Systems, methods, and self-propelled modules for forming three-dimensional objects

Abstract

The present invention relates to means and methods for automatically forming bendable three-dimensional objects in space, and more particularly to systems and methods for forming three-dimensional objects based on the use of controlled self-propelled modules, as well as self-propelled modules for forming three-dimensional objects that can be used in such systems and methods. A system for forming a three-dimensional object is provided, comprising: (i) one or more tarmacs; and (ii) self-propelled modules, each having a housing; the self-propelled modules are housed within the tarmacs, and the system further comprises a control device communicatively coupled to the self-propelled modules, configured to guide at least some of the self-propelled modules from at least one of the tarmacs to a given spatial region and to enable each of the guided self-propelled modules to be installed at a given spatial location according to a given model of the three-dimensional object, thereby forming at least one three-dimensional object from the housing of the installed self-propelled module. Additionally, methods and self-propelled modules for forming three-dimensional objects are provided that can be used to implement the subject systems for forming three-dimensional objects.

Description

[Technical Field]

[0001] The present invention relates to means and methods for automatically forming bendable three-dimensional objects in space, and in particular to systems and methods for forming three-dimensional objects based on the use of controlled self-propelled modules, as well as self-propelled modules for forming three-dimensional objects that can be used in such systems and methods. [Background technology]

[0002] To date, 3D printing methods and devices have been widely used for the automated formation of three-dimensional objects, enabling the formation of various manufactured products, parts, building and structural models, and other three-dimensional objects. Although the speed and quality of the formation of three-dimensional objects are acceptable, current 3D printing methods have a significant drawback in that the resulting three-dimensional models cannot be bent. This drawback results in increased material consumption, the need for disposal of model waste, etc.

[0003] Therefore, the development of methods and systems for the automated formation of three-dimensional objects, which allows for repeated assembly and disassembly of the three-dimensional objects, has become an urgent task.

[0004] Also widely used are various self-propelled modules with various designs and propulsion units configured to automatically move and guide through space, including being installed at predetermined spatial coordinates. In particular, self-propelled modules are known in the form of various designs of unmanned aerial vehicles, wheeled / tracked self-propelled drones, underwater or surface drones such as unmanned boats or submarines, multicopters, etc. Self-propelled modules can carry a housing or a part of a housing and can move or exist within a given spatial region.

[0005] For example, U.S. Patent No. 10,303,415 (hereinafter, "US10303415"), published on May 28, 2019, describes a system for forming a three-dimensional object in the form of a cluster display. The system includes self-propelled modules in the form of air vehicles, each having a housing with a display and a propulsion unit, and a control device communicatively coupled to the self-propelled modules via wired or wireless communication, configured to guide the self-propelled modules to a predetermined spatial region, so that each of the guided self-propelled modules is disposed at a predetermined spatial location and form a three-dimensional object in the form of a cluster display from the display of the self-propelled modules. It is noteworthy that in the system for forming a three-dimensional object disclosed in US10303415, the modules exist in the air and cannot form a static three-dimensional object, which affects the positioning accuracy and formation accuracy of the three-dimensional model, and the accuracy of the three-dimensional model is significantly inferior to that of a model created by 3D printing. Another drawback is the increased battery consumption, which also makes it impossible to maintain the shape of the formed three-dimensional object.

[0006] Thus, a major drawback of the known system for forming three-dimensional objects disclosed in US10303415 is the increased time and complexity required to form the three-dimensional object and to maintain it in place in a given spatial region in which it is formed.

[0007] Thus, there is a clear need to further improve known systems, methods, and self-propelled modules for forming three-dimensional objects, particularly to reduce the complexity and duration of forming the three-dimensional objects, and also to reduce the complexity and duration of maintaining the formed three-dimensional objects in place in a given spatial region.

[0008] Therefore, the technical problem solved by the present invention is to create a system, a method, and a self-propelled module for forming a three-dimensional object, each of which at least partially overcomes at least one of the above-mentioned drawbacks of known systems for forming three-dimensional objects: the increased complexity and duration of forming the three-dimensional object in a given spatial area in which the three-dimensional object must be formed, and the increased complexity and duration of maintaining the formed three-dimensional object in a suitable state in the spatial area. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] U.S. Patent No. 10,303,415 Summary of the Invention [Problem to be solved by the invention]

[0010] Disclosure It is an object of the present invention to create a system, method, and self-propelled module for forming three-dimensional objects, which solves at least one of each of the above-mentioned problems of the prior art and expands the range of means for forming three-dimensional objects. [Means for solving the problem]

[0011] The task at hand is solved in a first aspect of the present invention by the fact that the subject system for forming a three-dimensional object comprises: (i) one or more apron areas; and (ii) self-propelled modules each provided with a housing; (a) the self-propelled modules are housed within the apron areas; and (b) the system further comprises a control device communicatively coupled to the self-propelled modules, the control device configured to guide at least some of the self-propelled modules from at least one of the apron areas to a given spatial region and to enable each of the guided self-propelled modules to be installed at a given spatial location according to a given model of the three-dimensional object, thereby forming at least one three-dimensional object from the housings of the installed self-propelled modules.

[0012] Furthermore, the problem at hand is solved in a second aspect of the present invention by the fact that the subject method for forming a three-dimensional object includes: (i) a step of presenting navigation commands and a given model of the three-dimensional object to self-propelled modules, each having a housing; and (a) in response to the navigation commands, further guiding the self-propelled modules from at least one parking area to a given spatial region, thereby enabling each of the guided self-propelled modules to be placed at a given spatial location according to the given model of the three-dimensional object, thereby forming at least one three-dimensional object from the housings of the placed self-propelled modules.

[0013] Furthermore, the task at hand is solved in a third aspect of the present invention by the fact that the subject self-propelled module for forming a three-dimensional object comprises: (i) a housing provided with one or more propulsion units enabling movement of the self-propelled module; (a) the housing is further configured to enable placement of the self-propelled module within an apron, and (b) the self-propelled module further comprises a control unit configured to receive navigation commands from an external control device, and using at least one of the propulsion units enables movement of the self-propelled module from the apron to a given spatial area and enables placement of the self-propelled module at a given spatial location so as to form at least a part of a given three-dimensional object.

[0014] The system for forming a three-dimensional object according to the first aspect of the present invention, the method for forming a three-dimensional object according to the second aspect of the present invention, and the self-propelled module for forming a three-dimensional object according to the third aspect of the present invention each provide the technical effect of speeding up the process of forming a three-dimensional object in a given spatial region where the three-dimensional object is to be formed, and simplifying the process of maintaining the formed three-dimensional object within the spatial region. The above technical advantages of the subject technical solution are not limiting. Those skilled in the art will be able to understand further advantages of the technical solution and its individual embodiments from the following detailed description and the accompanying drawings.

[0015] Furthermore, the system for forming a three-dimensional object according to the first aspect of the invention, the method for forming a three-dimensional object according to the second aspect of the invention, and the self-propelled module for forming a three-dimensional object according to the third aspect of the invention each provide further technical effects that expand the range of means for forming three-dimensional objects.

[0016] The accompanying drawings, which are included to provide a further understanding of the principles of the invention, constitute a part of this specification and are incorporated herein to illustrate the following examples and aspects of the invention, and together with the description, serve to explain the principles of the invention. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a schematic diagram of a first exemplary embodiment of a system for forming a three-dimensional object according to the present invention; [Figure 2] FIG. 2 is a diagram of a second exemplary embodiment of a system for forming a three-dimensional object according to the present invention. [Figure 3] FIG. 3 is a diagram of another embodiment of a self-propelled module used as part of the system for forming the three-dimensional object shown in FIG. 1 or FIG. 2. [Figure 4] FIG. 3 is a schematic diagram of an example hybrid embodiment of a self-propelled module used as part of the system for forming the three-dimensional object shown in FIG. 1 or FIG. 2. [Figure 5] FIG. 10 is a diagram of a third exemplary embodiment of a system for forming a three-dimensional object according to the present invention. [Figure 6] FIG. 3 illustrates the ability to transform a single three-dimensional object formed using the system for forming three-dimensional objects shown in FIG. 1 or FIG. 2 into another three-dimensional object. [Figure 7] 3 is a flowchart of a method for forming a three-dimensional object implemented using the system for forming a three-dimensional object shown in FIG. 1 or FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[0018] Various illustrative embodiments of the present invention will now be described with reference to the accompanying drawings, with the understanding that the following description does not define or limit the scope of the invention.

[0019] In the following description, detailed descriptions of known functions and designs will be omitted because such unimportant information may obscure the concept of the present invention.

[0020] It should be understood that in the following description, terms such as "first," "second," "upper," "lower," "side," "front," and "rear" are used merely for convenience and should not be construed as limiting terms. In particular, when used in the present invention, unless expressly stated otherwise in the description herein, terms such as "first," "second," and "third" are used to distinguish related elements, components, parts, assemblies, modules, blocks, embodiments, and the like from one another, and are not intended to describe a specific relationship between them. Thus, for example, the use of the terms "first group" of self-propelled modules and "second group" of self-propelled modules does not imply a specific order, type, age, hierarchy, or ranking (for example) of / among groups of self-propelled modules in a plurality of self-propelled modules, nor does their use (in and of itself) imply that there may further be a "third group" of self-propelled modules, a "fourth group" of self-propelled modules, and the like. Additionally, as discussed in other contexts herein, references herein to a "first group" and a "second group" do not exclude the two groups from being groups of the same elements. Thus, for example, in some cases, a self-propelled module in a "first group" of self-propelled modules and a self-propelled module in a "second group" of self-propelled modules may be identical in design, but in other cases, may be different in design.

[0021] A singular reference to an item should be understood to include the plural of that item, and vice versa, unless expressly stated otherwise herein or clear from the context.

[0022] Grammatical conjunctions are intended to express any and all disjunctive and conjunctive combinations of the connected clauses, sentences, words, etc., unless otherwise stated or clear from the context. Thus, the term "or" should be understood generally to mean "and / or" and the like.

[0023] Unless otherwise indicated herein, the recitation of ranges of values ​​herein is not intended to be limiting, but rather refers individually to any and every value falling within a range, with each separate value within such range being incorporated into the description as if it were set forth individually herein.

[0024] The terms "about," "approximately," and the like, associated with numerical values ​​are to be interpreted as including any deviation understood by one of ordinary skill in the art to function satisfactorily for the intended purpose. Values ​​and / or numerical ranges are provided herein merely as examples and are not intended to impose limitations on the scope of the described embodiments.

[0025] Any and all examples, or at least portions thereof, provided herein, and corresponding phrases (such as "for example," "such as," "e.g.," "particularly," etc.) are used solely to facilitate understanding of the principles of the present invention and to provide a thorough disclosure of the present invention, but these phrases do not impose any limitations on the descriptions of the embodiments used herein with respect to the embodiments of the present invention, and in particular do not limit the practical implementation forms of elements, components, parts, assemblies, modules, blocks, devices, means, etc. used to disclose the principles of design and operation of the present invention.

[0026] Terms and definitions used in the description of this specification The term "exemplary" means a non-limiting example, instance, or illustration. Similarly, the terms "for example" and "illustratively" as used herein indicate a list of one or more non-limiting examples, instances, or illustrations. As used herein, a circuit is "configured to" perform a function whenever it includes the necessary hardware and code (if necessary) to perform that function, regardless of whether performance of that function is blocked or prohibited (e.g., by operator-configurable settings, factory adjustments, etc.).

[0027] As used herein, the term "corresponding" and its derivatives (i.e., adjective, verb, adverb) does not necessarily mean any exact match or exact identity in all respects, but may mean departure or deviation from identity within specified limits. For example, unless expressly stated otherwise in this specification, the term "corresponding coordinates" means not only that the coordinates may be exactly equal to each other or may exactly match each other, but also that the identity or match of the coordinates may exist with some error (e.g., with the error in the operation of the GPS system) or may exist within the limits of a predetermined geographical area surrounding the exact geographical point or area to which the coordinates belong, or the exact geographical location to which the coordinates belong.

[0028] In the context of the present invention, unless expressly stated otherwise in this specification, the term "self-propelled module" refers to an independent apparatus or device that is structurally assembled from typical (commercially available) parts, elements, blocks, assemblies, devices, etc. and is capable of moving under its own power in the air, on land (ground), on water, underwater, and / or over the surface of a stationary or movable physical object disposed in at least one of the air space, the ground space, the water space, and the underwater space.

[0029] As used herein, unless expressly stated otherwise herein, the term “unmanned aircraft apparatus” (UAA) refers to an unmanned aerial vehicle configured to fly or move through the air in an automatic mode, i.e., without the involvement of a human or an external control source, or an unmanned aerial vehicle in a semi-automatic mode, i.e., capable of moving through the air by receiving at least some of its control commands via a predetermined communications channel from a human (e.g., a pilot, an operator, etc.) or an external source (e.g., a control panel, a control server, a control device, etc.). Non-limiting examples of UAAs include various multi-rotor UAAs, such as multicopter drones, single-rotor UAAs, such as unmanned helicopters, and hybrid UAAs, such as rotary-wing drones.

[0030] In the context of the present invention, unless expressly stated otherwise herein, the term "enclosure" refers to the framework, skeleton, shell, or load-bearing structure of a self-propelled module, each of which may be formed from a single load-bearing element or a combination of load-bearing elements coupled together, and the type, shape, overall dimensions, design features, and / or materials of such enclosure are not specifically limited in any way.

[0031] As used herein, unless expressly stated otherwise in this specification, the term "module" refers to a functional element or combination of functional elements of a device in the form of a component, node, block, or other assembled unit that performs a specific technical function that realizes the functionality of the device. A module can generally be physically implemented using a combination of known structural elements, a combination of known structural elements with known hardware, a combination of known structural elements with known software and hardware, or a combination of known hardware and known software. Thus, for example, a control unit can be implemented using hardware and software. As used herein, a control unit can be a physical device, apparatus, or multiple modules implemented using hardware, for example, using an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA), or using a combination of hardware and software, for example, using a microprocessor system and a set of instructions that implement the functionality of the control unit, which combination (when executed) transforms the microprocessor system into an application-specific device or system (e.g., an autopilot). Furthermore, each of the modules, or at least one of them, may also be implemented in the form of a combination of hardware and software, and some of the functionality described herein with respect to one of the modules may be implemented solely by hardware, while other functionality described herein with respect to the same or other modules may be implemented by using hardware in combination with software.

[0032] As used herein, the term "navigation command," unless expressly stated otherwise herein, refers to an instruction directed to a self-propelled module that is part of a system for forming a three-dimensional object. Navigation commands may be presented or provided by a control system in the form of digital or analog data, instructions, or control signals for movement of the self-propelled module. Navigation commands may be generated by, but are not limited to, an automated operator, an operator (locally or remotely located), and / or an obstacle avoidance system. Navigation commands may be communicated, for example, to a control unit for controlling the self-propelled module or to the steering system of the self-propelled module.

[0033] As used herein, the term "manual control" refers not only to control using only a human hand, but also to control using a human foot, finger, voice, pupil, or any suitable combination thereof, unless expressly stated otherwise herein. Accordingly, as used herein, the term "manual control" refers to at least one of a button, lever, joystick, toggle switch, pedal, touch screen, gesture control sensor, pupil tracking scanner, microphone, etc.

[0034] As used herein, unless expressly stated otherwise in this specification, the term "charging device" refers to a device for recharging the rechargeable batteries of a self-propelled module and / or replenishing its fuel capacity, thereby replenishing the driving range of a self-propelled module.

[0035] As used herein, the term "database" refers to any structured set of data, independent of any particular structure, database management software, computer hardware that stores the data, uses the data, or otherwise makes the data available, unless expressly stated otherwise in this specification. A database may reside on the same hardware that runs the processes that store or use the information stored in the database, or it may reside on separate hardware, such as a dedicated server or multiple servers.

[0036] In the context of the present invention, unless expressly stated otherwise in this specification, the term "docking spot" refers to an area on the surface of a self-propelled module's housing, or other structural part of a self-propelled module, where the self-propelled module can bond, couple, or interact with another self-propelled module, or any other structure capable of docking to the self-propelled module.

[0037] As used herein, unless expressly stated otherwise in this specification, the term "parking lot" means an immovable or movable structure adapted to house, store and / or replenish the range (e.g., recharge) of self-propelled modules therein.

[0038] As used herein, the term "control device" refers to a computing device executing a computer program that enables it to receive requests (e.g., from other computing devices) over a communications network, execute or process such requests, and / or send such requests (e.g., to other computing devices) over a communications network. The computing device executing the computer program may be, but is not limited to, a single physical computer or a single physical computer system. As used herein, the term "control device" does not imply that each computational task (e.g., received instructions or commands) or any other particular task is received, executed, or caused to be performed by one and the same control device (i.e., by one and the same software and / or hardware), but rather that any number of software or hardware devices may be involved in or cause the receipt / transmission, execution, or execution of any task or request or the result of any task or request, and in this case, all software and hardware may be implemented in the form of one or more control devices.

[0039] System for forming a three-dimensional object FIG. 1 schematically illustrates a generalized embodiment of a system 500-1 for forming a three-dimensional object according to the present invention, and the descriptions of specific or alternative embodiments described below with respect to a system 500-2 for forming a three-dimensional object according to the present invention shown in FIG. 2 should be considered to also apply to system 500-1.

[0040] In particular, the system 500-1 enables the formation on the surface of a table of a static three-dimensional object 300 in the shape of a cup and saucer, which corresponds to one of the predetermined models of the three-dimensional object selected by the user using standard input / output means of the user device from among the available models of the three-dimensional object displayed on the display of the user device, which may further be part of the system 500-1.

[0041] 1 , system 500-1 includes self-propelled modules 200, each equipped with a housing 210 and two air propulsion units 220, that are initially installed on at least one of the parking areas (not shown) that are also part of system 500-1, and further includes a reference (base) self-propelled module 200-R, equipped with a spherical housing 210 and two air propulsion units 220 attached inside the spherical housing 210, that establish a reference (base) spatial location for forming three-dimensional object 300 substantially in the shape of a cup and saucer. Furthermore, reference self-propelled module 200-R further includes a control unit (not shown) configured to establish communication with a user device to enable mutual data exchange. Notably, the reference self-propelled support module 200-R, like the self-propelled module 200 initially used to form the three-dimensional object 300, may be installed on one of the parking areas (not shown), or may be located in any other location or any other spatial area where a connection can be established between the self-propelled support module 200-R and a user device (not shown) so that data can be exchanged between them.

[0042] To set the base location, the user uses standard input / output means of their user device to select a table having a surface on which a three-dimensional object 300 in the shape of a cup and saucer must be formed, corresponding to a model of the three-dimensional object preselected by the user, on a three-dimensional map displayed on the display of their user device and depicting a three-dimensional image of a room containing the objects present therein. In response, data regarding the user-selected location for the formation of the three-dimensional object (i.e., the surface of the table, in the illustrative example) is presented by the user device (not shown) to the control unit of the reference (base) self-propelled module 200-R, which then switches on or activates the propulsion unit 220 of the reference self-propelled module 200-R to fly the reference self-propelled module 200-R toward the table and subsequently land on the surface of the table. After the reference (base) self-propelled module 200-R lands on the table surface, the control unit of the reference self-propelled module 200-R switches off the propulsion unit 220 and presents data about the reference location set by the reference self-propelled module 200-R and corresponding to the user-selected location for the formation of the three-dimensional object to the self-propelled modules 200 at the parking lot of the system 500-1. In response to the data about the reference location for the formation of the three-dimensional object, the self-propelled modules 200 are guided from the parking lot of the system 500-1 under the control of their control unit or the control unit of the reference self-propelled module 200-R to a predetermined spatial region corresponding to the reference location by an amount corresponding to the model of the three-dimensional object pre-selected by the user, and the guided self-propelled modules 200 are placed sequentially or simultaneously at the predetermined spatial location by referring to the reference self-propelled module 200-R.Thus, the spatial location of each of the self-propelled modules 200 used to form the three-dimensional object 300 is set using a value of spatial displacement (i.e., displacement along at least one of the three coordinate axes) relative to a reference location occupied by the self-propelled support module 200-R, and the reference self-propelled module 200-R serves as a reference for the three-dimensional object 300 formed from the housing of the self-propelled module 200.

