 200-4, 200-5 relating to said other self-propelled module 500 must be switched from the initial states thereof into the operating states thereof so as to provide for pinching of said gripped leg 200-6 on two sides or clamping of said gripped leg 200-6 between said gripping legs 200-1, 200-2, which will allow for performing the movement of said interacting with one another self-propelled modules 500 with respect to one another.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 shown in are present in the same or similar states, i.e., in the operating states thereof or in states close to the operating states thereof, wherein, during each cycle of interaction of the legs 200 in each of said interacting with one another self-propelled modules 500 shown in , there occur to be simultaneously employed two legs 200 each of which performs the function of a gripping leg and one of which performs the function of a gripped leg during each cycle of interaction of the legs 200. In particular, the legs 200-1, 200-2, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in and which are present in the operating states thereof (i.e. each of the legs 200-1, 200-2 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), grip one leg 200-3 in the operating state thereof (i.e. in a state in which this leg 200-3 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), which is provided to the housing 100 in other one of the interacting with one another self-propelled modules 500, by way of pinching said leg 200-3 on two different sides by means of the legs 200-1, 200-2 or clamping said leg 200-3 between said legs 200-1, 200-2, and simultaneously the leg 200-3 and the leg 200-4 relating to said other self-propelled module 500 and being present in the operating states thereof (i.e., in states in which each of them is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the initial state thereof) grip the leg 200-2 in the operating state thereof (i.e., in a state in which it is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding the original state thereof) relating together with the leg 200-1 to one and the same self-propelled module 500 by way of pinching said leg 200-2 on two sides between said legs 200-3, 200-4 or clamping said leg 200-2 between said legs 200-3, 200-4. Thus, in the interacting with one another self-propelled modules 500 shown in , the legs 200-2, 200-3 perform each simultaneously the function of a gripping leg and of a gripped leg.

As shown in , during the period of interaction of the legs 200-1, 200-2, 200-3, 200-4 with one another in the interacting with one another self-propelled modules 500 shown in , the other legs 200 in said interacting with one another self-propelled modules 500, which must be the next ones to enter into interaction with one another, are present in the initial states thereof (i.e., they extend each from the housing 100 or are tilted each with respect to said housing 100 at their predetermined angle).

Thus, for interaction of the self-propelled modules 500 shown in with one another under the control of the control devices of said interacting with one another self-propelled modules 500, there must be simultaneously or substantially simultaneously performed at least two of the following operations during each cycle of interaction: (1) the legs 200-1, 200-2 relating to one of said interacting with one another self-propelled modules 500 must be switched from the initial states thereof into the operating states thereof, and the leg 200-3 relating to other one of the interacting with one another self-propelled modules 500 must be switched from the original state thereof into the operating state thereof so as to provide for pinching thereof on two sides by means of said legs 200-1, 200-2 in the operating states thereof or clamping thereof between said gripping legs 200-1, 200-2 in the operating states thereof; and (2) the leg 200-4 relating to said other self-propelled module 500 must be switched from the initial state thereof to the operating state thereof so as to provide for pinching of the leg 200-2 relating together with the leg 200-1 to one and the same self-propelled module 500 on two sides by means of the legs 200-3, 200-4 in the operating states thereof or enable clamping of the leg 200-2 between said legs 200-3, 200-4 in the operating states thereof, which will allow for performing movement of said interacting with one another self-propelled modules 500 with respect to one another.

As shown in , while interaction with one another, the legs 200 relating to the interacting with one another self-propelled modules 500 shown in are present in the same or similar states, i.e., in the operating states thereof or in states close to the operating states thereof, wherein, during (in the course of) each cycle of interaction of the legs 200 in one of said interacting with one another self-propelled modules 500 shown in , there occur to be employed two legs 200 each of which performs the function of a gripped leg and one of which performs the function of a gripping leg during each cycle of interaction of the legs 200, and simultaneously in other one of said interacting between one another self-propelled modules 500 there occur to be employed three legs 200 each of which performs the function of a gripping leg and one of which performs the function of a gripped leg.

In particular, the legs 200-1, 200-2, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500 shown in and which are present in the operating states thereof (i.e. each of the legs 200-1, 200-2 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), grip one leg 200-3 in the operating state thereof (i.e. in a state in which this leg 200-3 is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the original state thereof), which is provided to the housing 100 in other one of the interacting with one another self-propelled modules 500, by way of pinching said leg 200-3 on two different sides by means of the legs 200-1, 200-2 or clamping said leg 200-3 between said legs 200-1, 200-2, and simultaneously the leg 200-3 and the leg 200-4 relating to said other self-propelled module 500 and being present in the operating states thereof (i.e., in states in which each of them is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding to the initial state thereof) grip the leg 200-2 in the operating state thereof (i.e., in a state in which it is deflected by a predetermined angle with respect to the initial spatial position thereof corresponding the original state thereof) relating together with the leg 200-1 to one and the same self-propelled module 500 by way of pinching said leg 200-2 on two sides between said legs 200-3, 200-4 or clamping said leg 200-2 between said legs 200-3, 200-4, and simultaneously the leg 200-2 and the leg 200-5, which together with the leg 200-1 belong to one and the same self-propelled module 500, in the operating states thereof grip one leg 200-4 in the operating state thereof by way of pinching said leg 200-4 on two sides between said legs 200-2, 200-5 or clamping said leg 200-4 between said legs 200-2, 200-5. Thus, in the interacting with one another self-propelled modules 500 shown in , the legs 200-2, 200-3, 200-4 perform each simultaneously the function of a gripping leg and of a gripped leg, and the legs 200-1, 200-5 perform each only the function of a gripping leg.