[0043] Alternatively, the user can manually place the reference (base) self-propelled module 200-R at a desired spot (e.g., the surface of a table) that will essentially serve as the reference (base) location for forming the three-dimensional object 300, so that the reference self-propelled module 200-R can provide data regarding the reference location to the self-propelled module 200, allowing the self-propelled module 200 to be placed at a predetermined spatial location by referencing the reference self-propelled module 200-R. In one variation of this alternative embodiment of system 500-1, the reference self-propelled module 200-R may further include a location determination module (e.g., a GPS system, a GLONASS system, a Beidou system, or any other suitable location determination system known in the art) configured to determine the spatial coordinates of the reference self-propelled module 200-R in real time to adjust or correct the spatial coordinates of the spatial region to which the self-propelled module 200 must be guided from the corresponding parking spot of system 500-1 by an amount corresponding to the user-selected model of the three-dimensional object while forming the three-dimensional object 300, and / or to adjust or correct at least one of the spatial locations to be occupied by the guided self-propelled module 200 relative to the reference location occupied by the reference self-propelled module 200-R, and may further be configured to provide specific spatial coordinates to the self-propelled module 200 used to form the three-dimensional object 300.In yet another variation of this alternative embodiment of system 500-1, the reference self-propelled module 200-R can further include a scanning unit (not shown) configured to create a three-dimensional map of the surrounding space of the spot where the reference self-propelled module 200-R has landed or been manually placed and which should be considered a reference location for forming the three-dimensional object 300, and communicatively coupled to the control unit of the reference self-propelled module 200-R, so that, based on the three-dimensional map of the surrounding space, while forming the three-dimensional object 300, the control unit of the reference self-propelled module 200-R can present the three-dimensional map of the surrounding space to the self-propelled module 200 used to form the three-dimensional object 300, in order to adjust or correct the spatial coordinates of the spatial region where the self-propelled module 200 must be guided from the corresponding parking spot of system 500-1 by an amount corresponding to the user-selected model of the three-dimensional object, and / or to adjust or correct at least one of the spatial locations that the guided self-propelled module 200 should occupy with respect to the reference location occupied by the reference self-propelled module 200-R.

[0044] It is noteworthy that the reference self-propelled module 200-R in the system 500-1 can be configured in the form of a self-propelled module 200 in any one of the embodiments described herein, or any stationary object, configured to be held or moved by a user, equipped with a control unit or transceiver configured to exchange data with the self-propelled module 200 that is part of the system 500-1, used to form the three-dimensional object 300, to present data to the self-propelled module 200 regarding a reference location occupied by the object, and used to set the spatial location of the self-propelled module 200 while forming the three-dimensional object 300.

[0045] It is further noted that the self-propelled module 200, the apron (not shown), and the three-dimensional object 300 that are part of the above-described system 500-1 shown in FIG. 1 can be configured similarly or identically to any one of the embodiments of the self-propelled module 200, the apron 100, and the three-dimensional object 300 described later in this specification with respect to the system 500-2 for forming a three-dimensional object shown in FIG. 2, respectively.

[0046] 2 is a schematic diagram illustrating a generalized embodiment of a system 500-2 for forming three-dimensional objects in accordance with the present invention, on which each of the specific or alternative embodiments of the system 500-2 for forming three-dimensional objects described below is based. The system 500-2 can form static three-dimensional objects, dynamic three-dimensional objects, or any combination thereof, in the air, on water, underwater, and / or on land (terrestrial). In particular, system 500-2 enables the creation of three-dimensional (3D) objects in the air (directly on the air space itself and / or on the surface of any terrestrial object), on water (directly on the surface of the water space and / or on the surface of any terrestrial object), underwater (directly on the water and / or on the surface of any underwater object), and / or on land or above ground (directly on the ground itself and / or on the surface of any terrestrial object), in particular in a user-defined or user-selected or predetermined spatial region, that are composed solely of static (stationary) elements of the three-dimensional object, that are composed solely of dynamic (movable) elements of the three-dimensional object, or that are composed of a predetermined combination of static (immovable) elements of the three-dimensional object and dynamic (movable) elements of the three-dimensional object.

[0047] It is further noted that the system 500-2 for forming three-dimensional objects shown in Figure 2, and specific or alternative embodiments thereof described below, have generally the same or similar structure or architecture, and as such, similar or identical functional components that are part of these systems 500-2 for forming three-dimensional objects are designated with the same reference numerals in Figures 2 through 5 and in the text herein. For ease of explanation, all variations of the system 500-2 for forming three-dimensional objects described herein with reference to Figures 2 through 5 will be designated in the text herein with the reference numeral (500-2).

[0048] As shown in FIG. 2, the system 500-2 for forming a three-dimensional object includes three parking stalls 100-1, 100-2, 100-3, which for convenience of explanation are designated herein by the reference numeral (100).

[0049] As shown in FIG. 2, system 500-2 also includes one or more self-propelled modules 200-1, one or more self-propelled modules 200-2, and one or more self-propelled modules 200-3, each of which is initially installed, stored, or parked at one of the parking areas 100 that are part of system 500-2, and self-propelled modules 200-1, 200-2, and 200-3 are of different types characterized by different capabilities for moving such self-propelled modules in space, and are shown individually in FIG. 3 for illustrative purposes.

[0050] As shown in FIG. 3, each self-propelled module 200-1 is equipped with one or more wheeled propulsion units that enable movement of the self-propelled module 200-1 on the surface of the ground (land) and movement of such self-propelled module 200-1 on the surface of an immovable or movable physical object that may be at least partially present in air, land, water, and / or underwater space, and such self-propelled modules 200-1 may, if necessary, be adapted (arranged) or modified to enable movement in or through the air (flying), movement on the surface of water with the body of the self-propelled module 200-1 at least partially submerged in water (floating), and / or movement underwater similar to a submarine.

[0051] 3, each of the self-propelled modules 200-2 is provided with an air propulsion unit that enables the self-propelled module 200-2 to move in the air or in the air (flight) and land on the surface of a terrestrial surface and / or on the surface of an immovable or movable physical object that may be at least partially present in air, terrestrial, water, and / or underwater space. If necessary, each of the self-propelled modules 200-2 may be adapted or modified to enable landing on the water surface with the body of the self-propelled module 200-2 at least partially submerged in water, landing on the water surface before the body of the self-propelled module 200-2 is completely submerged in water, movement in water similar to a submarine, movement on the water surface, and / or movement on the terrestrial (land) surface. Furthermore, as shown in FIG. 3, each of the self-propelled modules 200-3 is provided with two types of propulsion units at once: (1) an air propulsion unit and (2) a wheeled propulsion unit. This allows such a self-propelled module 200-3 to move on the surface of the ground (land), to move in the air (fly), or to move on the surface of an immovable or movable physical object that may be at least partially present in air, ground, water, and / or underwater space, as well as to land on the surface of the ground and / or on the surface of an immovable or movable physical object that may be at least partially present in air, ground, water, and / or underwater space, and such a self-propelled module 200-3 may also be adapted (arranged) or modified, if necessary, to land on the surface of water with the body of the self-propelled module 200-3 at least partially submerged, land on the surface of water before the body of the self-propelled module 200-3 is completely submerged, move underwater similar to a submarine, and / or move on the surface of water. Thus, self-propelled module 200-3 is essentially provided with each of the propulsion units attached to self-propelled modules 200-1, 200-2.

[0052] Furthermore, Figure 3 shows a self-propelled module 200-4 provided with a propeller propulsion unit that enables the self-propelled module 200-4 to move underwater, and such a self-propelled module 200-4 may also be adapted (arranged) or modified, as required, to enable movement underwater, movement on the surface of the terrestrial (land) surface, movement in the air (flight), and / or movement on the surface of an immovable or movable physical object that may be at least partially present in air, terrestrial, aquatic, and / or underwater space.

[0053] Furthermore, while Figure 3 shows a self-propelled module 200-5 provided with a propeller propulsion unit that enables the self-propelled module 200-5 to move on the surface of the water, such a self-propelled module 200-5 may also be adapted (arranged) or modified, as required, to enable movement on the surface of the water, movement on the surface of the land (terrestrial), movement in the air (flight), and / or movement on the surface of an immovable or movable physical object that may be at least partially present in air, terrestrial, aquatic, and / or underwater space.

[0054] 4 illustrates, by way of example, a composite self-propelled module 200-6 in which the housing 210 includes a ballast chamber or tank configured to collect outboard fluid (e.g., water), allowing such self-propelled module 200-6 to be at least partially or completely submerged in water, and to expel water from the module for at least partial floating of such self-propelled module 200-6. This self-propelled module 200-6 includes multiple different types of propulsion units 200 that can be operated sequentially or partially simultaneously: air propulsion units in the form of air propellers, wheeled propulsion units, and surface / submersible propulsion units in the form of marine propellers. This allows such self-propelled module 200-6 to move in the air, on land, on water, and / or underwater, depending on a given spatial region in which a three-dimensional object 300 is intended to be formed and on the spatial location that such self-propelled module 200-6 must occupy and maintain while being part of the three-dimensional object 300. Thus, self-propelled module 200-6 is essentially provided with each of the propulsion units attached to self-propelled modules 200-1, 200-2, 200-3, 200-4, and 200-5. In some embodiments of the invention, such a composite self-propelled module 200 may use more than one type of propulsion unit, as well as propulsion units of the same type implemented in different ways (e.g., a tracked propulsion unit and a wheeled propulsion unit).

[0055] For convenience of explanation, the above-mentioned self-propelled modules 200-1, 200-2, 200-3, 200-4, 200-5, and 200-6, which may be part of system 500-2, are also referred to herein using the reference numeral 200. Furthermore, for convenience of explanation, all of the propulsion units 220 that are part of the different self-propelled modules 200 described herein with reference to Figures 2 and 3 are also referred to herein using the reference numeral 220.

[0056] Notably, one or two or more types of self-propelled modules 200 may be used to form a three-dimensional object, including at least one or at least two of the above types of self-propelled modules 200.

[0057] It is also worth noting that the self-propelled module 200 may also be provided with any other propulsion unit 220 known in the art, which, when activated or actuated, allows it to fly, run, walk, roll (movement by rolling), lean (movement by shifting the center of gravity), walk (step-type movement, particularly using a walking propulsion unit), jump (jumping movement), and the like.

[0058] Furthermore, the system 500-2 for forming a three-dimensional object also includes a control device (not shown) connected to the parking area 100 and the self-propelled module 200 via a communication network (not shown) to enable the exchange of data therebetween and the control of their operation.

[0059] A control device (not shown) that is part of the system 500-2 for forming a three-dimensional object shown in FIG. 2 is configured to receive and process data from the self-propelled modules 200 and the apron 100, and is further configured to generate control instructions / commands or navigation instructions / commands, including those in response to requests from the self-propelled modules 200 and / or those in response to requests from the apron 100, based on the received data and the results of the processing, and to present or enable guidance of the control or navigation commands thus generated to at least one of the self-propelled modules 200 and / or at least one of the apron 100.

[0060] In some embodiments, the data transfer protocols and / or technical means utilized to transfer data between the control device (not shown), the self-propelled module 200, and the parking area 100 may be at least partially different or may be consistent. Furthermore, one or more communication protocols and corresponding communication technical means may be used simultaneously for communication.

[0061] In other embodiments of the present invention, for data exchange between a control device (not shown), the self-propelled module 200 and the parking area 100 in the system 500-2, one or more communication means may be used from a group of communication means including: a SW band radio antenna, a USW radio antenna, a UHF radio antenna, an optical communication module, a half-duplex / unidirectional satellite communication module, a 2G / 3G / 4G / LTE / 5G cellular communication module, a wireless communication module or a wired network communication module.

[0062] The control device (not shown) of system 500-2 is a single server that may be in the form of, for example, a Dell PowerEdge™ server capable of using the Ubuntu Server or Windows Server operating systems. In some embodiments of the invention, the control device (not shown) in system 500-2 may be any other suitable hardware, application software, system software, or any combination thereof. In other embodiments of the invention, the functionality of the control device (not shown) in system 500-2 may be shared among multiple computer or computing devices, for example, implemented using multiple servers communicatively coupled to each other. Additionally, the control device (not shown) in system 500-2 may have access to at least one database via a communications network or otherwise, or may include at least one local database stored on a storage device or in memory of such control device.

[0063] In some embodiments of the present invention, the control device of the system 500-2 may be configured to perform traffic management and ensure safety for the self-propelled modules 200 while they are moving through the air, on land (surface), on water, and / or underwater, particularly while they are within a predetermined spatial region where they can be guided by the control device. Furthermore, the control device of the system 500-2 may be configured to receive and process requests to guide the self-propelled modules 200 from one or more parking areas 100 to a predetermined spatial region and to place each of the guided self-propelled modules 200 at a predetermined spatial location according to a predetermined model of a three-dimensional object, which may be available to the control device of the system 500-2 or which may be submitted to the control device of the system 500-2 from an external data source (not shown). Here, the requests may each be submitted to the control device of the system 500-2 using, for example, a user device configured to establish communication and exchange data with the control device of the system 500-2. Notably, the spatial region into which the control device of the system 500-2 guides the self-propelled module 200 from the corresponding parking area 100 may substantially correspond to a given spatial region on water, a given spatial region underwater, a given spatial region on land, a given spatial region in the air, or any suitable combination thereof, and may have predefined geographic coordinates that clearly identify the location of the spatial region.

[0064] The communication network of system 500-2, to which the control devices, apron 100, and self-propelled modules 200 of system 500-2 are preferably communicatively coupled, substantially enables the control devices, apron 100, and self-propelled modules 200 of system 500-2 to exchange system and / or operational data with each other for use in implementing their functions or functional capabilities described herein. Such a communication network may be any suitable wireless communication link known in the art, such as a WiFi wireless technology-based communication link, a 2G, 3G, 4G, or 5G wireless technology-based communication link, an LTE technology-based communication link, etc.

[0065] In one embodiment of the present invention, the system 500-2 for forming a three-dimensional object may include two or more wireless networks, each configured similarly to the above-described communication network of the system 500-2, for performing communication in a real-time mode or in real time between the apron 100, the self-propelled module 200, the control device of the system 500-2, and any other functional devices that may be part of the system 500-2 and are described herein.

[0066] In one embodiment of the present invention, a system 500-2 for forming a three-dimensional object can include at least one apron 100, or one or more aprons 100 (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more aprons 100). It is notable that if only one apron 100 is used, it must be configured to accommodate, park, or store all of the self-propelled modules 200 that are part of the system 500-2 therein. It is further notable that if two or more aprons 100 are used, each of these aprons must be configured to accommodate, park, or store at least a predetermined portion of the self-propelled modules 200 that are part of the system 500-2 therein, and the number of self-propelled modules 200 accommodated in such aprons 100, as well as the shape, size, type, specifications, etc. of such self-propelled modules 200, can be the same or different.

[0067] 2 is part of the system 500-2 for forming a three-dimensional object, each intended to accommodate, store, or park a self-propelled module 200. Notably, when forming a three-dimensional object, the system 500-2 may not use any tarmac 100 (particularly, it may at least partially utilize a self-propelled module 200 present in the air at a predetermined distance from the spatial region in which the three-dimensional object is intended to be formed, or a self-propelled module 200 used to form another three-dimensional object present in a nearby spatial region separated from the spatial region by a threshold distance), may utilize only one tarmac 100, or may utilize two or more tarmacs 100 (i.e., 3, 4, 5, 6, 7, 8, 9, 10, or more) that are geographically separated from each other or disposed at a distance from each other and present within the limits of a zone surrounding the spatial region in which the three-dimensional object is intended to be formed. For example, the parking areas 100 may be located at distances of a few meters, tens of meters, hundreds of meters, or even kilometers from each other.

[0068] It is worth noting that the geographical or spatial location of the parking lot 100 must be capable of allowing for the timely replacement of one or more self-propelled modules 200, including when the formed three-dimensional object needs to be moved in different directions and for different distances in the air, on water, on land and / or underwater relative to the spatial region in which the three-dimensional object was originally or initially formed, or when the entire three-dimensional object 300 or at least a part of it needs to be repositioned and then transformed into or formed into another three-dimensional object, as shown schematically and by way of example in FIG. 6 . 6 illustrates that, using the system 500-2 illustrated in FIG. 2, the three-dimensional object 300 in the form of a structure or building formed from the self-propelled modules 200-1, 200-2, and 200-3 can be disassembled, for example, in response to a control command from a control device of the system 500-2, and then at least some of the available self-propelled modules 200-1, 200-2, and 200-3 can be used to form other three-dimensional objects different from the three-dimensional object 300, particularly three-dimensional object 300-A in the form of a car, three-dimensional object 300-B in the form of a bear, and / or three-dimensional object 300-C in the form of two multi-story buildings. For example, the parking areas 100 may be arranged every 10 m, 100 m, 500-2 m, 1 km, or 10 km, etc. Those skilled in the art will readily appreciate that the number of tarmac stations 100 and their mutual arrangement may vary depending on the specific geographic location (especially depending on whether the spatial area intended to form the three-dimensional object is outdoors, inside or outside urban limits, underwater or on water, or whether the three-dimensional object is to be formed inside a building, such as an apartment building, exhibition center, movie theater, office building, etc.). In particular, large cities may require more tarmac stations 100 at shorter distances from each other, as opposed to smaller cities, interurban areas, or other possible locations outside urban limits. Either a single tarmac station 100 or multiple tarmac stations 100 may be sufficient to form a three-dimensional object inside a building.

[0069] Any one of the parking areas 100 shown in FIG. 2 is a stationary structure provided with compartments for accommodating at least a portion of the self-propelled module 200 that is part of the system 500-2, and configured to be mounted on a mobile or stationary object on water, underwater, in the air, and / or on land (ground).

[0070] In one embodiment of the present invention, at least one or each of the parking areas 100 that are part of the system 500-2 may be configured in the form of a special enclosure or special structure adapted to house, store, or park one or more of the self-propelled modules 200 that are part of the system 500-2 therein, and may be installed on a stationary object that is substantially in a fixed position on the water surface (e.g., on an anchored surface platform or any other anchored surface object), in the air (e.g., on an anchored aerostat, an anchored balloon, or other anchored airborne object), on land (e.g., on a terrestrial platform, in or on a building, or on or in another structure or other stationary object on land), or underwater (e.g., on an anchored underwater platform or other anchored underwater object).

[0071] In another embodiment of the present invention, at least one or each of the apron 100 that is part of the system 500-2 may be configured in the form of a specialized enclosure or specialized structure adapted to house, store, or park one or more self-propelled modules 200 that are part of the system 500-2, and may be installed on a movable object configured to change its spatial or geographical location, in particular a movable object configured to move on water, underwater, on land (terrestrial), and / or through the air. For example, the apron 100 may be installed on the back of a truck, a ferry, a barge, a boat, a ship, an airplane, a helicopter, an aerostat, a bathyscaphe, a submarine, or other surface-, underwater-, land-, and / or air-based vehicle, thereby changing the spatial or geographical location of the apron 100 and thereby allowing the apron used as part of the system 500-2 to be rapidly deployed in appropriate quantities (in addition to existing stationary apron 100) in close proximity to the spatial region intended to form the three-dimensional object.

[0072] In yet another embodiment of the present invention, at least one or each of the parking areas 100 that are part of the system 500-2 is a portable enclosure, for example in the form of a backpack, suitcase, or wheeled bag, which can be moved by a person without the use of auxiliary technical means.

[0073] In yet another embodiment of the present invention, at least one or each of the apron 100 that is part of system 500-2 can be implemented in the form of a mobile structure or a specialized surface-, underwater-, land-, and / or air-based vehicle whose body or housing is adapted to house, store, or park one or more of the self-propelled modules 200 that are part of the system. The mobile apron 100 can move between various geographic locations, taking into account the locations with the highest demand for forming three-dimensional objects using the self-propelled modules 200 and the needs for optimized replacement of the self-propelled modules 200 used to form the three-dimensional objects. Those skilled in the art will readily understand that some stationary or mobile apron 100 may be shared between two or more systems for forming three-dimensional objects, each configured similarly to system 500-2.

[0074] Notably, system 500-2 for forming three-dimensional objects can include any type of parking area (e.g., a static land parking area, a static water parking area, a static air parking area, a mobile land parking area, a mobile water parking area, a mobile air parking area, a static underwater parking area, a mobile underwater parking area, etc.), each configured to park or temporarily store at least one of the self-propelled modules 200 that are part of at least one system 500-2, or a self-propelled module 200 that is shared and used by system 500-2 and at least one other system for forming three-dimensional objects similar to system 500-2.

[0075] 2 that is part of the system 500-2 for forming a three-dimensional object shown in FIG. 2 may be provided with one or more power sources (not shown), each of which may be one or more batteries, an internal combustion engine-based generator, a hydrogen engine-based generator, a solar panel, or any other suitable energy source known in the art, and one or more charging devices (not shown) electrically coupled to at least one of the power sources of the apron 100, which enable at least one of the self-propelled modules 200 installed for storage or parked at the apron 100 to couple to that power source and enable the coupled self-propelled module 200 to be recharged, charged, or have its mileage replenished. Notably, at least one of the charging devices (not shown) of the apron 100 may be a wireless charging device, a wired charging device, or a charging dock. In particular, at least one or each charging device that may be provided on at least one of the parking areas 100 that are part of the system 500-2 may be configured in the form of, for example, a device that supplies electrical energy, a device that supplies liquid or gaseous fuel, etc. In one embodiment of the present invention, at least one or each charging device (not shown) that may be provided on any one of the parking areas 100 that are part of the system 500-2 may be hydraulically coupled to a reservoir or container (not shown) that contains fuel in such a way that it is able to draw fuel from the container using a pump (not shown) that is connected by a hydraulic line, and to supply the amount of drawn fuel to the fuel tank of the self-propelled module 200. This fuel tank is hydraulically coupled to the fuel-powered engine of the self-propelled module 200 in order to replenish its driving range (in particular by at least partially refilling the fuel volume in the fuel tank of the self-propelled module 200).

[0076] In some embodiments of the present invention, at least some of the self-propelled modules 200 used to form the three-dimensional object can be part of a system 500-2 for forming a three-dimensional object shown in FIG. 2 , and other portions of the self-propelled modules 200 used to form the three-dimensional object may not be part of that system 500-2, and each of the parking areas 100 that are part of system 500-2 can be adapted or tailored to accommodate self-propelled modules 200 therein with various modifications, dimensions, power units, etc., as known in the art.

[0077] It is worth noting that the self-propelled modules 200 that are part of the system 500-2 for forming a three-dimensional object shown in FIG. 2 should include self-propelled modules 200 that may be present in or be guided into a predetermined spatial region (particularly, air space, water space, underwater space, ground space, or on a movable / immovable object in space), as well as self-propelled modules 200 housed in or on the parking areas 100, and any other self-propelled modules 200 that may be further guided into a spatial region or at least one of the parking areas 100 from at least one other system for forming a three-dimensional object similar to the system 500-2 (e.g., as a replacement or additional self-propelled module 200); thereby, a person skilled in the art will easily understand that at least some of the self-propelled modules 200 that are part of the system 500-2 may have different types, modifications, designs, dimensional specifications, masses, power units, etc.

[0078] At least one or each of the self-propelled modules that are part of system 500-2 may be configured in the form of an unmanned aerial vehicle (UAV), an unmanned surface vehicle, an unmanned underwater vehicle, an unmanned ground vehicle (including tracked or wheeled vehicles), or a hybrid vehicle configured to travel on water, underwater, on land (surface), and / or in the air.

[0079] Each of the self-propelled modules 200 that are part of the system 500-2 includes a framework or housing 210 of any suitable type, at least two propulsion units 220, each configured in the form of a propeller and disposed or attached to the exterior of the housing 210, and a control unit (not shown) attached to the interior of the housing 210 and configured to control the operation of the self-propelled module 200, including the operation of the propulsion units 220. Additionally, each of the self-propelled modules 200 may include at least one of the following wireless communication means: a SW-band radio antenna, a USW radio antenna, a UHF radio antenna, an optical communication module, a half-duplex / simultaneous satellite communication module, a 2G / 3G / 4G / LTE / 5G communication cellular module, a wireless communication module between the multiple self-propelled modules, and / or a wireless relay device.

[0080] It should be noted that depending on the spatial area in which it is intended to form a three-dimensional object according to a given model of the three-dimensional object (in particular, depending on whether this spatial area relates to a water space, a land space, an underwater space, an air space, or a combination thereof), at least one or each of the propulsion units 220 in at least one of the self-propelled modules 200 that are part of the system 500-2 can be configured in the form of one of a group of propulsion units, including: a sail, a marine propeller, a Voith-Schneider propeller, a bladed propeller, a water-jet propulsion unit, a paddle-wheel. Eel, oar-type propulsion unit, fin propulsion unit, fishtail propulsion unit, wheeled chassis with one or more wheels, pneumatic tire and roller propulsion unit, rotary cutting propulsion unit, caterpillar propulsion unit, half-track propulsion unit, ski caterpillar propulsion unit, screw-type propulsion unit, walking propulsion unit, electromagnetic propulsion unit, jet propulsion unit, flapping wing propulsion unit, walking wheel propulsion unit, square wheel propulsion unit, vibration propulsion unit, amoeba-type propulsion unit, cross-section wheel propulsion unit, and inertial propulsion unit. Thus, in some embodiments of the present invention, at least some of the self-propelled modules 200 that are part of the system 500-2 may be provided with two or more different types of propulsion units 220 (e.g., bladed air propellers and oar-type propulsion units), thereby allowing each such self-propelled module 200 to exist not only in one of the spatial regions (e.g., in an airspace area or an aquatic space area) corresponding to one of the types of propulsion units 200 (e.g., in a bladed air propeller or an aquatic propulsion unit), but also to move from one spatial region (e.g., from an aquatic space area) corresponding to one type of propulsion unit 200 (e.g., in a bladed air propeller) to another spatial region (e.g., in aquatic space area) corresponding to another type of propulsion unit 200 (e.g., in aquatic space area).

[0081] In one embodiment of the present invention, at least one or each of the propulsion units 220 that may be provided in at least one of the self-propelled modules 200 that are part of the system 500-2 may be configured to be converted or transformed from one type to another, thereby allowing the type of propulsion unit 220 to be changed between types in any order from a group of types including: land type, water type, underwater type, and air type. It is notable that changing the type of propulsion unit 220 of a self-propelled module 200 may also result in a change in the type of the self-propelled module 200 itself, since changing the type of propulsion unit 220 effectively changes the space in which such self-propelled module 200 moves. For example, a self-propelled module 200 that previously moved within air using an air-based propulsion unit 220 can now continue to move within land, water, or underwater spaces by changing the type of propulsion unit 220 from air to another of the above-mentioned propulsion unit types. In particular, in one variant of this embodiment of the present invention, at least one of the propulsion units 220 of the self-propelled module 200 is configured in the form of a bladed propeller operably coupled to the drive device of the self-propelled module 200 by at least one movable actuating member or at least two interacting actuating members under the control of the control unit of the self-propelled module 200, so that the location of the bladed propeller relative to the housing 210 of the self-propelled module 200 can be changed, allowing the bladed propeller to be converted, for example, from an air type to a water type, a land type or an underwater type.Furthermore, in this variant of an embodiment of the present invention, the housing 210 of such a self-propelled module 200, in which at least one of the propulsion units 220 is configured in the form of a bladed propeller, can be further configured to take in water or air from the surrounding space into the housing 210 and release the previously taken in water or previously taken in air from the housing 210, changing the type of the self-propelled module 220 from a water type to an underwater type (in particular, by taking in water from the surrounding water space into a special compartment of the housing 210), or from a land / water type to an air type (for example, by taking in air from the surrounding air space, subsequently heating it by a heating device, and supplying it to a special air expansion chamber outside the housing 210), and vice versa (by releasing water or air from the housing 210, respectively).

[0082] In another embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of system 500-2 may further be provided with suction cups that facilitate securing or holding the self-propelled module 200 to a physical object having a flat and uniform surface (e.g., to a glass structure), hook-and-loop fasteners that facilitate securing or holding the self-propelled module 200 to a physical object made of a fabric material or an object covered with a fabric material, or magnets that facilitate securing or holding the self-propelled module 200 to a physical object made of a ferromagnetic material (e.g., iron, cast iron, steel, nickel, etc.).

[0083] A control unit (not shown) that is part of each of the self-propelled modules 200 used as part of system 500-2 is communicatively coupled to a control device (not shown) by the above-mentioned communications network (not shown), thereby enabling the control unit to receive and process navigation and / or control commands from the control device and control the operation of the self-propelled module 200 in response to the navigation and / or control commands. In particular, in response to navigation and / or control commands from a control device (not shown) that is part of system 500-2, the control unit of the self-propelled module 200 can enable, for example, changing the speed or direction of flight of the self-propelled module 200, guiding the self-propelled module 200 from one of the apron 100 where the self-propelled module 200 was initially parked to a predetermined area of ​​space, returning the self-propelled module 200 to one of the apron 100 for storage and / or mileage replenishment, guiding the self-propelled module 200 from one predetermined area of ​​space to another predetermined area of ​​space, etc. It is noteworthy that the spatial region in which the three-dimensional object may be formed using the self-propelled module 200 that is part of the system 500-2 shown in Figure 2 may be known in advance by the control device of the system 500-2 (e.g., the coordinates of such spatial region may be pre-recorded in the memory of the control device of the system 500-2) or may be communicated to the control device of the system 500-2 from an external data source (e.g., a database, a server, a user device, etc.). In particular, the spatial region in which the three-dimensional object must be formed may be selected or defined by a user using input / output means of the user device (e.g., at least one of a button, an on-screen button on a touch screen, or an on-screen keyboard, a voice input means, etc.).Such user devices may be in the form of a mobile phone, smartphone, laptop, personal computer, or any other computing device known in the art suitable for such purpose, and may establish communication with the control device of system 500-2 using the above or other communication networks to transfer data regarding a user-selected spatial region in which a three-dimensional object must be formed, or data regarding the coordinates of user-entered or user-selected such spatial region, to the control device of system 500-2.

[0084] 2 may have any suitable shape and overall dimensions typical of any known self-propelled module in the prior art, and may be made from any suitable material known in the prior art and conventionally used to manufacture housings for self-propelled modules (e.g., composite material, aluminum, plastic, etc.). Thus, the type, shape, overall dimensions, and material of the housing 210 in the self-propelled module 200 are not in any way specifically limited within the scope of the present invention. In particular, the housing 210 may have a shape generally similar to that of a helicopter, although those skilled in the art will appreciate that the housing 210 may have any other shape similar to any other airborne, surface, underwater, or land vehicle (depending on the spatial region in which the three-dimensional object is intended to be formed according to a given model of the three-dimensional object), such as an airplane, shuttle, hang glider, paraglider, boat, ferry, barge, diesel-powered vessel, ship, catamaran, bathyscaphe, submarine, bathyplane, underwater device, automobile, truck, motorcycle, bicycle, or any other similar self-propelled device known in the art.

[0085] In some embodiments of the present invention, housing 210 may have a shape similar to any vertebrate (e.g., fish, bird, reptile, amphibian, mammal, etc.), invertebrate (e.g., mollusk, sponge, annelid, flatworm, roundworm, etc.), arthropod (e.g., crustacean, centipede, arachnid, etc.), or insect (e.g., beetle, bee, wasp, ant, butterfly, moth, fly, etc.) known in the art.

[0086] In other embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be configured in the form of a regular or irregular three-dimensional geometric figure, such as a cube, cube-like shape, ball or sphere, square pyramid, tetrahedron (triangular pyramid), hexagonal pyramid, triangular prism, hexahedron (octahedron), pentagonal prism, hexagonal prism, dodecahedron, ellipsoid, icosahedron (regular icosahedron), cone, cylinder, or any other known three-dimensional figure. In some other embodiments of the present invention, at least a portion of the housing 210 in at least one or each of the self-propelled modules 200 that are part of the system 500-2 can have a cross-sectional (longitudinal or transverse) shape that is triangular, square, circular, oval, rectangular, parallelogram, rhombus, trapezoid, quadrilateral, pentagon, hexagon, heptagon, octagon, nonagon, decagon, icosagon, or any other known regular or irregular geometric shape. In other embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be configured in the form of an orbiform (a shape having a curve or lyro polygon of constant width), an oroid (a shape in which all of its faces contact the ground at a single point while rolling and which has a constant center of mass allowing for smooth rolling, i.e., rolling without wobble or vibration), a Steinmetz solid representing the intersection of three cylinders of the same radius at right angles, another Steinmetz solid representing the intersection of two cylinders of the same radius at right angles (i.e., a twin cylinder that can rotate simultaneously along two axes of rotation), a wobbler, a spherical cylinder, a cone, a torus, or the like.

[0087] In various embodiments of the present invention, enclosure 210 may be configured in the form of an ornithopter or an entomopter.

[0088] In one embodiment of the present invention, the housing 210 of any one of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 is a skeleton or bearing frame onto which panels may be mounted or which may be at least partially surrounded by a shell.

[0089] In other embodiments of the present invention, the housing 210 may further comprise fins, one or more wings, one or more air propellers, one or more marine propellers, at least one power plant, one or more paddle wheels, at least one wheel, caterpillar landing gear, etc., depending on the spatial region in which it is intended to form a three-dimensional object according to a predetermined model of the three-dimensional object.

[0090] In another embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 may be made of metal, plastic, composite material (e.g., composite sandwich panels), aluminum material (e.g., aluminum sandwich panels), titanium material (e.g., titanium sandwich panels), or any other suitable prior art material, including using any suitable combination of the above materials (e.g., titanium sandwich panels with an aluminum honeycomb core). The material of manufacture of the housing 210 in any one of the self-propelled modules 200 that are part of the system 500-2 is not specifically limited in any way by the present invention.

[0091] In some embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 may further be provided with landing gear, which may be essentially a support system that may be required to accommodate the self-propelled module 200 on at least one of the parking areas 100, or at least one support on which the housing 210 is provided. In particular, the landing gear of the self-propelled module 200 may be of a skid type, a wheel type, a track type, a float type, or any other type known in the art. The type, shape, overall dimensions, and material of the landing gear of the self-propelled module 200 are not in any way specifically limited within the scope of the present invention. It is noteworthy that in this embodiment of the present invention, the landing gear of the self-propelled module 200, depending on its specific embodiment and on the spatial region in which it is intended to form a three-dimensional object according to a predetermined model of the three-dimensional object, can achieve at least the following: (i) bearing static loads due to its own weight while the self-propelled module 200 is parked on one of the parking systems 100, and (ii) shock absorption of dynamic loads that occur while the self-propelled module 200 lands (including an emergency landing) on ​​one of the parking systems 100.

[0092] In one embodiment of the invention, the self-propelled modules 200 of the system 500-2 for forming a three-dimensional object may not be provided with landing gear at all. In one variation of such an embodiment of the invention, the bottom of the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 may be provided with a shock-absorbing pad (not shown) made of an elastic material (e.g., rubber) that can be attached to the bottom from the outside, or any other suitable support known in the art and used in the field of self-propelled modules (particularly for drones or other unmanned aerial vehicles).

[0093] In another embodiment of the present invention, chassis 210 of at least one or each of self-propelled modules 200 that are part of system 500-2 for forming a three-dimensional object shown in FIG. 2 may further include at least one wing, at least one wheeled landing gear (not shown), at least one track, at least one robotic leg, at least one flipper, at least one fin, at least one paddle, and / or at least one sail, each of which may be integrally configured with chassis 210, attached to or at least partially attached to hull 210 externally thereof. The auxiliary attachments for moving the self-propelled module 200, which may be embedded in or integrated with the housing 210, may initially be in a folded or retracted state (an initial position in which such auxiliary attachments are at least partially disposed inside the housing 210), and may be configured to deploy to an unfolded or extended state (an operating position in which such auxiliary attachments extend at least partially from the interior space of the housing 210 beyond the housing 210) under the control of the control device (not shown) that is part of the system 500-2. Notably, the number of such auxiliary means for moving the self-propelled module 200 that may be provided on the housing 210 can be selected taking into account the weight / size characteristics and structural features of the housing 210 to generate additional propulsion during the movement of the self-propelled module 200, the need to reduce the load on the self-propelled module 200, the predetermined spatial area envisioned to form the three-dimensional object 300, and / or the need to stabilize the direction of movement of the self-propelled module 200. That is, it depends substantially on the particular embodiment of such self-propelled module 200 used during the formation of the three-dimensional object 300 in the predetermined spatial region.It is further noted that at least one of such auxiliary means for moving a self-propelled module 200, which may be provided on the housing 210 of at least one of the self-propelled modules 200 that are part of the system 500-2, may be configured to be foldable, telescopic, extendable, etc., in order to reduce the overall dimensions of the self-propelled module 200 in a folded state, and, for example, when parked or placed on one of the parking areas 100 that are part of the system 500-2, deployment of the auxiliary means may be performed, for example, under the control of the control device of the system 500-2, while the self-propelled module 200 is exiting the parking area 100 on which it is installed (e.g., while running, taking off, swimming, crawling, jumping out, etc.), or immediately in the process of the self-propelled module moving in the air, on land (ground), on water, and / or in water.

[0094] In another embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 in the form of an unmanned aerial vehicle that is part of the system 500-2 for forming a three-dimensional object shown in FIG. 2 may further be provided with wings and at least one aircraft engine (not shown) that generate additional lift during flight to enable the self-propelled module 200 to move through the air (including in the event of an emergency, e.g., damage, failure, and / or discharge of the self-propelled module 200 used to form the three-dimensional object) or to increase the speed at which the self-propelled module 200 moves through the air (i.e., to enable operation of the aircraft engine in addition to the propulsion unit 220 used to move the self-propelled module 200 through the air under normal circumstances, or alternatively). It is to be noted that each such aircraft engine may be, for example, a propeller engine, a jet engine, a composite aircraft engine, or any other suitable aircraft engine known in the art. It is further to be noted that, if two aircraft engines are used in the self-propelled module 200, their designs and / or types may be the same or different from each other. Each such aircraft engine, which may be further provided in the housing 210, may operate under the control of a control unit of the self-propelled module 200, which may present control commands to an engine control driver of the self-propelled module 200 to enable starting, stopping, or changing the operating mode of the aircraft engine (e.g., of the operating parameters of the aircraft engine).