As shown in , during the period of interaction of the legs 200-1, 200-2, 200-3, 200-4, 200-5 with one another in the interacting with one another self-propelled modules 500 shown in , the other legs 200 in said interacting with one another self-propelled modules 500, which must be the next ones to enter into interaction with one another, are present in the initial states thereof (i.e., they extend each from the housing 100 or are tilted each with respect to said housing 100 at their predetermined angle).

Thus, for interaction of the self-propelled modules 500 shown in with one another under the control of the control devices of said interacting with one another self-propelled modules 500, there must be simultaneously or substantially simultaneously performed at least three of the following operations during each cycle of interaction: (1) the legs 200-1, 200-2 relating to one of said interacting with one another self-propelled modules 500 must be switched from the initial states thereof into the operating states thereof, and the leg 200-3 relating to other one of the interacting with one another self-propelled modules 500 must be switched from the original state thereof into the operating state thereof so as to provide for pinching thereof on two sides by means of said legs 200-1, 200-2 in the operating states thereof or clamping thereof between said gripping legs 200-1, 200-2 in the operating states thereof; (2) the leg 200-4 relating to said other self-propelled module 500 must be switched from the initial state thereof to the operating state thereof so as to provide for pinching of the leg 200-2 relating together with the leg 200-1 to one and the same self-propelled module 500 on two sides by means of the legs 200-3, 200-4 in the operating states thereof or enable clamping of the leg 200-2 between said legs 200-3, 200-4 in the operating states thereof; and (3) the leg 200-5 relating together with the legs 200-1, 200-2 to one and the same self-propelled module 500 must be switched from the initial state thereof to the operating state thereof so as to enable pinching of the leg 200-4 relating to said other self-propelled module 500 on two sides by means of the legs 200-2, 200-5 in the operating states thereof or enable clamping of the leg 200-4 between said legs 200-2, 200-5 in the operating states thereof, which will allow for performing movement of said interacting with one another self-propelled modules 500 with respect to one another.

Figs. 13а-13e show yet another illustrative embodiment of the self-propelled module 500 according to the present invention; further, Figs. 13а-13e also clearly illustrate yet another example of the process of interaction of two self-propelled modules 500 with one another using seventeen (17) intermediate states B1-B17 of said interacting with one another self-propelled modules 500.

An embodiment is possible wherein the housing 100 of the self-propelled module 500 comprises an external ball-shaped or spherical housing 100 and an internal ball-shaped or spherical housing 150 installed interiorly to the external housing 100, the legs 200 are coupled to the internal housing 150 and extend through the external housing 100, wherein the control device coupled to at least one of said legs 200 is configured to controllably alter its spatial orientation with respect to said housing in the region of the surface of the internal housing 150 and/or in the region of the surface of the external housing 100.

An embodiment is possible wherein the internal housing 150 and/or the external housing 100 is made of an elastic material enabling altering of the shape of the internal housing 150 and/or the external housing 100 while movement of the self-propelled module, respectively.

Of note, each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e comprises an external ball-shaped or spherical housing 100 and an internal ball-shaped or spherical housing 150 installed (secured, fixed or disposed) interiorly to the external housing 100, wherein interiorly to the internal housing 150 there may be disposed or installed the rechargeable battery of the self-propelled module 500, the control device of the self-propelled module 500, the current generator of the self-propelled module 500 configured to generate current pulses, and also any other suitable microchips and functional components described herein with respect to the self-propelled module 500. The internal housing 150 may be rigidly secured with respect to the external housing 100, or may not have rigid links therewith and may be installed so as to move and displace or alter the shape in the internal space of the external housing 100. For example, the internal housing 150 and/or the external housing 100 may be made of an elastic material enabling altering of the shape of the internal housing 150 and/or the external housing 100 while movement of the self-propelled module 500, respectively.

Each leg 200 in each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e is hingedly coupled to the internal housing 150 and hingedly coupled to the external housing 100, wherein the internal housing 150 and the external housing 100 are each made of an electroactive polymer.

Furthermore, each region of the internal housing 150, to which two adjacent legs 200 are coupled in each of the self-propelled modules 500 shown in Figs. 13a-13e, is electrically coupled to the current generator of the self-propelled module 500 so as to reduce or expand upon supply, by means of said current generator, of a current pulse to said region of the internal housing 150, which provides for the possibility of bringing together of said two adjacent legs 200 (i.e., the possibility of displacement or movement thereof to one another) or the possibility of moving apart of said two adjacent legs 200 (i.e. the possibility of displacement or movement thereof away from one another in different directions).

Analogously, each region of the external housing 100, to which two adjacent legs 200 are coupled in each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e, is also electrically coupled to the current generator of the self-propelled module 500 so as to reduce or expand upon supply, by means of said current generator, of a current pulse to said region of the internal housing 150 under the control of the control device of the self-propelled module 500 coupled to said current generator so as to control the operation thereof, which provides for the possibility of bringing together of said two adjacent legs 200 (i.e., the possibility of displacement or movement thereof to one another or towards one another) or the possibility of moving apart of said two adjacent legs 200 (i.e. the possibility of displacement or movement thereof away from one another or in different directions).