[0095] In some other embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 in the form of an unmanned aerial vehicle that is part of the system 500-2 for forming a three-dimensional object shown in FIG. 2 may further be provided with any suitable type of lift propeller (not shown) or propeller propulsion unit known in the art to enable movement of the self-propelled module 200 through the air (including in the event of an emergency, e.g., damage, failure, and / or complete discharge of the self-propelled module 200 used to form the three-dimensional object) or to increase the speed at which the self-propelled module 200 moves through the air (i.e., to enable operation of a lift propeller or propeller propulsion unit in addition to the propulsion unit 220 used to move the self-propelled module 200 through the air in standard circumstances, or instead). Additionally, in a given embodiment of the present invention, the housing 210 of the self-propelled module 200 further includes a power plant (not shown), which may be defined by, for example, one or two turboshaft engines, which may be operably coupled to each of the lift propellers of the self-propelled module 200 so as to provide power to the lift propellers for actuating the lift propellers. Each of the self-propelled module 200 operably coupled to a lift propeller may further be provided in a manner that provides transmission of driving power to the housing 210. Such a power plant may be operated under the control of a control unit of the self-propelled module 200, which may issue control commands to a control driver of the power plant (not shown), which may enable starting, stopping, or changing the operating mode of the power plant (e.g., changing operating parameters of the power plant) to enable changing the state of such lift propellers.

[0096] 2 may be an unmanned aerial vehicle (UAV), and the housing 210 of such a self-propelled module in the form of a UAV may be a fuselage and may further be equipped with measurement sensors (not shown) for measuring movement or flight parameters of the self-propelled module 200. The control unit of the self-propelled module 200 may be communicatively coupled to the measurement sensors of the self-propelled module 200 and the control device of the system 500-2 to enable the measured flight parameters of the self-propelled module 200 to be presented to the control device of the system 500-2 in real time, and may be further configured to receive navigation commands from the control device of the system 500-2 generated by the control device of the system 500-2 in response to the measured flight parameters of the self-propelled module 200. In response to navigation commands received by the control units of the self-propelled modules 200 from the control devices of the system 500-2, the control units generate and present their own control commands to modify operational parameters of the self-propelled modules 200. In particular, in this embodiment of the present invention, the control devices of the system 500-2 may be further configured to present navigation commands to at least one or each of the self-propelled modules 200 that are part of the system 500-2, as shown in FIG. 2 , to modify its movement or flight path and / or operational mode when at least one of its flight parameters measured using the measurement sensors of the self-propelled modules 200 does not correspond to or exceeds a threshold value. Notably, the measurement sensors for measuring the flight parameters of the self-propelled modules 200 may be, for example, a barometric altimeter, an airspeed and mach indicator, a variometer, a pitot tube, a central air data system, a pressure gauge, a tachometer, a thermometer, a propulsion unit control system, an artificial level, a heading indicator, and an angle of attack / overload warning system.

[0097] In another embodiment of the invention, the housing 210 of at least one or each self-propelled module 200 that is part of a system 500-2 for forming a three-dimensional object as shown in FIG. 2 may further comprise a measurement sensor for measuring a parameter of a state of the fuselage 210. The control unit of such a self-propelled module 200 may be communicatively coupled to the measurement sensor of the self-propelled module 200 and to the control device of the system 500-2 such that the control unit is capable of presenting the measured parameter of the state of the housing 210 of the self-propelled module to the control device in real time, and may be further configured to receive, from the control device of the system 500-2, navigation commands generated by the control device of the system 500-2 in response to the measured parameter of the state of the housing 210 of the self-propelled module 200. In response to a navigation command received by the control unit of the self-propelled module 200 from the control device of the system 500-2, the control unit is configured to generate and present its own control command, allowing the self-propelled module 200 to be exchanged for another of the self-propelled modules 200 that are part of the system 500-2 and housed in the corresponding tarmac 100. In particular, in this embodiment of the invention, the control device of the system 500-2 may be further configured to present a navigation command to each of the self-propelled modules 200 for which at least one of the parameters of the state of the housing 210 does not correspond to or exceeds a threshold value, and to present a navigation command to the other self-propelled modules 200 housed in one of the tarmacs 100 that are part of the system 100, allowing them to navigate from the tarmac 100 to the region of space where the self-propelled module 200 to be exchanged is located, in order to execute the exchange of the self-propelled module 200 to be exchanged for the other self-propelled module 200. It is worth noting that the sensor for measuring the parameter of the state of the housing 210 of the self-propelled module may be, for example, a vibration sensor, a force-sensing resistor, a force sensor, or the like.

[0098] In some other embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 for forming a three-dimensional object shown in FIG. 2 may further be provided with a measurement sensor for measuring parameters of the structural state of the self-propelled module 200, and a control unit (not shown) described below of the self-propelled module 200 may be communicatively coupled to the measurement sensor and to the control device of the system 500-2 so as to be able to present the measured parameters of the structural state of the self-propelled module 200 to the control device in real time, and may be further configured to receive navigation commands from the control device of the system 500-2 generated by the control device of the system 500-2 in response to the measured parameters of the structural state of the self-propelled module 200. In response to a navigation command received by a control unit (not shown) of the self-propelled module 200 from the control device of the system 500-2, the control unit is configured to generate and present its own control command, allowing the self-propelled module 200 to be exchanged for another of the self-propelled modules 200 that are part of the system 500-2 and housed in the corresponding tarmac 100. In particular, in this embodiment of the invention, the control device of the system 500-2 may be further configured to present a navigation command to each of the self-propelled modules 200 for which at least one of the parameters of the structural state does not correspond to or exceeds a threshold value, and to present a navigation command to the other self-propelled modules housed in one of the tarmacs 100 that are part of the system 100, allowing them to navigate from the tarmac 100 to the spatial region in which the self-propelled module 200 to be exchanged is located, in order to execute the exchange of the self-propelled module 200 to be exchanged for the other self-propelled module 200. It is worth noting that the sensor for measuring the parameter of the structural state of the self-propelled module may be, for example, a vibration sensor, a force-sensitive resistor, a force sensor, or the like.

[0099] In some embodiments of the present invention, the housing 210 in at least one or each of the self-propelled modules 200 that are part of the system 500-2 for forming a three-dimensional object as shown in FIG. 2 may be a framework (i.e., a skeleton of load-bearing structural elements fixed or connected to each other, without a roof, walls, or floor) on or to which at least the control unit, propulsion unit 220, and additional functional devices described herein and attached to the self-propelled module 200 are attached or mounted.

[0100] 2, a control unit (not shown) that is part of each of the self-propelled modules 200 may be a combination of hardware and software that enables the execution of certain functional capabilities described herein. In particular, the control unit of the self-propelled module 200 may be a processor or computing device configured to gain access to and enable the execution of control program instructions to implement the associated functional capabilities described herein with respect to the self-propelled module 200.

[0101] Additionally, a control unit (not shown) in at least one or each of the self-propelled modules 200 that are part of the system 500-2 for forming a three-dimensional object as shown in FIG. 2 may be configured to gain access to and enable execution of control program instructions to perform one of the following operations: (i) control the operation of the self-propelled module 200 in a fully automatic mode (autopilot), (ii) input commands to an operator, who may be present in a remote control center (e.g., a mobile control center for the movement of the self-propelled module or a stationary control center), and at least one command input device that is part of a control element in the control center. or (iii) controlling the operation of the self-propelled module 200 in an automatic mode by receiving at least some of the control commands from an external control source (e.g., a control device that is part of system 500-2, one of the tarmacs 100, a control device that is part of another system for forming three-dimensional objects similar to system 500-2, a satellite, a control tower, etc.) via a wireless data transfer channel established between the control unit of the self-propelled module 200 and the external control source.

[0102] At least one or each of the self-propelled modules 200 that are part of the system 500-2 for forming three-dimensional objects as shown in FIG. 2 can be guided or moved under the control of a control unit (not shown) of that self-propelled module 200 from one of the parking areas 100 to a specific geographical area or a predetermined spatial area, in air, on land (ground), on water and / or underwater, and / or on the surface of a movable or immovable physical object at least partially disposed in at least one of space (i.e., air, land (ground), on water and / or underwater), in automatic mode (autopilot without operator intervention) in response to control or navigation commands of the control unit or one of the above-mentioned external control sources (e.g., control device of system 500-2), and in semi-automatic mode (autopilot with operator intervention) in response to operator control commands input by an operator using the above-mentioned control elements at a remote control center (not shown). In other words, the decision to individually guide or move each of the self-propelled modules 200 that are part of the system 500-2 to a particular geographical area or predetermined spatial area can be made by the operator of that self-propelled module 200, who can use the control element to present a corresponding control command to the control unit of the self-propelled module 200, formed by the operator using the control element by selecting one of the available predetermined spatial areas in which to make the three-dimensional object visible, or by setting the coordinates of the spatial area, where the spatial area may be located in proximity to one or more of the parking areas 100 that are part of the system 500-2.

[0103] It is notable that movement or locomotion control of each of the self-propelled modules 200 that are part of system 500-2 may be implemented using, for example, standard software and hardware used in the prior art to control self-propelled modules similar to self-propelled module 200, and may be supplied with such self-propelled module 200. In particular, self-propelled module 200 may be any type and any modification of a commercially available self-propelled module 200 with built-in autopilot functionality and / or built-in remote, manual or automatic, control functionality.

[0104] A control unit (not shown) in any one of the self-propelled modules 200 that is part of the system 500-2 for forming a three-dimensional object may include one or more data transfer interfaces for sending and / or receiving signals / commands / requests / instructions. It is notable that the data transfer interfaces, databases, and other hardware may be part of the control unit or may be implemented in the form of different modules or blocks communicatively coupled to the control unit.

[0105] In the present invention, at least one control unit (not shown) in each of the self-propelled modules 200 that are part of the system 500-2 for forming three-dimensional objects shown in FIG. 2 may be communicatively coupled to an external control source in the form of an above-mentioned control device that is part of the system 500-2 via a communications network (not shown). In particular, the control unit (not shown) of such a self-propelled module 200 may be pre-programmed to communicate with the control devices of the system 500-2 and obtain or receive control or navigation commands therefrom, and may be pre-programmed to execute the received navigation or control commands in order to achieve the proper functioning of the self-propelled module 200 according to the task at hand, in particular to change the operating parameters of such a self-propelled module 200, to change the direction of movement of such a self-propelled module 200 (in particular, movement through air, land (ground), water, underwater, and / or on the surface of a physical object that is in a fixed position (stationary physical object) or at least partially moving through air, land (ground), water, and / or underwater (movable physical object)), to change or displace the spatial location of such a self-propelled module 200, to change the spatial orientation of such a self-propelled module 200, etc.

[0106] In particular, the control unit of each of the self-propelled modules 200 communicatively coupled to the control device of system 500-2 may include a processor configured to execute computer-readable control or navigation commands in an automatic mode or based, at least in part, on commands received from an operator or other external control source via at least one wireless communication channel.

[0107] Thus, in the present invention, a control device (not shown) that is part of system 500-2 and communicatively coupled to the self-propelled modules 200 that are part of system 500-2 is substantially configured to guide all such self-propelled modules 200, or at least some thereof, from at least one of the parking areas 100 that are part of system 500-2 to a spatial region limited or defined by specific geographic coordinates to enable placement of each of the guided self-propelled modules 200 at a predetermined spatial location at least partially in the air, on land (ground), on water, and / or underwater according to a predetermined model of the three-dimensional object. In particular, in the present case, some of the self-propelled modules 200 used to form a three-dimensional object according to the predetermined model of the three-dimensional object are disposed on the surface of the ground (land) or the surface of the water (aquatic), and other parts of the self-propelled modules 200 are disposed in the air or underwater. Furthermore, in the present case, a first portion of the self-propelled module 200 used to form the three-dimensional object according to a predetermined model of the three-dimensional object is disposed on the surface of the land or the surface of the water, a second portion of the self-propelled module 200 is disposed in the air, and a third portion of the self-propelled module 200 is disposed in the water. Furthermore, in the present case, a first portion of the self-propelled module 200 used to form the three-dimensional object according to a predetermined model of the three-dimensional object is disposed on the surface of the land, a second portion of the self-propelled module 200 is disposed in the air, a third portion of the self-propelled module 200 is disposed in the water, and a fourth portion of the self-propelled module 200 is disposed on the surface of the water. It is noteworthy that in the present invention, the self-propelled modules 200 arranged in their spatial locations according to a predetermined model of the three-dimensional object within a predetermined spatial region to which they move in response to corresponding navigation commands of the control device of system 500-2 to form the three-dimensional object may be at least partially coupled or fixed to each other, and / or may at least partially not contact or interact with each other.In one embodiment of the present invention, the self-propelled modules 200 arranged at their spatial locations within a predetermined spatial region according to a predetermined model of the three-dimensional object to form the three-dimensional object may all be coupled or fixed to each other, or may be spaced a predetermined distance apart from each other without physical contact or physical interaction with each other, to form the three-dimensional object.

[0108] The model of the three-dimensional object used to form the three-dimensional object in the predetermined spatial region where at least a portion of the self-propelled modules 200 that are part of the system 500-2 are guided can be tailored to the predetermined spatial region, and in particular, can be automatically set according to the predetermined or user-selected spatial region in which the three-dimensional object is desired to be formed. Alternatively, the model of the three-dimensional object can be selected or defined by a user, for example, using the user device, separately from the spatial region in which the three-dimensional object is desired to be formed. It is also worth noting that each spatial location corresponding to a particular model of the three-dimensional object has predetermined geographic or spatial coordinates, a predetermined distance from the surface of ground, water, or other physical object where the self-propelled module may be placed while forming the three-dimensional object, as known in the art, and other parameters that further characterize the spatial location. In particular, parameters that further characterize each spatial location where a self-propelled module 200 must be placed while forming a three-dimensional object can include a predetermined spatial displacement (i.e., displacement along at least one of the three coordinate axes, in particular along one, two, or three coordinate axes simultaneously) of each self-propelled module relative to all adjacent spatial locations where the remaining self-propelled modules 200 must be placed, i.e., relative to all adjacent self-propelled modules used to form the three-dimensional object (e.g., relative to its predetermined geometric center), according to a specific model of the three-dimensional object; in this case, adjacent self-propelled modules 200 should be understood to mean self-propelled modules that must be arranged next to each other in at least one of the three spatial dimensions while they are placed within a predetermined spatial region according to a predetermined model of the three-dimensional object.Furthermore, parameters that further characterize each spatial location where the self-propelled modules 200 must be placed during the formation of a three-dimensional object can include a predetermined spatial displacement (i.e., displacement along at least one of the three coordinate axes, particularly one, two, or three coordinate axes) of each of the self-propelled modules 200 relative to a reference (base) spatial location or reference (base) self-propelled module (e.g., relative to its predetermined geometric center), and at least one of the three-dimensional objects can be formed using only one reference self-propelled module or only multiple (two or more) reference self-propelled modules, and each of the reference self-propelled modules can correspond, for example, to one of the vertical or horizontal rows as part of the three-dimensional object, one of the portions of the three-dimensional object, etc. Furthermore, parameters that further characterize each of the spatial locations where the self-propelled modules 200 must be placed during the formation of the three-dimensional object can include a predetermined spatial displacement (i.e., displacement along at least one of the three coordinate axes, particularly one, two or three coordinate axes) of each of the self-propelled modules 200 relative to a reference (base) three-dimensional structure, which may be at least partially disposed on water, underwater, in the air, and / or on land (terrestrial), i.e., the spatial displacement of each of the self-propelled modules can be predetermined relative to at least one of the reference (base) spatial locations, for example, limiting or defining the contours of the three-dimensional structure.

[0109] The model of the three-dimensional object includes at least data on the type and / or technical characteristics of the self-propelled module 200 that can be used to implement the model (i.e., the self-propelled module 200 that is intended to be used to form the three-dimensional object in some manner when implementing such model of the three-dimensional object); data on the form, size and / or geometry of a three-dimensional (3D) object that can be formed on land (ground), in the air, on water and / or underwater after the self-propelled module 200 is appropriately installed in its spatial location according to the model of the three-dimensional object; during the formation of the three-dimensional object on land (ground), in the air, on water and / or underwater according to the model of the three-dimensional object; The data includes data regarding the relative positions of the self-propelled modules 200 in a specified spatial region, data regarding spatial locations that must be acquired by the self-propelled modules 200 to form a three-dimensional object on land (ground), in the air, on water and / or underwater, data regarding the relative positions of the self-propelled modules 200 as part of a three-dimensional object formed in the air, data regarding the peculiarities of the terrain in which a three-dimensional object may be formed on land (ground), in the air, on water and / or underwater according to a model of the three-dimensional object, data regarding the free space required or necessary to form a three-dimensional object on land (ground), in the air, on water and / or underwater according to a model of the three-dimensional object, and the like.

[0110] Furthermore, the model of the three-dimensional object may contemplate continuous or periodic movement of the three-dimensional object formed on land (ground), in the air, on and / or in water using the self-propelled module 200 relative to the spatial region in which the three-dimensional object was originally formed according to a predetermined model of the three-dimensional object. Furthermore, the model of the three-dimensional object may contemplate continuous or periodic movement of at least one portion or portions of the three-dimensional object formed in the air using the self-propelled module 200 in or relative to the spatial region in which the three-dimensional object was originally formed.

[0111] Additionally, the control unit (not shown) in each of the self-propelled modules 200 that are part of the system 500-2 for forming three-dimensional objects shown in FIG. 2 can access one or more local or remote databases (not shown), measurement devices or measurement sensors (not shown) mounted outside the housing 210 and / or inside the housing 210, on-board monitoring and control systems that are part of the self-propelled module 200, and / or any other suitable functional devices, nodes, or units that are known in the art for use with all possible embodiments of the self-propelled module and that may be mounted within or on the housing 210, including the functional devices described herein.

[0112] A control unit (not shown) in at least one or each of the self-propelled modules 200 that are part of the system 500-2 for forming three-dimensional objects shown in FIG. 2 may initially be communicated at least the following data to be used by the control unit while performing its function: (a) the geographic coordinates of each of the spatial regions in which the three-dimensional objects can be formed, (b) the three-dimensional objects that can be formed using at least some of the self-propelled modules 200 that are part of the system 500-2; and (c) models of the three-dimensional objects that are each formed to match one of the three-dimensional objects being formed and each of which realizes the arrangement of the self-propelled modules 200 at predetermined spatial locations relative to each other. It is noteworthy that the data can be communicated to the control unit of the self-propelled module 200 by being manually entered by an operator, transferred in the form of data packets from an external control source (e.g., from a control device that is part of system 500-2) via a wireless data transfer channel established between the control unit of the self-propelled module 200 and that external control source to enable recording in a local database of the self-propelled module 200, or received by the communication module of the self-propelled module 200 in response to a request received from the communication module of the self-propelled module 200 from a remote data store (e.g., from a website, database, data server, etc.) accessible by the communication module.

[0113] While forming a three-dimensional (3D) object using self-propelled modules 200 guided by a control device of system 500-2 so as to realize its appropriate arrangement within a predetermined spatial region according to a predetermined model of the three-dimensional object, in response to a navigation command from the control device, at least one of the guided self-propelled modules 200 can enter into detachable interaction with at least one other unmanned aerial vehicle among the guided self-propelled modules 200 used to form the object. Therefore, the self-propelled modules 200 that enter into detachable interaction with each other while forming a three-dimensional object according to a predetermined model of the three-dimensional object must each be provided with multiple interaction means or at least one interaction means to enable detachable interaction with each other while forming the desired three-dimensional object in the air, on water, underwater, and / or on land (ground), and any of such self-propelled modules 200 that interact with each other can enter into interaction with at least one other self-propelled module 200 (e.g., with 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and more other self-propelled modules 200).