As an alternative to making the internal housing 150 of an electroactive polymer, between each two adjacent legs 200 exteriorly to the internal housing 150 in at least one or in each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e there may be installed a functional element (not shown) made of an electroactive polymer operably coupled to the current generator of the self-propelled module 500 and coupled or fastened to each of said two adjacent legs 200 so as to reduce or expand upon supply, by means of said current generator, of a current pulse to said functional element under the control of the control device the self-propelled module 500 coupled to said current generator so as to control the operation thereof, which provides for the possibility of bringing together of said two adjacent legs 200 (i.e., the possibility of displacement or movement thereof to one another or towards one another) on the side of the internal housing 150 or the possibility of moving apart of said two adjacent legs 200 (i.e., the possibility of displacement or movement thereof away from one another or in different directions) on the side of the internal housing 150.

Furthermore, as an alternative to making the external housing 100 of an electroactive polymer, between each two adjacent legs 200 exteriorly to the external housing 100 in at least one or in each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e there may be installed a functional element (not shown) made of an electroactive polymer operably coupled to the current generator of the self-propelled module 500 and coupled or fastened to each of said two adjacent legs 200 so as to reduce or expand upon supply, by means of said current generator, of a current pulse to said functional element under the control of the control device the self-propelled module 500 coupled to said current generator so as to control the operation thereof, which provides for the possibility of bringing together of said two adjacent legs 200 (i.e., the possibility of displacement or movement thereof to one another or towards one another) on the side of the external housing 100 or the possibility of moving apart of said two adjacent legs 200 (i.e., the possibility of displacement or movement thereof away from one another or in different directions) on the side of the external housing 100.

As yet another alternative to making the internal housing 150 of an electroactive polymer, between each two adjacent legs 200 exteriorly to the internal housing 150 in at least one or in each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e there may be installed an electromechanical or electromagnetic element (not shown) operably coupled to the current generator of the self-propelled module 500 operating under the control of the control device of the self-propelled module 500, and coupled or fastened to each of said two adjacent legs 200 so as to enable bringing together of said two adjacent legs 200 (i.e., enable displacement or movement to one another or towards one another) on the side of the internal housing 150 or enable moving apart of said two adjacent legs 200 (i.e., enable displacement or movement thereof away from one another or in different directions) on the side of the internal housing 150 upon supply, by means of said current generator, of a current pulse to said electromechanical or electromagnetic element under the control of the control device of the self-propelled module 500.

As yet another alternative to making the external housing 100 of an electroactive polymer, between each two adjacent legs 200 exteriorly to the external housing 100 in at least one or in each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e there may be installed an electromechanical or electromagnetic element (not shown) operably coupled to the current generator of the self-propelled module 500 operating under the control of the control device of the self-propelled module 500, and coupled or fastened to each of said two adjacent legs 200 so as to enable bringing together of said two adjacent legs 200 (i.e., enable displacement or movement to one another or towards one another) on the side of the external housing 100 or enable moving apart of said two adjacent legs 200 (i.e., enable displacement or movement thereof away from one another or in different directions) on the side of the external housing 100 upon supply, by means of said current generator, of a current pulse to said electromechanical or electromagnetic element under the control of the control device of the self-propelled module 500.

In one of the embodiments of the present invention, at least one or each of the internal housing 150 and the external housing 100 may be made of an elastic material enabling bringing together or moving apart of two adjacent legs 200 (i.e., a pair of adjacent legs) on the side of at least one or each of the internal housing 150 and the external housing 100.

In another embodiment of the present invention, at least one or each of the internal housing 150 and the external housing 100 may be made of solid material and may be provided with guides enabling the bringing together or moving apart of each two adjacent legs 200 (i.e., each pair of adjacent legs) on the side of at least one or each of the internal housing 150 and the external housing 100, or enabling the bringing together or moving apart of at least one such pair of adjacent legs.

In yet another embodiment of the present invention, at least one or each of the pairs of brought-together or moved-apart legs may be a separate functional pair of legs in which none of the adjacent legs 200 may be used in any one of the other similar functional pairs of legs while interaction of the two self-propelled modules 500 shown in Figs. 13a-13e with one another.

In another embodiment of the present invention, at least one or each of the adjacent legs 200 in at least one or each of the pairs of brought-together or moved-apart legs may be used in one of the other pairs of brought-together or moved-apart legs while interaction of the two self-propelled modules 500 shown in Figs. 13a-13e with one another.

Altering the state of each two adjacent legs 200 (i.e., each employed pair of two adjacent legs) in at least one or each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e may take place under the control of the control devices of these self-propelled modules 500 in one of the following manners: (i) bringing together or moving apart only on the side of the external housing 100, (ii) bringing together or moving apart only on the side of the internal housing 150, (iii) bringing together or moving apart simultaneously on the side of the external housing 100 and on the side of the internal housing 150, (iii) bringing together on the side of the internal housing 150 and moving apart on the side of the external housing 100, and (iv) moving apart on the side of the internal housing 150 and bringing together on the side of the external housing 100.

The different combination of bringing together/moving apart schemes of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 shown in Figs. 13a-13e enables movement of the housing of one of said self-propelled modules 500 over the housing of other self-propelled module of said self-propelled modules 500 as a result of sequential or alternating mutual gripping of the legs 200 relating to said self-propelled modules 500.