[0114] Alternatively, while forming a three-dimensional (3D) object using self-propelled modules 200 guided by the control device of system 500-2 to achieve its proper arrangement within a predetermined spatial region according to a predetermined model of the three-dimensional object, each of the self-propelled modules 200 can, in response to navigation commands from the control device, occupy and maintain a precisely defined spatial position for a predetermined period of time, on land (ground), in the air, on water and / or underwater, in which the self-propelled module 200 does not physically interact with or come into physical contact with any of the remaining self-propelled modules 200 used to form the object. In such an alternative embodiment of the present invention, at least one or each of the self-propelled modules 200 guided by the control device of system 500-2 to a predetermined spatial region to form a three-dimensional object may further include at least one obstacle detection sensor (e.g., LIDAR, ultrasonic sensor, IR sensor, radar, video sensor, etc.), at least one position sensor (e.g., gyroscope sensor, GPS, GLONASS, radar, etc.) and / or other similar sensors to prevent collision of such self-propelled module 200 with other self-propelled modules of the guided self-propelled module 200 in the spatial region where other self-propelled modules exist in the process of forming the desired three-dimensional object and / or in the process of the self-propelled module 200's existence as part of an already formed object.

[0115] As yet another alternative, while using the self-propelled modules 200 guided by the control device of system 500-2 to form a three-dimensional (3D) object so as to realize its appropriate arrangement within a predetermined spatial region according to a predetermined model of the three-dimensional object, in response to a corresponding navigation command from the control device, at least one of the guided self-propelled modules 200 can enter into detachable interaction with at least one other self-propelled module of the guided self-propelled modules 200, and at least one other module of the guided self-propelled modules 200 can occupy its spatial location at a predetermined distance from the remaining self-propelled modules of the guided self-propelled modules 200 (i.e., can be free from any physical contact or physical interaction with at least one of such remaining self-propelled modules 200).

[0116] Non-limiting examples of means for enabling detachable interaction between self-propelled modules 200 while forming a three-dimensional object are the following connection elements that at least one housing 220 of the interacting self-propelled modules 200 must include at the corresponding docking spot: various suitable mechanical coupling or fastening means (brackets, grippers, fasteners, mounting slots, cams, hooks, latches, tongue-and-groove joints, etc.), electromechanical means under the control of a control unit (e.g., electromechanical docking means for docking with a mating element to be docked, electromechanical gripping means for gripping a mating element to be gripped, etc.), electromagnetic means under the control of a control unit, magnetic means, vacuum grippers under the control of a control unit, etc. It is worth noting that, when the first self-propelled module 200 of two self-propelled modules 200 that interact with each other is provided with a connecting element such as any of the above-mentioned mechanical coupling or fastening means, electromechanical means, electromagnetic means, magnetic means, and vacuum gripping means, the second self-propelled module 200 of the two self-propelled modules 200 that interact with each other must be provided with an appropriate type of mating connecting element that can form a detachable connection with the connecting element of the first self-propelled module 200 in order to detachably interact with the first self-propelled module 200.

[0117] In one embodiment of the invention, the means for enabling detachable interaction between self-propelled modules 200 during the formation of the three-dimensional object may be in the form of a coupling means or fastening means as described above, and the fastening means of at least one of the self-propelled modules 200 that interact with each other may be configured to unfold, spread, and / or expand to allow for detachable coupling between the self-propelled modules 200. In one variation of this embodiment of the invention, the fastening means of the self-propelled modules 200 that enter into detachable interaction with each other during the formation of the three-dimensional object may be configured to extend from the housing 210, or the housing 201, of at least one of the self-propelled modules 200 that interact with each other to allow for detachable coupling between the self-propelled modules 200 during the formation of the three-dimensional object.

[0118] In some embodiments of the present invention, the system 500-2 for forming a three-dimensional object, as shown in FIG. 2 , can further include a stationary or mobile structure (not shown) configured to accommodate or house the self-propelled modules 200, which are guided by a control device to a given spatial region to enable the formation of the three-dimensional object. Notably, such a stationary or mobile structure can be configured, for example, in a grid, cellular, honeycomb, or other configuration, and can have any suitable shape known in the art, for example, a geometrical configuration, and such ancillary structure can be installed or moved on land (ground), in air, on water, and / or underwater. Thus, in embodiments of the present invention, the stationary or mobile structure can form the basis of the three-dimensional object formed from the self-propelled modules 200. That is, such structures can be part of the three-dimensional object or can be pre-prepared in at least one model of the three-dimensional object that can be used to form the three-dimensional object, and the self-propelled modules 200 employed in forming the three-dimensional object can be installed at their spatial locations relative to the auxiliary structures, and at least a portion of the employed self-propelled modules 200 can enter into detachable interaction or detachable contact with the auxiliary structures at the respective docking spots. In one variation of this embodiment, such stationary or movable structures of the system 500-2 can be provided with landing platforms configured to accommodate at least a portion of the self-propelled modules 200 that are guided to the predetermined spatial region by the control device of the system 500-2 during the formation of the three-dimensional object. In another variation of this embodiment of the invention, the stationary or movable structures of the system 500-2 can be provided with fastening means configured to interact with at least a portion of the self-propelled modules 200 that are guided to the predetermined spatial region by the control device of the system 500-2 during the formation of the three-dimensional object.In yet another variation of a given embodiment of the present invention, at least one or each of the self-propelled modules 200 that are guided by the control device of the system 500-2 to a predetermined spatial region to form the three-dimensional object may be provided with fastening means configured to interact with a stationary or movable structure of the system 500-2 while forming the three-dimensional object.

[0119] Additionally, the housing 210 of each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 is provided with one or more on-board power sources (not shown), each of which may be one or more batteries mounted on or within the housing 210. Notably, the propulsion unit 220 of each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 is electrically coupled to a power source (not shown) for operation thereof, which may enable the self-propelled module 200 to move at least partially through air, land (ground), water, and / or underwater.

[0120] In one embodiment of the invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 can include two or more different or electrically coupled on-board power sources, each of which includes one or more batteries. In another embodiment of the invention, the power source (not shown) of at least one or each of the self-propelled modules 200 that are part of the system 500-2 is at least one of a group including: an internal combustion engine-based generator, a hydrogen engine-based generator, a solar panel, and any other suitable energy source known in the art and disposed on or within the housing 210 of the self-propelled module. In yet another embodiment of the invention, the power source (not shown) of at least one or each of the self-propelled modules 200 that are part of the system 500-2 can be configured to connect to an external power source (not shown), such as, for example, an electrical network.

[0121] Therefore, while any of the discharged self-propelled modules 200 that are part of the system 500-2 for forming three-dimensional objects shown in FIG. 2 is stored in one of the parking lots 100 that are part of the system 500-2, the power source of the self-propelled module 200 is coupled to the power source of the parking lot 100 using a charging device (not shown) of that parking lot 100, which is electrically coupled to the power source of the parking lot 100 and allows the charging or replenishment of the driving range of the discharged self-propelled module 200.

[0122] In other words, the control device of system 500-2 is configured to direct at least one or each discharged self-propelled module belonging to the plurality of self-propelled modules 200 used to form the three-dimensional object to at least one of the parking areas 100 that are part of system 500-2, so that the module can be coupled to one of the charging devices that may be provided at the parking area 100, thereby replenishing the charge or driving range of the discharged self-propelled module. Furthermore, while dismantling the three-dimensional object, the control device of system 500-2 may also be configured to guide one or more or each of the self-propelled modules 200 used to form the three-dimensional object in the air, on land (ground), on water, and / or underwater to one of the parking areas 100 that are part of system 500-2, allowing each of the guided self-propelled modules 200 to be coupled to a respective one of the charging devices that may be provided at the parking area 100 while the guided self-propelled module 100 is stored in or on the parking area 100, thereby allowing the self-propelled module 200 to be charged or have its mileage replenished. Additionally, the control device of system 500-2 may be further configured to, upon expiration of a predetermined period of time, present navigation commands to one or more or each of the self-propelled modules 200 used to form the three-dimensional object to direct the self-propelled modules 200 to a corresponding one of the parking areas 100 that are part of system 500-2, including charging or replenishing mileage in the manner described above.

[0123] 2 may be used to provide electrical power to the propulsion unit 220 of the self-propelled module 200 to move it at least partially through air, land (surface), water, and / or water, as well as to provide power to a control unit (not shown) of that self-propelled module 200, to various sensors and measurement devices used in that self-propelled module 200 and described herein, and to other controlled and / or electronic components used in the self-propelled module 200 and described herein. However, one skilled in the art will readily understand that each component may also have its own power source mounted within the corresponding component's housing.

[0124] In one embodiment of the present invention, at least one of the parking areas 100 that are part of the system 500-2 for forming a three-dimensional object may be provided with one or more charging devices, each configured, for example, in the form of a device for supplying electrical energy, a device for supplying liquid or gaseous fuel, and / or a similar device for replenishing the driving range of the self-propelled modules 200, and at least two of the self-propelled modules 200 that are part of the system 500-2 may be provided with at least one of the charging devices of this parking area 100 while housed in or on the parking area 100. They may be configured to be operably coupled to one another in series or in parallel (e.g., electrically and / or via fuel supply lines) to enable substantially simultaneous charging (e.g., charging or charging up batteries in such self-propelled modules 200) and / or substantially simultaneous replenishment of driving range (e.g., charging batteries in such self-propelled modules 200 and / or refueling fuel tanks in such self-propelled modules 200 that are hydraulically coupled to corresponding engines that form the basis of generators used in these self-propelled modules 200).

[0125] Additionally, at least one or each of the self-propelled modules 200 that are part of the system 500-2 may further include at least one of the following sensors: obstacle detection sensors (such as LiDAR, ultrasonic sensors, IR sensors, radar, video sensors, etc.), position sensors (such as gyroscope sensors, GPS, GLONASS, radar, etc.), and other suitable sensors known in the art. In this case, each of the sensors may be configured to provide its readings in real time to a control unit (not shown) of the self-propelled module 200 and / or a control device of the system 500-2. Additionally, at least one or each of the self-propelled modules 200 that are part of the system 500-2 may further include a battery charge level sensor configured to measure the battery charge capacity of the self-propelled module 200 and provide the battery charge capacity in real time to the control unit of the self-propelled module 200 and / or a control device of the system 500-2.

[0126] In another embodiment of the present invention, one or more or each of the self-propelled modules 200 that are part of the system 500-2 may be provided with at least one power source and may be further configured to present data regarding the distance traveled to the control device of the system 500-2 and / or the control unit of the self-propelled modules 200 in real time, and the control device of the system 500-2 may be further configured to receive data regarding the distance traveled from the self-propelled modules 200 in real time, so that at least one of these self-propelled modules 200 can be replaced with at least one other self-propelled module 200 of the self-propelled modules 200 housed in the parking lot 100 that is part of the system 500-2 when the charge reserve of each self-propelled module 200 to be replaced falls below a predetermined threshold.

[0127] In one embodiment of the present invention, a control unit (not shown) in at least one or each of the self-propelled modules 200 used to form the three-dimensional object may be configured to receive data regarding the distance traveled by the self-propelled module 200, and when the distance traveled by the self-propelled module 200 falls below a predetermined threshold (i.e., when the battery of the self-propelled module 200 is completely discharged or has an insufficient charge level below a predetermined threshold, and / or when the fuel tank of the self-propelled module 200 has no fuel or has an insufficient amount of fuel below a predetermined threshold), the self-propelled module 200 may be disengaged from interacting with at least one other unmanned aerial vehicle among the self-propelled modules 200 used to form the three-dimensional object, and the self-propelled module 200 may be directed to one of the parking areas 100 corresponding to the predetermined spatial region in which the three-dimensional object was formed.

[0128] It is noteworthy that in a given embodiment of the present invention, while housed on or within the parking lot 100, the discharged power source (not shown) of the self-propelled module 200 can be electrically coupled to a charging device that may be provided on the parking lot 100 to replenish the driving range of the self-propelled module 200, for example, by replenishing the battery charge of the self-propelled module 200, replenishing the fuel in the fuel tank of the self-propelled module 200, replenishing the working medium (liquid, solid or gaseous working medium) used in the generator of the self-propelled module 200 that operates using the working medium, etc.

[0129] It is further noted that in a given embodiment of the present invention, the control unit (not shown) of the discharged self-propelled module 200 may be further configured to submit to a control device of the system 500-2 a request to recharge or replenish the mileage of the discharged self-propelled module 200. The control device of the system 500-2 may be configured to submit a request to identify available charging devices to the parking lots 100 that are part of the system 500-2 in response to a request to recharge or replenish the mileage of the discharged self-propelled module 200 received from the control unit (not shown) of the discharged self-propelled module 200, and in response to the request to identify available charging devices, each of the parking lots 100 that are part of the system 500-2 may be configured to submit data related to the available charging devices to the control device of the system 500-2. In response to data relating to available charging devices from the parking lot 100 that is part of the system 500-2, the control device of the system 500-2 can be further configured to present control instructions to the control unit of the discharged self-propelled module 200, so that under the control of the control unit of the self-propelled module 200 or the control device of the system 500-2, the discharged self-propelled module 200 (which needs to be recharged or replenished with mileage) can be directed to one of the identified available charging devices (not shown) while the discharged self-propelled module 200 is parked in a parking lot 100 that has an available charging device.

[0130] In one embodiment of the present invention, the housings 220 of the two or more self-propelled modules 200 that are part of the system 500-2 may each be further provided with a location determination module (e.g., a GPS system, a GLONASS system, a Beidou system, or any other suitable location determination system known in the art) that is configured to determine the spatial coordinates of the self-propelled modules 200 in real time and provide the specific spatial coordinates to the control device of the system 500-2 in real time, and the control device of the system 500-2 may determine the spatial coordinates of at least one of the self-propelled modules 200 based on the spatial coordinates when it is determined that the distance between the at least two self-propelled modules is less than a predetermined threshold. The system may be further configured to present navigation commands in real time to at least one of the at least two or more self-propelled modules 200 to change the path of movement of the self-propelled modules 200, thereby preventing or eliminating the possibility of the self-propelled modules 200 colliding with each other while guiding the self-propelled modules 200 into a predetermined spatial region, while disposing them at a corresponding spatial location within the spatial region according to a particular model of a three-dimensional object, while returning them from the spatial region to at least one of the parking areas 100 that are part of the system 500-2, and / or while guiding them from the spatial region to another (new) spatial region intended to be used to form a new three-dimensional object.

[0131] In another embodiment of the present invention, the housing 220 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 may further be provided with a detection device (not shown) configured to identify or detect at least one other self-propelled module 200 in the operating area or field that is used in a predetermined spatial region to form a desired three-dimensional object using one of the methods described herein, and configured to determine the distance to each of the detected self-propelled modules 200. In such an embodiment of the invention, the detection device (not shown) may be further coupled to a control unit (not shown) of the self-propelled modules 200 so as to be able to present data relating to detected self-propelled modules occurring in the operating field or area of ​​the detection device and data relating to the distance from the detected self-propelled modules 200 to the control unit of the self-propelled modules 200, and the control unit of the self-propelled modules 200 may be further configured to change the spatial location, movement path and / or operating mode of the self-propelled modules 200 when the distance to at least one of the detected self-propelled modules 200 falls below a predetermined threshold. Alternatively, in this embodiment, the control unit (not shown) of the self-propelled module 200 may be configured to present data regarding detected self-propelled modules occurring in the operating field or area of ​​the detection device and data regarding the distance from each of the detected self-propelled modules 200 to the control device of the system 500-2, and the control device of the system 500-2 may be further configured to change the spatial location, movement path, and / or operation mode of the self-propelled module 200 when the distance to at least one of the detected self-propelled modules 200 falls below a predetermined threshold. Notably, in a given embodiment of the present invention, the detection device (not shown) may be a photo camera, a video camera, a LIDAR, a radar, an IR sensor, an ultrasonic sensor, an RFID tag, or the like.In one variant of a given embodiment of the present invention, the detection device may be in the form of an imaging device configured to capture images in a field of view or within the field of view in real time, allowing at least one other self-propelled module 200 in the field of view to be identified within the field of view and to determine the distance to each of the detected self-propelled modules 200, which are used in a predetermined spatial region to form a desired three-dimensional object using one of the methods described herein. In this variant of the embodiment of the present invention, the control unit of the self-propelled module 200 and / or the control device of the system 500-2 may similarly enable a change in the spatial location, movement path, and / or operation mode of the self-propelled module 200 when the distance to at least one of the detected self-propelled modules 200 falls below a predetermined threshold; such an imaging device (not shown) may be a photo camera, video camera, video recorder, video radar, etc.

[0132] In yet another embodiment of the present invention, the housing 220 of at least one or each self-propelled module 200 that is part of system 500-2 shown in FIG. 2 may be further provided with at least one robotic manipulator or gripper (not shown) under the control of a control unit (not shown) of the self-propelled module 200, and the housing 210 of the self-propelled module 200 may be further provided with an imaging device (not shown) configured to capture images of a field of view or field of view in real time and capable of identifying in the field of view at least one of the self-propelled modules 200 present in a predetermined spatial region, and further coupled to the control unit and capable of presenting thereto data related to the identified self-propelled module, and the control unit of the self-propelled module 200 may be further configured to actuate the gripper in response to data related to the identified self-propelled module received from the gripper, such that detachable gripping of the identified self-propelled module 200 can be performed. Of note, in this embodiment of the present invention, such imaging device may be a photo camera, a video camera, a video recorder, a video radar, or the like. It is further noted that in this embodiment of the present invention, the self-propelled module grasped by the gripper may include a self-propelled module 200 released from at least one of the apron 100 that is part of system 500-2 and guided to a predetermined spatial region, a self-propelled module from an apron that is part of another system for forming a three-dimensional object similar to system 500-2, and / or any other self-propelled module that can be guided to a predetermined spatial region for forming a desired three-dimensional object within the scope of the subject technology described in this specification.