Figs. 14-18 show yet another illustrative embodiment of the self-propelled module 500 according to the present invention; further, Figs. 14-18 also clearly illustrate yet another example of the process of interaction of two self-propelled modules 500 with one another using twenty six (26) intermediate states A-1:A-26 of said interacting with one another self-propelled modules 500.

Of note, each of the legs 200, which are provided to the housing 100 in each of the coupled to one another self-propelled modules 500 shown in Figs. 14-18, is installed on the respective housing 100 so as to at least partially or fully extend from said housing 100 or to at least partially or fully retract into said housing 100 using a leg extension mechanism for altering the degree of leg extension (for example, a drive or a drive device for extending the leg) which may also be referred to as a mechanism or module for altering the leg length and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, the leg extension mechanism for altering the degree of leg extension in each of the interacting with one another self-propelled modules 500 shown in Figs. 14-18 is operably coupled to each of the legs 200, which are provided to the housing 100 in said self-propelled module 500, so as to enable full or at least partial extension (drawing-out) of said leg 200 from said housing 100 or enable full or at least partial retraction (drawing-in) of said leg 200 into said housing 100 upon actuation (i.e. switching-on or activation) of said leg extension mechanism under the control of the control device being part of said self-propelled module 500.

It should also be noted that each of the legs 200 in each of the interacting with one another self-propelled modules 500 shown in Figs. 14-18 is initially or originally fully or at least partially extended (drawn-out) from the corresponding housing 100 such that said leg 200 may be switched or may transit from the extended state (drawn-out state) corresponding to the initial state of said leg 200, to the retracted state (drawn-in state) corresponding to the operating state of said leg 200, and then, vice versa, from said retracted state (drawn-in state) to said extended state (drawn-out state) under the control of the control device of the self-propelled module 500.

In particular, the intermediate state A-1 of the self-propelled modules 500, as shown in , illustrates the bringing together of said self-propelled modules 500 with one another under the control of the control devices of these self-propelled modules 500, the intermediate states A-2:A-3 of the self-propelled modules 500, as shown in , illustrate the introduction of each of the two the adjacent legs 200, which are provided to the housing 100 in one of said self-propelled modules 500, into the space bounded between the respective two adjacent legs 200, which are provided to the housing 100 in other one of said self-propelled modules 500, and the intermediate state A-4, into which the self-propelled modules 500 shown in transit from the above previous state A-3, illustrates the entrance of said self-propelled modules 500 into interaction with one another by way of bringing each of the two adjacent legs 200, which are provided to the housing 100 in one of said self-propelled modules 500, into contact with the respective one of the two adjacent legs 200, which are provided to the housing 100 in the other one of said self-propelled modules 500.

Of note, each of the legs 200 in at least one of the interacting with one another self-propelled modules 500 shown in Figs. 14-18 may be provided with at least one contact sensor configured each to detect the contact of said leg 200 with at least one of the legs 200, which may be provided to the housing 100 in other one of said interacting with one another self-propelled modules 500, and communicatively coupled each to the control device being part of said self-propelled module 500 such that said control device of the self-propelled module 500 may enable simultaneous or sequential altering of the state of at least one of the legs 200, which are provided to the housing 100 in said self-propelled module 500, in response to readings received from said at least one contact sensor.

Next, the intermediate states A5-A8 shown in illustrate cycles of interaction of the self-propelled modules 500 with one another, wherein each of the three legs 200, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500, transits from the initial state thereof, transits into the operating state thereof in which it interacts with the respective one of the three legs 200, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500 and each of which is switched from the initial state thereof to the operating state thereof, so as to provide for support thereon to move the housing 100 of one of said interacting with one another self-propelled modules 500 over the housing 100 of the other one of said interacting with one another self-propelled modules 500.

Of note, in each of the intermediate states A5-A8 shown in each of the three employed legs 200 in each of the interacting with one another self-propelled modules 500 has been switched to the operating state thereof characterized by a predetermined degree of extension or a predetermined length adjustable by means of the leg extension mechanism under the control of the control device of said self-propelled module 500 in accordance with a predetermined model or scheme of extension or retraction of the legs 200, which is known to said control device of the self-propelled module 500, wherein the degree of extension or length of said leg 200 being present in the operating state thereof may be altered or may remain while the transition from one of said intermediate states A5-A8 to other one of said intermediate states A5-A8. In other words, in each of the intermediate states A5-A8, each of the three employed legs 200 in each of the interacting with one another self-propelled modules 500 shown in may transit to its new operating state characterized by other or different degree of extension of the leg or the length of the leg 200, or may maintain its previous operating state (i.e., keep its degree of extension or its length unchanged) under the control of the control device relating to the respective one of said interacting with one another self-propelled modules 500 on the housing 100 of which said leg 200 is installed. As shown in , in the intermediate state A8, two of the three employed legs 200 relating to one of the interacting with one another self-propelled modules 500 abut each on the respective one of the three employed legs 200 relating to the other one of said interacting with one another self-propelled modules 500 so as to provide for the beginning of lifting of the housing 100, which is provided with the two abutting legs 200, over the housing 100 relating to said other self-propelled module 500.