[0133] In one embodiment of the present invention, at least two of the self-propelled modules 200 that are part of the system 500-2 shown in FIG. 2 can be configured to be mechanically coupled to one another to form a cluster self-propelled module. Each of these cluster self-propelled modules is configured to detachably interact with one another and / or at least one of the remaining self-propelled modules 200. It is notable that such a cluster self-propelled module (not shown), formed by mechanically coupling multiple (two or more) self-propelled modules 200 to one another, can be initially stored in a linked or docked state at one of the parking areas 100, or can be assembled from different self-propelled modules 200 that are guided from the corresponding parking area 100 to a predetermined volume while the self-propelled module 200 to be docked is already present in the volume. It is notable that the self-propelled modules 200 forming such a cluster self-propelled module (not shown) can be mechanically coupled to each other in horizontal and / or vertical planes to form a collective structure in which the self-propelled modules 200 are coupled to each other, propelled by their own propulsion, and this structure has any shape and geometric size suitable for interaction of such a cluster self-propelled module (not shown) with at least one other similar cluster self-propelled module and / or with at least one different self-propelled module 200, suitable for freely storing such a cluster self-propelled module (not shown) on one of the parking areas 100 that are part of the system 500-2, and suitable for freely moving such a cluster self-propelled module (not shown) at least partially in the air, on land (ground), on water, and / or underwater, either individually or as part of an already formed three-dimensional object. Such a cluster self-propelled module (not shown) can respond to control commands / instructions as a unit, i.e., the operation of the self-propelled modules 200 within such a cluster self-propelled module can be synchronized (e.g., using a control device of the system 500-2 or a control unit of one of the self-propelled modules 200 forming such a cluster self-propelled module).Furthermore, the self-propelled modules 200 forming such a cluster self-propelled module (not shown) may be electrically coupled to one another to form a single power supply circuit and cluster power supply that supplies or feeds all of the self-propelled modules 200 substantially simultaneously (e.g., the cluster power supply may be formed from the batteries of the coupled self-propelled modules 200), thereby making it possible to consider the range of the cluster self-propelled module (not shown) as a whole, rather than considering the range of each such self-propelled module 200 individually. It should also be noted that the process of mechanically coupling the self-propelled modules 200 to one another may be initiated or initiated in response to a control command presented to the self-propelled modules 200 by a control device of the system 500-2 or by a control unit of one of the self-propelled modules 200 forming such a cluster self-propelled module. Furthermore, the mechanical coupling between the self-propelled modules 200 forming the cluster self-propelled module (not shown) can be implemented directly between the housings or bodies of the coupled self-propelled modules 200, as well as using a coupling structural module or coupling structure (not shown), whereby the coupled self-propelled modules 200 can be fixed or coupled (e.g., using fastening or coupling means known from the art) and the coupled self-propelled modules 200 can collectively be transported or moved through air, land (ground), water, and / or underwater. Such coupling structure can be configured in the form of a ground structure to which the coupled self-propelled modules 200 can be fixed or coupled while on land, and the coupling structure can be configured to be expandable or deployable, whereby the self-propelled modules 200 can expand or deploy the coupling structure on land by applying traction force from the self-propelled modules 200 to the coupling structure.Furthermore, such a connecting structure may be configured in the form of an aerial structure configured to move or fly independently in the air, to which the self-propelled modules 200 that are coupled to each other can be fixed or coupled while in the air or also on land (ground), and the connecting structure may be configured to be expandable or deployable, whereby the self-propelled modules 200 can expand or deploy the connecting structure in the air and / or on land (ground) by applying a tractive force from the self-propelled modules 200 to the connecting structure. Furthermore, such a connecting structure may be configured in the form of an on-water or underwater structure configured to move or move independently on or underwater, to which the self-propelled modules 200 that are coupled to each other can be fixed or coupled while in the water or on the surface of the water, and the connecting structure may be configured to be expandable or deployable, whereby the self-propelled modules 200 can expand or deploy the connecting structure on the water and / or on the surface of the water by applying a tractive force from the self-propelled modules 200 to the connecting structure.

[0134] It is further noted that the above-mentioned cluster self-propelled modules (not shown) can be formed from self-propelled modules 200 housed within at least one of the parking areas 100 that are part of system 500-2, self-propelled modules 200 guided into a predetermined spatial region from at least one of the parking areas 100 that are part of system 500-2, self-propelled modules 200 present in a predetermined spatial region as part of a formed three-dimensional object, and / or self-propelled modules released from at least one of the parking areas that are part of at least one other system for forming a three-dimensional object similar to system 500-2.

[0135] When discharged or when the mileage is reduced to a predetermined limit, the cluster self-propelled module (not shown) that is part of the formed three-dimensional object can be replaced with another (charged) cluster self-propelled module or at least one different charged self-propelled module in the air, on water, underwater, and / or on land (ground) in the process of forming the three-dimensional object, in the process of storing the discharged cluster self-propelled module on one of the tarmacs 100 that are part of the system 500-2, in the process of remaining as part of the three-dimensional object, in the process of dismantling the three-dimensional object, or in the process of being guided to a given spatial region. During the replacement of the discharged cluster self-propelled module (not shown) with the charged cluster self-propelled module or at least one different charged self-propelled module, the discharged self-propelled module may be guided to one of the tarmacs 100 to be accommodated therein or thereon, allowing such cluster self-propelled module to be further stored and / or have its mileage replenished at the tarmac 100. Alternatively, during replacement of a discharged cluster self-propelled module (not shown) with a charged cluster self-propelled module, the self-propelled modules 200 that are part of the discharged cluster self-propelled module (not shown) that have been detached from a three-dimensional object formed in the air, on water, underwater and / or on land (ground) in a predetermined spatial region may be at least partially detached from interacting with each other so that each of the self-propelled modules 200 can be guided to a respective one of the parking areas 100 (i.e., such self-propelled modules 200 can fly away from each other so as to break down such cluster self-propelled module into different self-propelled modules 200 or separate component parts of the cluster self-propelled module), thereby allowing the discharged self-propelled module 200 to be stored in the parking area 100, enabling further storage thereof at the parking area 100 and / or enabling replenishment of the mileage of at least one of the discharged self-propelled modules 200.

[0136] Furthermore, at least one or each of the self-propelled modules 200 that are part of system 500-2 and each include a housing 210 and are configured to accommodate such self-propelled modules 200 in one of the parking areas 100 that are part of system 500-2, and a controlled propulsion unit 220 attached or fixed to the housing 210 enables the self-propelled modules 200 to move through the air, on land (ground), on water, and / or underwater, and / or across the surface of a stationary or movable physical object located in at least one of the air space, ground space, water space, and underwater space, and is configured to change its shape and / or size. Further, the housing 210 of any one of the self-propelled modules 200 shown in Figures 2 and 3 is provided with a control unit (not shown) that is communicatively coupled to each of the propulsion units 220 and the above-mentioned control device of system 500-2, and the control unit of the self-propelled module 200 is further configured to control the operation of the propulsion units 220, including in response to navigation commands or control commands received from the control device of system 500-2, thereby essentially enabling the control device of system 500-2 to use at least one of the propulsion units 220 of this self-propelled module 200 to move the self-propelled module 200 from the parking area 100 to a predetermined spatial area, and to store this self-propelled module 200 in a predetermined spatial location according to a model of a three-dimensional object to form at least a portion of a predetermined three-dimensional object 300.

[0137] Notably, the housing 210 of at least one or each of the self-propelled modules shown in Figures 2-3 may be provided with one or more controllable propulsion units 200 (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more propulsion units 220). Alternatively, the housing 210 of the self-propelled module shown in Figure 3 may be provided with two or more controllable propulsion units 200, three or more controllable propulsion units 200, four or more controllable propulsion units 200, etc.

[0138] It is further noted that each of the propulsion units 220 in at least one or each of the self-propelled modules 200 that are part of the system 500-2 according to Figures 2-3 and that are used to form the three-dimensional object 300 in a predetermined spatial region can enable the self-propelled module 200 having the propulsion unit 220 attached to its housing 210 to move through the air, on land (ground), on water, and / or underwater, and / or across the surface of a stationary or movable physical object located in at least one of the air space, the ground space, the water space, and the underwater space. In one embodiment of the present invention, at least one of the self-propelled modules 200 that are part of system 500-2 may be provided with only one propulsion unit 220 configured to enable movement of the self-propelled module 200 in at least one, at least two, at least three, or four of the following spaces: airspace (in flight in the air), groundspace (i.e., on the surface of the ground, at least partially buried in the ground and at least partially in the airspace), waterspace (above the surface of the water, at least partially submerged in water and at least partially in the airspace), and underwaterspace (underwater, i.e., completely submerged in water or any other liquid or fluid).In another embodiment of the present invention, at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be provided with two or more propulsion units 220, each configured, or at least one configured, to enable movement of the self-propelled module 200 in at least one, at least two, at least three, or four of the following four spaces: airspace (i.e., in flight in the air, including being on or moving on the surface of a stationary or movable physical object in the air), groundspace (i.e., in flight on the ground, including being on or moving on the surface of a stationary or movable physical object in the air), and groundspace (i.e., in flight on the ground, including being on or moving on the surface of a stationary or movable physical object in the air). above ground (i.e., at least partially buried in ground and at least partially in air space, including being on or moving on the surface of a stationary or movable physical object above water); above water (i.e., at least partially submerged in water and at least partially in air space, including being on or moving on the surface of a stationary or movable physical object above water); and underwater (i.e., completely submerged in water or any other liquid or fluid, including being on or moving on the surface of a stationary or movable physical object underwater).

[0139] 2-3 , a control device of the system 500-2, which controls the operation of the self-propelled modules 200 and / or controls the self-propelled modules 200 by providing navigation commands to its control unit (not shown) while guiding the self-propelled modules 200 to a predetermined spatial region from at least one of the parking areas 100 that are part of the system 500-2, enables each of the guided self-propelled modules 200 to be deposited in a predetermined spatial location from different housings 210 belonging to one of the guided self-propelled modules 200, respectively, in the air, on water, underwater, and / or on land (ground) according to a predetermined model of the three-dimensional object (as described above) known to the control device of the system 500-2, to form at least one three-dimensional object 300 shown in FIG. 2 . It should be noted that the formed three-dimensional object 300 shown in FIG. 2 is substantially just one specific example of such a three-dimensional object that may be formed in the air, on water, underwater, and / or on land (ground) while implementing the above-described system 500-2. Thus, in a predetermined spatial region in the air, on water, underwater, and / or on land (ground), two or more three-dimensional objects 300 can be formed in parallel or sequentially using housings 210 associated with at least some of the self-propelled modules 200 that are guided by a control device of the system 500-2 from corresponding apron 100 toward the spatial region. It is further notable that at least some of the three-dimensional objects 300 formed in the predetermined spatial region according to a predetermined model of the three-dimensional objects can exist in the spatial region independently of each other, i.e., without physical interaction or physical contact with each other, and / or can exist in the spatial region in a manner that allows for physical interaction or physical contact with each other, including during the movement or locomotion of at least one of the three-dimensional objects interacting in the spatial region.

[0140] In particular, the self-propelled module 200 according to Figures 2-3 can be installed at respective spatial locations within a predetermined spatial region according to a predetermined model of a three-dimensional object such that the three-dimensional object 300 formed from the housing 210 of the self-propelled module 200 can generally have the shape of a known three-dimensional geometric object (e.g., a cube, pyramid, parallelepiped, sphere, tetrahedron, etc.), any other suitable regular or irregular three-dimensional shape, or any three-dimensional object known in the prior art, or can be devised by a user, including three-dimensional objects having any regular shape, curved shape, concave shape, convex shape, irregular shape, or a shape resembling any animate or inanimate object known in the prior art.

[0141] The control device of system 500-2 is configured to issue control commands to at least one of the self-propelled modules 200, whose housings 210 form the three-dimensional object 300 and are substantially present as part of this three-dimensional object 300 in the predetermined spatial region, to enable changing the shape and / or size of at least a portion of the housing of at least one self-propelled module 200 for at least partial modification of the geometry of the formed three-dimensional object. In other words, the control commands indicated to the control units of the self-propelled modules 200 by the control device of system 500-2, which substantially control the operation of functional means, described below, that are integrated into the housing 210 of this self-propelled module 210 and are operatively coupled to or configured to interact with it to enable changing the shape and / or size of this housing 210, generally enable changing the geometry (i.e., outline or contour) of at least a portion of the formed three-dimensional object 300 that corresponds to the housing 210, in an altered shape and / or size. Thus, in the present invention, there may be cases where the formed three-dimensional object 300 includes only one self-propelled module 200 whose housing 210 can be deformed in one of the ways described below such that its shape and / or size can be changed, and all other self-propelled modules 200 that are part of the three-dimensional object 300 may each have a housing 210 that is not deformable (i.e., a housing 210 that has a fixed and non-alterable shape and size). Furthermore, in the present invention, there may be cases where the formed three-dimensional object 300 includes two, three, four, five, six, seven, eight, nine, ten, or more self-propelled modules 200, each of whose housing 210 can be configured to deform or change its shape and / or size in one of the ways described below.

[0142] 2-3 , at least one housing 210 of a self-propelled module 200 that is part of system 500-2 is configured to be flexible or elastic, and the self-propelled module 200 is further provided with one or more controllable actuating members (not shown), each at least partially attached or fixed to the interior space of the housing 210 and each configured to interact with at least one structural portion of the housing 210 while moving or displacing the movable actuating member in response to a respective control command. Thus, the movable actuating members of the self-propelled module 200 can all enter into interaction with one and the same structural portion of the housing 210, or different structural portions of the housing 210, as a result of being moved or displaced. Furthermore, in the present invention, there may be cases where at least one of the movable actuating members of the self-propelled module 200 can enter into interaction with, or simultaneously interact with, two, three, four, five, six, seven, eight, nine, ten, or more structural portions of the housing 210. The interaction of at least one movable actuating member of self-propelled module 200 with at least one structural portion of housing 210 can result in at least partial change in the shape and / or size of housing 210 by applying a force or forces of various types, levels and directions to at least one portion of housing 210 (particularly by bending or curving a portion of housing 210, or pushing or compressing a portion of housing 210, or stretching or pulling a portion of housing 210, or recessing or indenting a portion of housing 210, or by other characteristic causes), and such change in shape and / or size of housing 210 can be achieved not only in the area of ​​housing 210 corresponding to the portion of housing 210 that comes into interaction with the actuating member of self-propelled module 200, but also in the area of ​​housing 210 surrounding the portion of housing 210, or throughout housing 210. To move or displace the movable actuating members of the self-propelled module 200, the self-propelled module 200 further includes at least one drive unit (not shown) that is at least partially mounted in the interior space of the housing 210 and controlled by the control unit of the self-propelled module 200, the drive unit being capable of receiving control commands from the control device of the system 500-2. The drive units of the self-propelled module 200 are operatively coupled to each of the movable actuating members (in particular, directly, using a coupling element or using two or more coupling elements operatively coupled to each other) and are capable of transmitting force generated by the drive unit to at least one of the movable actuating members of the self-propelled module 200 to move or displace the at least one movable actuating member in response to control commands of the control device of the system 500-2 that are presented to the drive unit by the control unit of the self-propelled module 200. Thus, in the present invention, there may be cases where the self-propelled module 200 comprises only one drive device (not shown) operably coupled to one movable actuating member of the self-propelled module 200, or operably coupled to two or more movable actuating members of the self-propelled module 200, so as to enable them to move or displace substantially simultaneously or (alternatively) sequentially. Furthermore, in the present invention, there may be cases where the self-propelled module 200 comprises two drive devices (not shown), both operably coupled to one and the same movable actuating member of the self-propelled module 200. In the present invention, the self-propelled module 200 comprises two drive units (not shown) operably coupled to different movable actuating members of the self-propelled module 200, or to a group / plurality of different movable actuating members, which may be formed from individual movable actuating members of the self-propelled module 200, or from movable actuating members of the self-propelled module 200 that are operably coupled to each other, respectively, and there may be cases where both drive units are moved (in particular, simultaneously or sequentially) or only one of these drive units can be moved in response to a control command from the control device of the system 500-2.Furthermore, in the present invention, there may be cases where the self-propelled module 200 comprises one or more drive devices (not shown), each of which is operably coupled to at least two movable actuating members of the self-propelled module 200, and which, when actuated, make it possible to move or displace only one of the movable actuating members or at least one of the at least two movable actuating members (in particular by using auxiliary technical means and / or devices operably coupled to at least one or each of the movable actuating members and which make it possible to prevent the movement of the remaining movable actuating members, and which are, for example, under the control of the control unit of the self-propelled module 200).

[0143] In one embodiment of the invention, the housing 210 of at least one of the self-propelled modules 200 that are part of the system 500-2 may be configured to be flexible or resilient, and the self-propelled module 200 may further be provided with one or more movable actuating members (not shown), each at least partially attached or fixed to the interior space of the housing 210, and each operably coupled to at least one structural portion of the housing 210. Thus, the movable actuating members of the self-propelled module 200 may be moved or moved in response to respective control commands to act (transmit acting forces to) one and the same structural portion of the housing 210, or to different structural portions of the housing 210. Furthermore, in this embodiment of the invention, there may be cases where at least one of the movable actuating members of the self-propelled module 200 may be operably coupled to two, three, four, five, six, seven, eight, nine, ten, or more structural portions of the housing 210 simultaneously. In this embodiment of the present invention, the operative coupling of at least one movable actuating member of self-propelled module 200 with at least one of the structural portions of housing 210 results in the shape and / or size of housing 210 being at least partially altered by applying a force or forces of various types, levels and directions to at least one portion of housing 210 (e.g., by bending or curving a portion of housing 210, pushing or compressing a portion of housing 210, stretching or pulling a portion of housing 210, or recessing or indenting a portion of housing 210, among other things), and such alteration of the shape and / or size of housing 210 can be achieved not only in the area of ​​housing 210 corresponding to the portion of housing 210 to which the actuating member of self-propelled module 200 is operatively coupled, but also in the area of ​​housing 210 surrounding the portion of housing 210, or throughout housing 210.In this embodiment of the present invention, in order to move or displace the movable actuating members of the self-propelled module 200, the self-propelled module 200 further comprises at least one drive unit (not shown) that is at least partially mounted in the interior space of the housing 210 and controlled by the control unit of the self-propelled module 200, and the drive unit is capable of receiving control commands from the control device of the system 500-2; generally, the drive units of the self-propelled module 200 in this embodiment of the present invention are configured to be operably coupled to the corresponding movable actuating members of the self-propelled module 200 and function (operate) in the same manner as the drive units described above for the preferred embodiment of the self-propelled module 200. In one variation of this embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be configured to be only partially flexible or elastic and may be configured to be operably coupled to or functionally interact with a movable actuation member, while the remainder of the housing 210 may be configured to be one-piece or composite (assembleable) and may have an unalterable shape and size (it may be configured to be rigid such that its shape and / or size cannot be changed while any acting force is being applied or transmitted).