Further, the intermediate states A9-A12 shown in illustrate the cycles of interaction of the self-propelled modules 500 with one another, wherein the abutting legs 200, which are provided to the lifted housing 100, alternately transit from one operating state to other operating state in which they have a greater degree of extension or a longer length under the control of the control device installed in said lifted housing 100, thus each time providing for the continuation of movement or lifting of said lifted housing 100 over the housing 100 relating to other self-propelled module 500. Of note, in the intermediate states A9-A12 shown in , the control device relating to other self-propelled module 500 enables adjustment of the degree of extension or length of the legs 200, which are provided to the housing 100 in said other self-propelled module 500, using the leg extension mechanism relating to said other self-propelled module 500 so as to provide for holding of the lifted housing 100 on said other self-propelled module 500 and continuation of lifting of the lifted housing 100 over said other self-propelled module 500 as a result of the interaction of the legs 200, relating to the interacting with one another self-propelled modules 500, with one another.

Next, the intermediate states A13-A16 shown in illustrate cycles of interaction of the self-propelled modules 500 with one another, wherein the control devices of said interacting with one another self-propelled modules 500 adjust the degree of extension or length of the interacting with one another legs 200 employed by said control devices in both of said interacting with one another self-propelled modules 500 in each of said intermediate states A13-A16 so as to provide for lifting of the lifted housing 100 relating to one of the interacting with one another self-propelled modules 500 to the upper portion or top of the housing 100 relating to other one of the interacting with one another self-propelled modules 500 and to provide for holding of said lifted housing 100 on said top.

Next, the intermediate states А17-А20 shown in illustrate cycles of interaction of the self-propelled modules 500 with one another, wherein the control devices of said interacting with one another self-propelled modules 500 adjust the degree of extension or length of the interacting with one another legs 200 employed by said control devices in both of said interacting with one another self-propelled modules 500 in each of said intermediate states А17-А20 so as to provide for lowering of the housing 100 relating to one of the interacting with one another self-propelled modules 500 from the upper portion or top of the housing 100 relating to other one of the interacting with one another self-propelled modules 500 and to provide for holding of said lifted housing 100 on said other self-propelled module 500 while performing said lowering (i.e., without falling or uncontrolled rolling down).

Next, the intermediate states А21-А24 shown in illustrate cycles of interaction of the self-propelled modules 500 with one another, wherein the control devices of said interacting with one another self-propelled modules 500 adjust the degree of extension or length of the interacting with one another legs 200 employed by said control devices in both of said interacting with one another self-propelled modules 500 in each of said intermediate states А21-А24 so as to provide for continuation of lowering of the housing 100 relating to one of the interacting with one another self-propelled modules 500 over the housing 100 relating to other one of the interacting with one another self-propelled modules 500 until the contact of a portion of the legs 200 relating to said lowered housing 100 to a predetermined movement surface and to provide for holding of said lowered housing 100 on said other self-propelled module 500 while performing said continued lowering (i.e., without falling or uncontrolled rolling down).

Lastly, the intermediate states А25-А26 shown in illustrate cycles of interaction of the self-propelled modules 500 with one another, wherein the control devices of said interacting with one another self-propelled modules 500 adjust the degree of extension or length of the interacting with one another legs 200 employed by said control devices in both of said interacting with one another self-propelled modules 500 in each of said intermediate states A25-A26 so as to provide for the gradual withdrawal of said self-propelled modules 500 shown in from interaction with one another and to provide for the movement of the housing 100 relating to the descended self-propelled module 500 over the movement surface away from other self-propelled module 500, over the housing 100 of which said descended self-propelled module 500 performed movement or from the housing 100 of which said descended self-propelled module 500 descended. Of note, after the complete withdrawal of the self-propelled modules 500 from interaction with one another, the control devices of these self-propelled modules 500 that have withdrawn from interaction transit all previously employed legs 200 into their initial states, in which they have the greatest degree of extension or length.

shows a three-dimensional object having, in section, substantially the shape of a hexagon, wherein said three-dimensional object is formed from nineteen (19) self-propelled modules 500, each of which is configured similarly to any one of the self-propelled modules 500 described above with reference to Figs. 14-18 and which are sequentially or alternately brought intro interaction with one another so as to provide for placement thereof in predetermined spatial locations in accordance with a predetermined model or scheme for the formation of the three-dimensional object under the control of control devices relating to said self-propelled modules 500 brought into interaction with one another. Of note, each of the self-propelled modules 500 as part of the three-dimensional object shown in may take at least a portion of the intermediate states A-1:A-26 described above with reference to Figs. 14-18. It should also be noted that the three-dimensional object shown in may be a movable ball-shaped structure configured to move over the movement surface in response to control instructions received by control devices relating to self-propelled modules 500 forming said ball-shaped structure from an external control source, wherein the movement of said ball-shaped structure may be implemented due to movement of at least a portion of said self-propelled modules 500 forming this ball-shaped structure with respect to one another under the control of the respective control devices relating to said movable self-propelled modules 500.