[0144] In another embodiment of the invention, at least one housing 210 of a self-propelled module 200 that is part of system 500-2 may be made from parts or plates (particularly, at least two parts or plates) that are coupled to each other or configured to be displaced relative to each other so as to at least partially change the shape of the housing 210, and at least one self-propelled module 200 may further be provided with one or more movable actuating members (not shown), each of which is configured to be operatively coupled to or interact with at least one of the parts or plates of the housing 210 so as to move or translate the movable actuating members and enable their displacement relative to each other. Notably, the parts or plates of the housing 210 may all be configured rigidly, all be configured flexible or resilient, or some of the component parts or plates of the housing 210 may be configured rigidly and other parts of the component parts or plates of the housing 210 may be configured flexible or resilient. The movable actuating members of self-propelled module 200 may be moved or moved to act (transmit a force) on one and the same part or plate of housing 210, or on different parts or plates of housing 210. Thus, in this embodiment of the invention, there may be cases where the parts or plates forming housing 210 in self-propelled module 200 may be operatively coupled to one another using flexible or movable joints that allow for displacement of the parts or plates of housing 210 upon application of one or more forces from corresponding actuating members of movable module 200, for example.Furthermore, in this embodiment of the invention, the portions or plates forming housing 210 in self-propelled module 200 may be disposed at a predetermined distance from one another (i.e., a gap, a clearance, or a slotted opening, for example, is provided between adjacent component portions or plates of housing 210), or may be disposed immediately adjacent to one another to form a generally continuous surface of housing 210 (so that when at least one force is applied to, or at least one of, such component plates of housing 210, or at least one of the component plates of housing 210, the at least one force is transmitted to at least one of the component plates of housing 210). In some cases, the movable modules 200 may be configured to be displaced relative to one another (one at a time, in pairs, groups, sets, multiples, etc.) along at least one of three spatial axes (particularly along one spatial axis, two spatial axes, or three spatial axes) while applying one or more acting forces from each actuating member of the movable modules 200 such that, when a force is reached, the movable modules 200 are free to disengage from contact or interaction with one another, and at least some of the displaced portions or plates from the housing 210 can interact with one another in the mutual displacement process and remain in an interacting state even after the displacement process is completed. The displacement of the portions or plates forming the housing 210 of the self-propelled module is substantially caused by applying one or more acting forces of various types, levels, and directions to the displaced portions or plates of the housing 210, thereby making it possible to at least partially change the shape and / or size of the housing 210. It is noteworthy that when the housing 210 is made of rigid component parts or plates, at least partial changes in the shape and / or size of the housing 210 may be substantially caused by an increase or decrease in the distance between at least some of the component parts or plates of the housing 210, and / or by a spatial displacement of at least some of the component parts or plates of the housing 210 relative to each other, and / or by a tilt or rotation of at least some of the component parts or plates of the housing 210 relative to each other, and / or by other characteristic causes.It is further noted that, if housing 210 is made of flexible or elastic component parts or plates, the at least partial change in shape and / or size of housing 210 may occur due to at least one of the above causes specific to rigid component parts or plates of housing 210, and may also occur by bending or curving at least some of the component parts or plates of housing 210, and / or by pushing or compressing at least some of the component parts or plates of housing 210, and / or by stretching or pulling at least some of the component parts or plates of housing 210, and / or by indenting or hollowing at least some of the component parts or plates of housing 210, and / or by other characteristic causes. Furthermore, in this embodiment of the present invention, there may be instances where at least one of the movable actuating members of self-propelled module 200 may be operatively coupled to two, three, four, five, six, seven, eight, nine, ten, or more component parts or plates of housing 210 simultaneously. In this embodiment of the present invention, in order to move or displace the movable actuating members of the self-propelled module 200, the self-propelled module 200 further comprises at least one drive unit (not shown) that is at least partially mounted in the interior space of the housing 210 and controlled by the control unit of the self-propelled module 200, and the drive unit is capable of receiving control commands from the control device of the system 500-2; generally, the drive units of the self-propelled module 200 in this embodiment of the present invention are configured to be operably coupled to the corresponding movable actuating members of the self-propelled module 200 and function (operate) in the same manner as the drive units described above for the preferred embodiment of the self-propelled module 200.In one variation of this embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be made only partially from the above-mentioned component parts or plates that are configured to be connected to each other or displaced relative to each other, and in particular may include only two, three, four, five, or more such component parts or plates, and the remaining parts of the housing 210 may be configured to be unitary or composite (assembleable) and may have an unalterable shape and size (can be configured to be rigid so that its shape and / or size cannot be changed while any acting force is applied or transmitted).

[0145] In yet another embodiment of the present invention, at least one housing 210 of a self-propelled module 200 that is part of system 500-2 may be made of movable parts or movable plates (particularly, at least two movable parts or plates), each of which is configured to change its spatial position and / or spatial orientation so as to at least partially change the shape of the housing 210, and at least one self-propelled module 200 may further be provided with one or more movable actuating members (not shown), each of which is configured to be operatively coupled to or interact with at least one of the movable parts or plates of the housing 210 so as to move or translate the movable actuating members and thereby enable their displacement relative to one another. It is worth noting that the movable parts or plates of the housing 210 may all be configured rigidly, or all be configured flexible or elastically, or some of the movable parts or plates of the housing 210 may be configured rigidly and other parts of the movable parts or plates of the housing 210 may be configured flexible or elastically. The movable actuating members of self-propelled module 200 may be moved or moved to act (transmit a force) on one and the same movable part or plate of housing 210, or on different movable parts or plates of housing 210. Thus, in this embodiment of the invention, there may be cases where the movable parts or plates forming housing 210 of self-propelled module 200 may be operatively coupled to one another using flexible or movable joints that allow the spatial position and / or spatial orientation of the movable parts or plates of housing 210 to be changed upon application of one or more forces from corresponding actuating members of movable module 200, for example.Furthermore, in this embodiment of the present invention, there may be cases where the movable parts or plates forming the housing 210 in the self-propelled module 200 are arranged at a predetermined distance from each other (i.e., for example, a gap, a gap, or a slotted opening is provided between adjacent movable parts or plates of the housing 210), or are arranged immediately adjacent to each other so as to form a generally continuous surface of the housing 210 (so as to be freely released from mutual contact or interaction when at least one acting force is applied to, or at least one of, such movable plates of the housing 210, or when at least one acting force is transmitted to, at least one of the movable plates of the housing 210), and are configured to change their spatial position and / or spatial orientation when one or more acting forces are applied from each actuating member of the movable module 200, and at least some of the movable parts or plates of the housing 210 interact with each other in the process of changing their spatial position and / or spatial orientation, and can maintain a state of interaction even after the process of changing their spatial position and / or spatial orientation. The change in the spatial position and / or spatial orientation of the movable parts or plates forming the housing 210 of the self-propelled module is substantially caused by applying one or more forces of various types, levels, and directions to the movable parts or plates of the housing 210, thereby at least partially changing the shape and / or size of the housing 210. It is noteworthy that when the housing 210 is made of rigid movable parts or plates, the at least partial change in the shape and / or size of the housing 210 can be substantially caused by an increase or decrease in the distance between at least some of the movable parts or plates of the housing 210 and / or the spatial displacement of at least some of the movable parts or plates of the housing 210 relative to each other, and / or by a tilt or rotation of at least some of the movable parts or plates of the housing 210 relative to each other, and / or other characteristic causes.It is further noted that, if housing 210 is made of flexible or elastic movable parts or plates, the at least partial change in shape and / or size of housing 210 may occur due to at least one of the above causes specific to rigid movable parts or plates of housing 210, and may also occur due to bending or curving at least a portion of the movable parts or plates of housing 210, and / or pushing or compressing at least a portion of the movable parts or plates of housing 210, and / or stretching or pulling at least a portion of the movable parts or plates of housing 210, and / or recessing or indenting at least a portion of the movable parts or plates of housing 210, and / or other characteristic causes. Furthermore, in this embodiment of the present invention, there may be cases where at least one of the movable actuating members of self-propelled module 200 can be operatively coupled to two, three, four, five, six, seven, eight, nine, ten, or more movable parts or plates of housing 210 simultaneously. In this embodiment of the present invention, in order to move or displace the movable actuating members of the self-propelled module 200, the self-propelled module 200 further comprises at least one drive unit (not shown) that is at least partially mounted in the interior space of the housing 210 and controlled by the control unit of the self-propelled module 200, and the drive unit is capable of receiving control commands from the control device of the system 500-2; generally, the drive units of the self-propelled module 200 in this embodiment of the present invention are configured to be operably coupled to the corresponding movable actuating members of the self-propelled module 200 and function (operate) in the same manner as the drive units described above for the preferred embodiment of the self-propelled module 200.In one variation of this embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be made only partially from the above-mentioned movable parts or plates, each configured to change its spatial position and / or spatial orientation, and in particular may include only two, three, four, five, or more such movable parts or plates, and the remaining parts of the housing 210 may be configured to be integral or composite (assembleable) and may have an unalterable shape and size (may be configured rigidly so that its shape and / or size cannot be changed while any force is applied or transmitted).

[0146] In some embodiments of the invention, in at least one of the self-propelled modules 200, the housing 210 may be at least partially flexible or resilient, and / or made at least partially of rigid component parts or plates, and / or made at least partially of flexible component parts or plates, and / or made at least partially of rigid movable parts or plates, and / or made at least partially of flexible or resilient movable parts or plates. In other words, the housing 210 of at least one of the self-propelled modules that is part of system 500-2 may have design features corresponding to any one of the above combinations (i.e., may have multiple parts, each having one of the above features of the embodiments of the housing 210), the features of each such combination embodiment being substantially as described above in the description of the specific embodiments of the invention for the housing 210.

[0147] According to one embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of system 500-2 and used to form the three-dimensional object 300 may be fitted with an independently movable element (not shown) configured to move within the housing 210 under the control of a control unit of the self-propelled module 200 to move the self-propelled module 200 through space. The control unit of the self-propelled module 200, which controls the operation of such an independently movable element, may actuate the movable element to enable its movement, switch the movable element off to enable its stopping, as well as change the operating parameters of the movable element (e.g., the speed of movement). By way of illustration, the independently movable element of the self-propelled module 200 may be configured in the form of a ball or sphere that moves within the confines of the self-propelled module housing 210. As another example, the independently movable element of the self-propelled module 200 may be configured in the form of a controlled device or object of any shape that can tumble or tip over within the interior space of the self-propelled module housing 210. As another example, an independently movable element of self-propelled module 200 may have a displaced center of gravity, which facilitates the task of enabling movement of such movable element within the interior space of self-propelled module housing 210. Thus, an independently movable element of self-propelled module 200 disposed in self-propelled module housing 210 may act inwardly on housing 210 during movement within the confines of the housing under the control of a control unit of self-propelled module 200, enabling self-propelled module housing 210, and therefore self-propelled module 200 itself, to move.

[0148] According to another embodiment of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of system 500-2 and used to form the three-dimensional object 300 can be provided with a drive device (not shown) operably coupled to the housing 210 or configured to act on the housing 210 to enable movement of the housing 210 and move the self-propelled module 200 in space, and such drive device is under the control of a control unit of the self-propelled module 200, such that operating parameters of the drive device can be switched on, switched off, or changed by the control unit issuing respective control commands to the drive device, and the control commands for the control unit of the self-propelled module 200 are generated by this control unit in response to corresponding control commands of the control device of system 500-2.

[0149] In another embodiment of the invention, the housing 210 of at least one or each self-propelled module 200 that is part of system 500-2 can be a foldable mesh (not shown) configured to enclose the at least one self-propelled module when unfolded. The self-propelled module 200 in this embodiment of the invention further includes a drive under the control of the control unit of the self-propelled module 200, the drive configured to receive control commands from the control device of system 500-2, and operably coupled to the mesh (not shown) so as to be able to unfold or unfold it while forming the three-dimensional object 300 in response to the control commands of the control device of system 500-2. Notably, in this embodiment of the present invention, the mesh of self-propelled module 200 can exist in two states: a folded or bent state, which corresponds to the initial position of the mesh of self-propelled module 200, in which the mesh of self-propelled module 200 exists during movement of self-propelled module 200 (e.g., while self-propelled module 200 moves to a predetermined spatial region and / or predetermined spatial location, including movement from one of the parking areas 100, and in the process of moving self-propelled module 200 to one of the parking areas 100 while dismantling three-dimensional object 300); and an expanded state, in which the mesh of self-propelled module 200 exists while self-propelled module 200 exists as part of the three-dimensional object. The mesh of self-propelled module 200 in the bent state is at its smallest size, and the mesh of self-propelled module 200 in the expanded state is at its largest size.

[0150] In other embodiments of the present invention, housing 210 in each or at least one of self-propelled modules 200 that are part of system 500-2 and used to form three-dimensional object 300 may be formed from separate functional parts (not shown) and may include a drive device (not shown) operably coupled to the functional parts, allowing the extension or deployment of these functional parts to change the shape, size, and / or contour of housing 210, and thereby change at least a portion of three-dimensional object 300 corresponding to self-propelled module 200.

[0151] In some other embodiments of the present invention, the housing 210 in each or at least one of the self-propelled modules 200 that are part of system 500-2 and used to form three-dimensional object 300 may be formed from different controllable functional portions (not shown), and the control unit of self-propelled module 200 may be communicatively coupled to the controllable functional portions to enable displacement (change of spatial location) of the functional portions relative to one another in response to control commands of the control unit, which control commands may be generated by the control unit of self-propelled module 200 in response to corresponding control commands of a control device of system 500-2 to change the shape, size, and / or contour of housing 210.

[0152] In some other embodiments of the present invention, housing 210 in each or at least one of self-propelled modules 200 that are part of system 500-2 and used to form three-dimensional object 300 may be formed from different controllable functional portions (not shown), and a control unit of self-propelled module 200 may be communicatively coupled to the controllable functional portions, enabling the expansion or deployment of these functional portions in response to control commands from the control unit to change the shape, size, and / or contour of housing 210.

[0153] According to one embodiment of the present invention, at least two of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300 may each be further provided with one or more spring-loaded or flexible connecting elements (not shown), enabling the at least two self-propelled modules 200 to be detachably coupled to each other while forming the three-dimensional object 300, and changing the spatial location and / or spatial orientation of at least one of the at least two self-propelled modules 200 to at least partially change the geometry of the three-dimensional object 300 (i.e., the shape, size and / or contour of the three-dimensional object 300). Thus, a flexible coupling element (not shown), which may be provided on at least some of the housings 210 of, or each of, the self-propelled modules 200 that are part of system 500-2 and used to form three-dimensional object 300, effectively provides a movable coupling between the housings 210 of the self-propelled modules 200, thereby allowing these self-propelled modules 200 and / or their housings 210 to form three-dimensional object 300, but along at least one of the three coordinate axes (x, y, z) (e.g., along only one of the three coordinate axes, or along any two of the three coordinate axes at the same time). The self-propelled modules 200 may be displaced relative to the remaining self-propelled modules 200 that are not provided with similar flexible connecting elements (along one of the three coordinate axes or along all three coordinate axes simultaneously), allowing the spatial location and / or spatial orientation of the self-propelled modules 200 to be changed, including by tilting or rotating the self-propelled modules 200 relative to each other and / or relative to the remaining self-propelled modules 200 to change the shape, size, and / or contour of at least a portion of the formed three-dimensional object 300 that corresponds to the housing 210 whose spatial location has been changed and / or the housing 210 whose spatial tilt has been changed as part of the three-dimensional object 300.It is further noted that in this embodiment of the present invention, changing the spatial location and / or spatial orientation of at least one of the self-propelled modules 200 having a flexible connecting element (not shown) provided on its housing 210 can be performed manually by a user or using special improvised means that can be operated by a user, and at least one housing 210 of such self-propelled module 200 with a flexible connecting element can further be provided with at least one fixing means or lock (not shown) for fixing the changed spatial location and / or changed spatial orientation of at least one self-propelled module 200 relative to the remaining self-propelled modules 200 of which that housing 210 forms the three-dimensional object 300. Furthermore, at least two of the self-propelled modules 200 that are part of the system 500-2 are each further provided with a flexible connecting element (not shown). In one variation of this embodiment of the present invention, at least one or each of the at least two self-propelled modules 200 may further be provided with a drive device (not shown) under the control of the control unit of the self-propelled module 200, which drive device can receive control commands from the control device of the system 500-2 and is operably coupled to the above-mentioned flexible connecting element (not shown) of at least one self-propelled module 200 so as to change its spatial location and / or its spatial orientation, thereby at least partially changing the geometry of a previously formed or newly formed three-dimensional object 300 (i.e., changing the shape, size, and / or outline of such three-dimensional object 300).

[0154] According to another embodiment of the present invention, at least two of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300 may each further be provided with one or more movable joints (not shown), allowing the at least two self-propelled modules 200 to be detachably coupled to each other while forming the three-dimensional object 300, and the spatial location and / or spatial orientation of at least one of the at least two self-propelled modules 200 to at least partially change the geometry of the three-dimensional object 300 (i.e., the shape, size and / or contour of the three-dimensional object 300). Thus, a movable joint (not shown), which may be provided on at least some of the housings 210 of, or each of, the self-propelled modules 200 that are part of system 500-2 and used to form three-dimensional object 300, effectively provides a movable connection between the housings 210 of the self-propelled modules 200, thereby allowing these self-propelled modules 200 and / or their housings 210 to move relative to each other and / or their housings 210 to form three-dimensional object 300, but along at least one of the three coordinate axes (x, y, z) (e.g., along only one of the three coordinate axes, or along any two of the three coordinate axes at the same time). The self-propelled modules 200 can be displaced relative to the remaining self-propelled modules 200 that do not have similar movable joints (along one of the three coordinate axes, or along all three coordinate axes simultaneously), and can be tilted or rotated relative to each other and / or the remaining self-propelled modules 200 to change the shape, size, and / or contour of at least a portion of the formed three-dimensional object 300 that corresponds to the housing 210 whose spatial location has been changed and / or the housing 210 whose spatial tilt has been changed as part of the three-dimensional object 300.It is further noted that in this embodiment of the present invention, changing the spatial location and / or spatial orientation of at least one of the self-propelled modules 200 having a movable joint (not shown) in its housing 210 can be performed manually by a user or using special improvised means that can be operated by a user, and at least one housing 210 of such self-propelled module 200 with a movable joint can further be provided with at least one fixing means or lock (not shown) for fixing the changed spatial location and / or changed spatial orientation of the at least one self-propelled module 200 relative to the remaining self-propelled modules 200 of which that housing 210 forms the three-dimensional object 300. Furthermore, in one variation of this embodiment of the present invention, at least two of the self-propelled modules 200 that are part of the system 500-2 are each further provided with a movable joint (not shown). At least one or each of the at least two self-propelled modules 200 may further be provided with a drive device (not shown) under the control of the control unit of the self-propelled module 200, which drive device can receive control commands from the control device of the system 500-2 and is operably coupled to the above-mentioned movable joint (not shown) of at least one self-propelled module 200 so as to change its spatial location and / or its spatial orientation, thereby at least partially changing the geometry of a previously formed or newly formed three-dimensional object 300 (i.e., changing the shape, size, and / or outline of such three-dimensional object 300).

[0155] According to yet another embodiment of the present invention, at least one of the self-propelled modules 200 guided to a predetermined spatial region in response to a respective navigation command from the control device of system 500-2 may further be provided with a gripping device or grip (not shown) configured to move and / or position at least one other self-propelled module of the guided self-propelled modules 200 while forming the three-dimensional object 300 from the housing 210 of the self-propelled module 200, in particular while forming at least a part of the three-dimensional object 300 from the housing 210 associated with the self-propelled modules 200 that interact with each other by means of the gripping means. Notably, in this embodiment of the invention, a gripper (not shown) that may be provided on housing 210 of at least one of self-propelled modules 200 used to form three-dimensional object 300 may be under the control of a control unit of self-propelled module 200, which may receive control commands for controlling the gripper from a control device of system 500-2, and self-propelled module 200 with a gripper may further include at least one drive device for actuating the gripper, particularly its functional elements. In one variation of this embodiment of the invention, the gripper of self-propelled module 200 may be configured in the form of a robotic manipulator or robotic arm configured to detachably grip an object, particularly self-propelled module 200.

[0156] In another embodiment of the invention, system 500-2 further includes one or more structural modules (not shown), and at least one of the self-propelled modules 200 that are guided to the predetermined spatial region in response to respective navigation commands from the control device of system 500-2 may further be provided with a gripping device or gripper (not shown) configured to move and / or position at least one of the structural modules to form at least a portion of three-dimensional object 300 from the self-propelled module housing 210 and the structural module (not shown). Thus, the gripper (not shown) of the movable module 200 grips the structural module of system 500-2 to enable its proper positioning or movement relative to at least one other movable module 200 of the movable modules 200 used to form three-dimensional object 300. It is notable that, in this embodiment of the present invention, a gripper (not shown) may be provided on the housing 210 of at least one of the self-propelled modules 200 used to form the three-dimensional object 300, and the control unit may be under the control of the control unit of the self-propelled module 200, which may receive control commands for controlling the gripper from the control device of the system 500-2, and the self-propelled module 200 including the gripper may further include at least one drive device for actuating the gripper, particularly its functional elements. It is further notable that, in this embodiment of the present invention, the size, shape, manufacturing material, weight, etc. of each of the structural modules of the system 500-2 are not specifically limited in any way. Illustratively, at least one of the structural modules of the system 500-2 may be configured in the form of bricks, cement blocks, metal beams, composite arches, or the like of any shape and size.In one variation of this embodiment of the invention, the gripping unit of self-propelled module 200 can be in the form of a robotic manipulator or robotic arm configured to detachably grip an object, in particular a structural module of system 500-2, and each of such structural modules of system 500-2 can further be provided with a device or means, such as an eyelet, a hook, an eye ring, or the like, that facilitates gripping, lifting, holding, suspending, and / or moving in space the structural modules of system 500-2. In another variation of this embodiment of the invention, at least a portion of self-propelled modules 200 used to form three-dimensional object 300 and at least a portion of the structural modules of system 500-2 can each be provided with at least one fastening means (not shown), such that the gripping unit of self-propelled module 200 can further detachably secure each gripped structural module of system 500-2 to at least one other self-propelled module 200 by interacting with the respective fastening means.