In some embodiments of the present invention, at least one or each of the legs 200, which may be provided to the housing 100 in at least one or each of the coupled to one another self-propelled modules 500 as part of the self-propelled system 1000 may be at least partially embedded (integrated) into the housing 100 or secured on the housing 100 so as to alter the spatial orientation thereof using a leg state altering mechanism for altering the spatial orientation of the leg (for example, a drive or a drive device for altering the spatial orientation of the leg) which may also be referred to as a mechanism or module for altering the spatial orientation of the leg and whose operation may be controlled by the control device of the self-propelled module 500, including in response to the respective control commands received by said control device of the self-propelled module 500 from an external control source. Thus, in such embodiments of the present invention, the leg state altering mechanism for altering the spatial orientation of the leg may be operably coupled to at least one of the legs 200 so as to enable altering of the spatial orientation of said at least one leg 200 upon actuation (i.e., switching-on or activation) of said leg state altering mechanism under the control of the control device of the self-propelled module 500. Of note, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 as part of the self-propelled system 1000 may be initially or originally tilted at a predetermined angle to the housing 100 such that said leg 200 may be switched or may transit from one tilted state to other tilted state in which said leg 200 may be tilted at a different angle to said housing 100. In other words, in such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of the interacting with one another self-propelled modules 500 as part of the self-propelled system 1000 may be configured to alter its spatial orientation as a result of altering its angle of tilt with respect to the housing 100, and the possibility of tilting of said leg 200 at different angles to said housing 100 may be implemented under the control of the control device of the self-propelled module 500 which presents control commands to the leg state altering mechanism (not shown) for altering the spatial orientation of the leg, which at least sets or adjusts the spatial position of said leg 200 by way of altering the degree of its tilting or its angle of tilt to said housing 100. In such embodiments of the present invention, at least one or each of the legs 200 in at least one or each of interacting with one another self-propelled modules 500 as part of the self-propelled system 1000 may alternate (alternately take, after predetermined periods of time) different tilted states while movement of said self-propelled module 500 over the movement surface or while interaction of said leg 200 with one or more legs 200, which are provided to the housing 100 in other self-propelled module 500 of said self-propelled modules 500 interacting with one another. Furthermore, in such embodiments of the present invention, while interaction, one of the legs 200, which are provided to the housing 100 in one of the interacting with one another self-propelled modules 500, with other one of the legs 200, which are provided to the housing 100 in other one of said interacting with one another self-propelled modules 500, may cross one another or overlap one another, wherein at least one more leg 200 relating to one of said interacting with one another self-propelled modules 500 may be actuated by the control device of said self-propelled module 500 for pressing against one another said crossed or overlapped legs 200, which enables movement of the housing 100 relating to one of said interacting with one another self-propelled modules 500 over the housing 100 relating to other one of said interacting with one another self-propelled modules 500.

In other embodiments of the present invention, the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may be provided with one or more propulsion units (not shown), and the control device of one of said self-propelled modules 500 brought into interaction with one another may further be coupled to said propulsion units so as to actuate at least one or each of same to move said self-propelled system 1000 over the movement surface. In the first variation of such embodiments, at least one or each of the propulsion units which are provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may be at least one wing, at least one wheeled chassis, at least one caterpillar track, at least one robotic leg, at least one flipper, at least one fin, at least one paddle and/or at least one sail, wherein said propulsion unit may be configured integral with the housing 100, may be attached to the housing 100 on its external side or at least partially embedded or integrated into the housing 100. Furthermore, in the first variation of such embodiments of the present invention, at least one or each of the propulsion units which are provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may initially or originally be present in a folded state or a retracted (drawn-in) state corresponding to the initial state of said propulsion unit, in which state it is at least partially or completely disposed in the internal space of the housing 100, and may be configured to deploy into an unfolded or extended (drawn-out) state, respectively, corresponding to the operating state of said propulsion unit in which state it at least partially or completely protrudes from the internal space of the housing 100 beyond same under the control of the control device described above (not shown) being part of the system 1000. Of note, in the first variation of such embodiments of the present invention, the number of propulsion units which may be provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may be selected taking into account the weight/size characteristics and structural features of the housing 100 to create additional propulsive force while movement of said self-propelled module 500, taking into account the need to reduce the load on said self-propelled module 500, taking into account a predetermined region of space in which it is supposed to form a three-dimensional object from the self-propelled modules 500, and/or taking into account the need to stabilize the direction of movement of said self-propelled module 500, i.e., substantially depends on the particular embodiment of such self-propelled module 500 which will be used while the formation of a three-dimensional object in a predetermined region of space. It should also be noted that in the first variation of such embodiments of the present invention, at least one or each of the propulsion units which may be provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may be configured folding, telescopic, extendable, and the like to reduce the overall dimensions of said self-propelled module 500 in a folded state, for example, in the case when it is parked or placed in one of the parking stations which may further be part of the self-propelled system 1000, wherein deployment of said propulsion unit may be performed, for example, under the control of the control device of said self-propelled module while the exit (for example, while driving-out, taking off, swimming out, crawling out, jumping out, and the like) of this self-propelled module 500 from the parking station of the system 1000 in which it was placed, or immediately in the process of movement of this self-propelled module 500 over the movement surface. In the second variation of such embodiments of the present invention, at least one or each of the propulsion units provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may be one or more wings configured each to reduce the impact of air masses onto the housing 100 of said self-propelled module 500 while movement over the movement surface, or may be an aircraft engine (for example, a propeller engine, a jet engine, a combined aircraft engine or any other suitable aircraft engine known in the prior art) enabling increase of the speed of movement of said self-propelled module 500 over the movement surface and operating under the control the control device of said self-propelled module 500, which may present control commands to the control driver of the aircraft engine of the self-propelled module 500 so as to enable starting, stopping or altering of the operating mode of said aircraft engine (for example, the operating parameters of the aircraft engine). In the third variation of such embodiments of the present invention, at least one or each of the propulsion units which are provided to the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 may be one or more lift rotors (not shown) or rotor propulsion units of any suitable type known in the prior art to enable movement of said self-propelled module 500 over the movement surface, in particular to increase the speed of movement of said self-propelled module 500 over the movement surface. Furthermore, in the third variation of such embodiments of the present invention, the housing 100 in each of the interacting with one another self-propelled modules 500 provided with a propulsion unit may further comprise a power plant (not shown) which may be formed, for example, from one or two turboshaft engines and which may be operably coupled to each of the lift rotors, in the form of which said propulsion unit may be configured, so as to enable supply of power thereto to actuate same, wherein said power plant of the self-propelled module 500 may operate under the control of the control device of said self-propelled module 500, which may present control commands to the control driver of the power plant (not shown) so as to enable starting, stopping or altering of the operating mode of said power plant (for example, altering the operating parameters of the power plant) to alter the state of these lift rotors.

According to one of the embodiments of the present invention, in the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 there may be disposed at least one independent movable element (not shown) configured to move interiorly to said housing 100 under the control of the control device of said self-propelled module 500 so as to enable movement of said self-propelled module 500 in space (for example, over the movement surface) and, accordingly, enable movement of the self-propelled system 1000 in whole, which comprises said self-propelled module 500. The control device of the self-propelled module 500 which controls the operation of such independent movable element may not only actuate said movable element so as to enable movement thereof and switch off said movable element so as to enable stopping thereof but also alter the operating parameters of said movable element (for example, the speed of movement in the internal space of the housing 100). By way of example, the independent movable element of the self-propelled module 500 may be configured in the form of a ball or sphere moving within the bounds of the housing 100 in said self-propelled module 500. By way of another example, the independent movable element of the self-propelled module 500 may be configured in the form of a controlled device or object of any shape capable of rolling over or tumbling in the internal space of the housing 100 in said self-propelled module 500. By way of another example, the independent movable element of the self-propelled module 500 may have a displaced center of gravity, which facilitates the task of enabling movement of such movable element in the internal space of the housing 100 in said self-propelled module 500. Thus, the independent movable element of the self-propelled module 500, disposed in the housing 100 relating to said self-propelled module 500 while movement within the bounds of the housing 100 under the control of the control device of the self-propelled module 500 exerts an effect upon the housing 100 on the internal side thereof to enable propelling of the housing 100 and, accordingly, the self-propelled module 500 itself which, in turn, may enable movement of the entire self-propelled system 1000 in whole.

According to another embodiment of the present invention, in the housing 100 in at least one or each of the interacting with one another self-propelled modules 500 being part of the self-propelled system 1000 there may be secured at least one independent movable element (not shown) configured to interact with said housing 100 under the control of the control device of said self-propelled module 500 so as to enable movement of said self-propelled module 500 in space (for example, over the movement surface) and, accordingly, enable movement of the self-propelled system 1000 in whole, which comprises said self-propelled module 500. The control device of the self-propelled module 500 which controls the operation of such independent movable element may not only actuate said movable element so as to enable exerting an effect thereof upon the housing 100 and switch off said movable element so as to enable stopping thereof but also alter the operating parameters of said movable element (for example, alter the speed of movement while exerting an effect upon the housing 100). By way of example, the independent movable element of the self-propelled module 500 may be configured in the form of a pin, rod, robotic arm, or the like secured interiorly to the housing 100 and moving within the bounds of the internal space of the housing 100 under the control of the control device of the self-propelled module 500 in said self-propelled module 500 so as to enable exerting effect upon said housing 100. Thus, the independent movable element of the self-propelled module 500 secured in the housing 100 relating to said self-propelled module 500, while interaction with the housing 100 under the control of the control device of the self-propelled module 500, exerts an effect upon the housing 100 on its internal side so as to enable propelling of the housing 100 and, accordingly, the self-propelled module 500 itself which, in turn, may enable movement of the entire self-propelled system 1000 in whole.

The provided illustrative embodiments of the present invention, examples and description serve only to facilitate understanding of the principles of the claimed invention and are not limiting. Other possible embodiments of the present invention or modifications or improvements to the above embodiments of the present invention will suggest themselves to one skilled in the art after reading the above description. The scope of the present invention is limited only by the appended claims.

Claims

A self-propelled module comprising:
a housing provided with legs; and
a control device coupled to at least one of said legs so as to enable controlled altering of the spatial orientation thereof with respect to said housing, the length or the shape thereof to move said housing over a movement surface, wherein
at least one of said legs is configured to interact with other self-propelled module so as to enable placement of said housing on said other self-propelled module or enable movement of said housing over said other self-propelled module.
The self-propelled module according to claim 1, wherein the control device enables pinching and elongation of said at least one leg to move the housing of the self-propelled module over a movement surface.
The self-propelled module according to claim 1, wherein the control device enables bending and straightening of said at least one leg to move the housing of the self-propelled module over a movement surface.
The self-propelled module according to claim 1, wherein the control device enables bending of said at least one leg to move the housing of the self-propelled module over a movement surface or to detachably interact with at least one leg of other self-propelled module.
The self-propelled module according to claim 1, wherein the control device enables extension and retraction of said at least one leg with respect to the housing of the self-propelled module to move the housing of the self-propelled module over a movement surface.
The self-propelled module according to claim 1, wherein the housing of the self-propelled module or at least one of said legs is provided with one or more coupling means to couple to a movement surface.
The self-propelled module according to claim 6, wherein at least one of said coupling means is configured movable, and the control device further enables actuation of said at least one coupling means for interaction thereof with a movement surface.
The self-propelled module according to claim 7, wherein the control device further enables sequential actuation of at least one of said coupling means and at least one of said legs which corresponds to said at least one coupling means to move the housing of the self-propelled module over a movement surface.
The self-propelled module according to claim 1, wherein said leg, in order to interact with other self-propelled module, is configured to detachably interact with the housing of said other self-propelled module or with at least one leg of said other self-propelled module so as to enable placement of the self-propelled modules on one another or enable movement of the self-propelled modules over one another.
The self-propelled module according to claim 1, wherein at least two of said legs of the self-propelled module are configured to detachably interact with at least one leg of other self-propelled module so as to enable placement of the self-propelled modules on one another or enable movement of the self-propelled modules over one another.
The self-propelled module according to claim 10, wherein one or more of said at least two legs is configured to move over a guide at least partially embedded into or disposed on the housing so as to enable detachable interaction with said at least one leg of other self-propelled module.
The self-propelled module according to claim 1, wherein at least one of said legs of the self-propelled module is configured to cross at least one leg of other self-propelled module so as to enable pressing thereof against one another using at least one other leg of said legs of the self-propelled module or at least one other leg of said other self-propelled module.
The self-propelled module according to claim 1, wherein at least one of said legs of the self-propelled module is configured in the form of a controlled grip operating under the control of the control device and configured to grip at least one independent object.
The self-propelled module according to claim 13, wherein the control device is further configured to control the operation of the controlled grip to place said gripped object on or interiorly to the housing of the self-propelled module.
The self-propelled module according to claim 1, wherein at least one of said legs of the self-propelled module is provided with a controlled grip operating under the control of the control device and configured to grip at least one independent object.
The self-propelled module according to claim 15, wherein the control device is further configured to control the operation of said controlled grip to place said gripped object on or interiorly to the housing of the self-propelled module.
The self-propelled module according to claim 13 or 15, wherein the housing is further provided with one or more receptacles configured each to accommodate therein one or more independent objects, and the control device is further configured to enable the control of operation of the controlled grip to place said gripped object in one of said receptacles.
The self-propelled module according to claim 1, wherein the housing of the self-propelled module is further provided with an electromagnetic unit actuated by means of the control device so as to enable magnetization of at least one independent metal object to the housing of the self-propelled module.
The self-propelled module according to claim 1, further comprising a navigation module configured to determine spatial coordinates of the self-propelled module or the position of said self-propelled module with respect to the reference self-propelled module in real time, and the control device is further coupled to the navigation module so as to receive the determined spatial coordinates and further configured to enable controlled altering of the spatial orientation with respect to the housing of the self-propelled module, shape or length of at least one of said legs depending on said received spatial coordinates to adjust the position of said self-propelled module.
The self-propelled module according to claim 1, wherein the housing is configured spherical or ball-shaped.
The self-propelled module according to claim 1, wherein at least one of the legs of the self-propelled module is configured to electrically couple to the leg of other self-propelled module or to the housing of other self-propelled module so as to enable transfer of charge and/or control signals to the other self-propelled module.
The self-propelled module according to claim 1, wherein the housing of the self-propelled module comprises an external ball-shaped or spherical housing and an internal ball-shaped or spherical housing installed interiorly to the external housing, the legs are coupled to the internal housing and extend through the external housing, wherein the control device coupled to at least one of said legs is configured to controllably alter its spatial orientation with respect to said housing in the region of the surface of the internal housing and/or in the region of the surface of the external housing.
The self-propelled module according to claim 22, wherein the internal and/or external housing is made of an elastic material enabling altering of the shape of the internal and/or the external housing while movement of the self-propelled module, respectively.
A self-propelled system comprising:
two or more self-propelled modules according to any one of claims 1-23 brought into interaction with one another using one or more legs in each of said interacting self-propelled modules.
The self-propelled system according to claim 24, wherein the housing of at least one of said self-propelled modules brought into interaction with one another is provided with at least one propulsion unit, and the control device of one of said self-propelled modules brought into interaction with one another is further coupled to said at least one propulsion unit so as to enable actuation thereof to move said self-propelled system.
The self-propelled system according to claim 24, wherein in the housing of at least one of said self-propelled modules brought into interaction with one another there is disposed an independent movable element, and the control device of one of said self-propelled modules brought into interaction with one another is further coupled to said independent movable element so as to enable movement thereof interiorly to said housing to move said self-propelled system.
The self-propelled system according to claim 24, wherein in the housing of at least one of said self-propelled modules brought into interaction with one another there is secured an independent movable element, and the control device of one of said self-propelled modules brought into interaction with one another is further coupled to said independent movable element so as to enable interaction thereof with said housing to move said self-propelled system.
The self-propelled system according to any one of claims 24-27, wherein said self-propelled modules brought into interaction with one another form a movable ball-shaped structure.
The self-propelled system according to claim 24, wherein at least one of the legs of each self-propelled module is configured to electrically couple to the leg of other self-propelled module or to the housing of other self-propelled module so as to enable transfer of charge and/or control signals to other self-propelled module, wherein the system is configured to form an electrical coupling to a power supply source and/or consumer by means of the self-propelled modules electrically coupled to one another by respective legs.
The self-propelled system according to claim 24, wherein the self-propelled modules are configured to form a predetermined three-dimensional object by means of mutual movement and bringing, into interaction with one another, of a plurality of self-propelled modules by means of the legs of the respective self-propelled modules.