[0157] In yet another variation of this embodiment of the present invention, in which system 500-2 further includes one or more structural modules, at least one of the structural modules of system 500-2 may have a deformable housing configured to deform in response to a control command, allowing at least a portion of the housing of the structural module of system 500-2 to change shape and / or size, and the control device of system 500-2 may be configured to present a control command to at least one structural module of system 500-2 to deform its housing. It is noteworthy that due to the deformation of the housing of each structural module of system 500-2, the geometry of the formed three-dimensional object 300 may be at least partially changed, particularly in parts of the three-dimensional object 300 that correspond to at least the structural modules of system 500-2 that are part of the three-dimensional object 300, particularly in parts of the three-dimensional object 300 that correspond to the structural modules of system 500-2 that are part of the three-dimensional object 300, and the self-propelled module 200, whose spatial location depends on the structural modules of system 500-2, may be changed accordingly as a result of the structural modules of system 500-2 transitioning to a deformed state or as a result of the deformation of the structural modules of system 500-2.

[0158] According to some other embodiments of the present invention, while using a drive device (not shown) as part of the self-propelled module 200, as described herein for some embodiments of the present invention, such self-propelled module can be further configured to present data regarding the operation of its drive device to the control device of system 500-2 in real time, allowing replacement with at least one other self-propelled module 200 from among a self-propelled module 200 present on an apron 100 that is part of system 500-2, a self-propelled module 200 present in a given spatial region while forming a three-dimensional object 300, a self-propelled module 200 guided by the control device of system 500-2 from the corresponding apron 100 to the given spatial region to form the three-dimensional object 300, a self-propelled module forming another three-dimensional object different from three-dimensional object 300, and / or a self-propelled module 200 that is released as a result of dismantling another three-dimensional object different from three-dimensional object 300 in the event of a failure of the drive device of the self-propelled module 200. Thus, in one variation of this embodiment of the invention, the system 500-2 may include at least two self-propelled modules, at least one or each of which may be further configured to present data regarding the operation of its drive unit to a control device of the system 500-2 in real time, such that in the event of a drive unit failure, it may be replaced with at least one other self-propelled module 200 from at least one of the parking areas 100 that are part of the system 500-2. In another variation of this embodiment of the invention, the system 500-2 may include one or more self-propelled modules, at least one or each of which may be further configured to present data regarding the operation of its drive unit to a control device of the system 500-2 in real time, such that in the event of a drive unit failure, it may be replaced with at least one other self-propelled module 200 from at least one of the parking areas 100 that are part of the system 500-2.

[0159] According to some other embodiments of the present invention, the control device of system 500-2 may be further configured to present navigation commands to at least a portion, at least one (one or more), or at least two (two or more) of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300, allowing the geometry of the three-dimensional object 300 (i.e., the shape, size and / or contour of the three-dimensional object 300) to be at least partially changed.

[0160] According to another embodiment of the present invention, the self-propelled modules 200 whose housings 210 form the three-dimensional object 300 can be divided into at least two groups, and the self-propelled modules 200 in one of the at least two groups can have a different movement speed and / or movement direction than the self-propelled modules 200 in the other of the at least two groups.

[0161] According to another embodiment of the present invention, the self-propelled modules 200, whose housings 210 form the three-dimensional object 300, can be divided into at least two groups, and the self-propelled modules 200 in one of the at least two groups can have different overall dimensions, housing shapes, operating parameters, self-propelled module types, and / or self-propelled module power source types, and / or self-propelled module species than the self-propelled modules 200 in the other of the at least two groups. Notably, the system 500-2 can generally include the following types of self-propelled modules 200: terrestrial self-propelled modules 200, water self-propelled modules 200, underwater self-propelled modules 200, and air self-propelled modules 200. It is further notable that each type of self-propelled module 200 can include various types of self-propelled modules 200 known in the art. For example, in terms of airborne self-propelled modules 200, the following types of self-propelled modules 200 known in the prior art can be distinguished: aircraft, helicopters, gliders, aerostats, balloons, drones, etc.

[0162] According to some embodiments of the present invention, at least one or at least some (e.g., at least two) of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300 can each be further configured to maintain its previously occupied spatial location while forming the three-dimensional object 300 for a predetermined period of time, in particular for a period of time corresponding to the time of forming the entire three-dimensional object 300 or the time of forming at least a portion of the three-dimensional object 300 according to a given model of the three-dimensional object, thereby allowing the formed three-dimensional object 300 to remain in a predetermined position for at least a period of time.

[0163] According to some other embodiments of the present invention, the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 can be divided into two or more groups, and the control device of system 500-2 can enable the formation of a single or one three-dimensional object 300 using all of the groups of self-propelled modules 200. In one variation of this embodiment of the present invention, one of the groups of self-propelled modules 200 can be configured to form a portion of three-dimensional object 300, and another of the groups of self-propelled modules 200 can be configured to form a different portion of three-dimensional object 300.

[0164] According to various embodiments of the present invention, at least some or each of the self-propelled modules that are part of system 500-2 and whose housings 210 form three-dimensional object 300 can each be further configured to change their spatial location according to a given model of the three-dimensional object, allowing at least a portion of three-dimensional object 300 to move in space. In other words, one or more self-propelled modules 200 that are part of the formed three-dimensional object 300 can move from their initial spatial location as part of three-dimensional object 300 where the self-propelled module resides in a static or immovable state according to a predetermined movement trajectory or a predetermined movement path that corresponds to the given model of the three-dimensional object, and then return to the initial spatial location where the self-propelled module also resides in a static or immovable state, or stop at (occupy) a new spatial location, thereby making at least a portion of three-dimensional object 300, the portion corresponding to self-propelled module 200 that is moved in space, movable or dynamic. Each self-propelled module 200 moved within space can move within the limits of at least one of land space, water space, air space, and underwater space (including the surface of another physical object that is at least partially located in at least one of the spaces), or within the limits of any combination of spaces, such that the portion of the three-dimensional object 300 corresponding to the self-propelled module 200 moved within space can: (i) move during an entire cycle of movement within the limits of one and the same space (e.g., only in air space), or (ii) moving in one of the spaces (e.g., in the water space) for part of the cycle of movement and moving in the other of the spaces (e.g., in the underwater space) for the remainder of the cycle, or (iii) passing sequentially from one of the spaces to at least one other space (e.g., starting movement in the ground space, then passing into the water space, then diving into the underwater space, then returning to the water space again, then taking off from the water space into the air space, and finally landing from the air space into the ground space), so as to form a closed cycle, etc.

[0165] According to various other embodiments of the present invention, the control device of system 500-2 can be further configured to present data regarding an alteration of at least a portion of three-dimensional object 300 to at least one or a portion of self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300, and each of the portions of self-propelled modules 200 can be further configured to change its spatial position in real time according to the data about the alteration of the portion of the three-dimensional object, so as to form an at least partially altered three-dimensional object. In other words, the previously formed three-dimensional object 300 can be repositioned or modified at any time (e.g., according to user wishes presented in the form of control commands to the control device of system 500-2 using a user device, control panel, or operator control point; the control device of system 500-2 can process the user control commands and, as a result, generate data about the alteration of the three-dimensional object), thereby altering the geometry of at least a portion of the previously formed three-dimensional object 300 or further enabling movement or motion of the portion of three-dimensional object 300. For example, if the three-dimensional object is a bascule bridge, the part of such bascule bridge corresponding to its bascule leaves is initially in a lowered (extended) state and can then be raised by instantly or gradually changing the spatial location of the self-propelled module 200 whose housing 210 forms the bridge leave.

[0166] According to various other embodiments of the present invention, the control device of system 500-2 can be further configured to present data regarding changes to the model of the three-dimensional object to at least a portion or at least one (one or more) of the self-propelled modules that are part of system 500-2 and whose housings 210 form the three-dimensional object 300, and the self-propelled modules 200 can each be further configured to change their spatial position in real time according to the data about the changes to the model of the three-dimensional object, allowing the three-dimensional object or at least a portion thereof to be moved in at least one of the following spaces: on land, on water, underwater, or in air, including the surface of a physical object located in at least one of the spaces.

[0167] In one embodiment of the invention, the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 can be divided into at least two groups, where the self-propelled modules of one group can be configured to form a stationary portion of three-dimensional object 300 and the self-propelled modules of the other group can be configured to form a movable portion of three-dimensional object 300. For example, at least one group of self-propelled modules can form a fixed, immovable span of three-dimensional object 300 having the form of a bascule bridge, and at least one other group of self-propelled modules can form and enable the movement of the bascule leaves of the bascule bridge, raising and lowering these bridge leaves by simultaneously changing the spatial locations of all the self-propelled modules that form the leaves according to a predetermined trajectory or movement pattern that corresponds to a given model of the three-dimensional object.

[0168] In another embodiment of the invention, the control device of system 500-2 enables the spatial position of at least one or each of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 to be changed so that self-propelled module 200 can be displaced along at least one of three coordinate axes (x, y, z) relative to at least one of the remaining self-propelled modules associated with self-propelled module 200, such that three-dimensional object 300 can assume a concave, convex, irregular, regular, or curved shape.

[0169] In yet another embodiment of the present invention, the control device of system 500-2 can be further configured to present navigation commands to the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300 for collective movement of the self-propelled modules 200 to maintain a given model of the three-dimensional object, thereby allowing the previously formed three-dimensional object 300 to move uniformly without compromising its integrity.

[0170] Notably, each three-dimensional object 300 that can be formed using the self-propelled module 200 is configured to substantially correspond to one of the three-dimensional object models whose data is presented by the control device of the system 500-2 to the control unit of the self-propelled module used to form the three-dimensional object 300. In particular, the three-dimensional object 300 can be automatically defined according to a predetermined or user-selected three-dimensional object model and / or according to a predetermined or user-selected spatial region in which the three-dimensional object 300 must be formed. Alternatively, the three-dimensional object 300 that must be formed in the predetermined spatial region can be selected or defined by a user separately from the spatial region and / or separately from the three-dimensional object model, in particular, for example, using a user device equipped with standard input / output means. Notably, data regarding the three-dimensional object 300, which needs to be formed in a given spatial region according to a predetermined model of the three-dimensional object and whose formation process is substantially under the control of the control device of system 500-2, is presented by the control device of system 500-2 to the corresponding control unit of the self-propelled module 200, whose housing 210 forms the three-dimensional object 300, as part of the data regarding the model of the three-dimensional object. The data regarding the model of the three-dimensional object may be pre-loaded or recorded by an operator or user in a local database that is part of the control device of system 500-2, or may be transferred as a data packet from an external data source (e.g., a website, a database, a data server, etc.) via a wireless data transfer channel (not shown) established between the control device of system 500-2 and this external data source in response to a request from the control device of system 500-2, which request may be generated, for example, in response to a request from a user device that helps the user select the three-dimensional object 300 from a list of selectable images of three-dimensional objects that can be formed in a given spatial region.

[0171] The three-dimensional object 300 formed in the given spatial region can be an immovable or static three-dimensional object. Furthermore, the three-dimensional object 300 formed in the given spatial region can be a movable or dynamic three-dimensional object. Furthermore, the three-dimensional object 300 formed in the given spatial region can be any combination of static and dynamic three-dimensional objects. Alternatively, the three-dimensional object 300 formed in the given spatial region according to a given model of the three-dimensional object can be a three-dimensional object having at least one movable part or configured to be at least partially movable.

[0172] 2 as an illustrative example, the self-propelled modules 200 whose housings 210 form the three-dimensional object 300 form a predetermined number of sequentially arranged horizontal or vertical rows (i.e., a matrix of self-propelled modules 200) formed from self-propelled modules 200-1, 200-2, 200-3. Notably, each row of the three-dimensional object 300 may be arranged with one and the same type of self-propelled module 200, or with different types of self-propelled modules 200.

[0173] 2 as an illustrative example, self-propelled modules 200 in the form of unmanned aerial vehicles with maximum or supplemental ranges can take off (or alternatively drive out, float, launch, exit, etc.) from respective parking areas 100 that are part of system 500-2 substantially simultaneously or sequentially at short time intervals to form one or more entry groups of self-propelled modules or individual self-propelled modules that are guided by a control device of system 500-2 to a given spatial region where three-dimensional object 300 is intended to be formed. Furthermore, the control device of system 500-2 issues navigation commands to the guided self-propelled modules 200 that are present in the given spatial region such that each of the guided self-propelled modules 200 is placed at a given spatial location according to a given model of the three-dimensional object that the self-propelled module 200 is part of the plurality of self-propelled modules that form three-dimensional object 300.

[0174] 2 as an illustrative example, while dismantling or rearranging three-dimensional object 300, self-propelled modules 200 forming three-dimensional object 300, or at least some of them, can exit (e.g., take off, run out of, float, jump, roll, crawl, etc.) from the multiple self-propelled modules forming three-dimensional object 300 in a given spatial region substantially simultaneously, sequentially, or at predetermined time intervals to form one or more exiting groups of self-propelled modules or individual self-propelled modules that are guided by a control device of system 500-2 towards parking lot 100 that is part of system 500-2. Alternatively, a control device of system 500-2 can direct at least some of the self-propelled modules 200 from the group of self-propelled modules formed as a result of dismantling or rearranging three-dimensional object 300 to another spatial region that is intended to form another three-dimensional object that may coincide with or at least partially differ from the previously formed three-dimensional object 300. Furthermore, among the multiple self-propelled modules that form the three-dimensional object 300 in a given spatial region, a self-propelled module 200 that needs to be replaced (i.e., a self-propelled module 200 with insufficient mileage, or a discharged self-propelled module 200, or a self-propelled module 200 that is abnormal or defective in some way) may also exit.

[0175] 2 , while a group of self-propelled modules is guided by the control device of the system 500-2 toward and approaches the parking ramps 100 that are part of the system 500-2, the control device of the system 500-2 enables the self-propelled modules 200 to be detached substantially simultaneously or sequentially from the group of self-propelled modules 200 so that each of such self-propelled modules 200 can be installed or parked in or on one of the parking ramps 100, particularly in a parking ramp 100 that has at least one vacant or unoccupied charging device. When a single self-propelled module 200 guided by the control device of the system 500-2 approaches the parking ramp 100, the control device of the system 500-2 enables such self-propelled module 200 to be installed or parked in or on one of the parking ramps 100, particularly in response to a control command of the control device of the system 500-2 that is presented to the control unit of the self-propelled module 200.

[0176] In another embodiment of the present invention, the control device of system 500-2 can further enable each of the discharged self-propelled modules 200, whose housings 210 form the three-dimensional object 300, to one of the parking areas 100 that are part of system 500-2, to use a charging device on the parking area 100 to replenish its charging or mileage, and further enable the self-propelled module 200 with replenished mileage to return to the given spatial area where the three-dimensional object 300 was formed, so that it can be replaced with at least one of the other discharged self-propelled modules 200 that are present as part of the three-dimensional object 300.

[0177] In some other embodiments of the present invention, the control device of system 500-2 enables each discharged self-propelled module 200 present as part of the three-dimensional object 300 to be replaced with a charged self-propelled module 200 (i.e., a self-propelled module 200 with the maximum driving range or at least partially replenished driving range) while the discharged self-propelled module 200 is present in a spatial location within a given spatial area that is located the shortest distance to its charging location or a location to replenish its driving range, in particular the shortest distance to one of the parking areas 100 with an available charging device, or while the discharged self-propelled module 200 is present in a spatial location that corresponds to one of the locations for replacing a self-propelled module that is part of the formed three-dimensional object 300.

[0178] In another embodiment of the present invention, one or more of the parking areas 100 that are part of the system 500-2 may each be further provided with one or more charging devices (not shown), and one or more of the self-propelled modules 200 that are part of the system 500-2 and whose housings 210 form the three-dimensional object 300 may each be configured to move to at least one of the parking areas 100 equipped with the charging devices, and each of the guided self-propelled modules 200 may be coupled to one of the charging devices to replenish its mileage.

[0179] According to one embodiment of the present invention, the three-dimensional object 300 may be configured in multiple layers. In particular, in such an embodiment of the present invention, the self-propelled modules 200 guided by the control device of the system 500-2 to a given spatial region to form the three-dimensional object 300 may be divided into two groups, where the housings 210 of the self-propelled modules from the first group may form at least one first layer of the three-dimensional object 300, and the housings 210 of the self-propelled modules from the second group may form at least one second (other) layer of the three-dimensional object 300. The first layer of the three-dimensional object may be configured substantially parallel or at least partially parallel to the second layer of the three-dimensional object (see FIG. 4 ). Notably, in some cases, the first layer of the three-dimensional object may have a different shape, size, contour, and / or spatial orientation from the second layer of the three-dimensional object. Thus, in such an embodiment of the invention, the control device of system 500-2 can enable the formation of a first layer of the three-dimensional object that is different from or coincident with a second layer of the three-dimensional object, and accordingly, the first portion of three-dimensional object 300 corresponding to the first layer and the second portion of three-dimensional object 300 corresponding to the second layer can be different from or identical to one another. Alternatively, the control device of system 500-2 can enable the formation of a first three-dimensional object from self-propelled modules 200 associated with the first layer that is different from or coincident with a second (other) three-dimensional object formed from self-propelled modules 200 associated with the second layer.

[0180] In some other embodiments of the present invention, the control device of system 500-2 enables the guidance of charged self-propelled modules 200 to a given spatial region in a quantity corresponding to the quantity of self-propelled modules 200 whose housings 210 form the three-dimensional object 300, and enables these to be replaced substantially simultaneously with the charged self-propelled modules 200, where the guided charged self-propelled modules 200 have a mileage replenished using a charging device on the tarmac that is part of system 500-2. In particular, in this embodiment of the present invention, the control device of system 500-2 further enables the formation of a replacement three-dimensional object from the charged self-propelled modules 200, which is a replica of the three-dimensional object 300 to be replaced, in the given spatial region, and enables the replacement three-dimensional object 300 to be replaced with the replacement three-dimensional object, and the control device of system 500-2 can present control commands to the replaced self-propelled module 200 and to the replacement self-propelled module substantially simultaneously, thereby minimizing the time delay in replacing the replacement three-dimensional object 300 with the replacement three-dimensional object. In one variation of this embodiment of the invention, the replacement three-dimensional object can be at least partially different from, rather than completely identical to, the replaced three-dimensional object 300. In another variation of this embodiment of the invention, the control device of system 500-2 can further enable the replacement three-dimensional object 300 to be exchanged with the replacement three-dimensional object after a predetermined period of time during which the replaced three-dimensional object is at least partially present in an at least partially static state and / or an at least partially dynamic state within the given spatial region.

[0181] In another embodiment of the present invention, the self-propelled modules 200 whose housings 210 form the three-dimensional object 300 can be divided into at least two groups, in each of which the housings 210 of the self-propelled modules 200 can form a corresponding one of the portions of the three-dimensional object 300 in a given spatial region, and the control device of system 500-2 can further form, in the spatial region, at least one replacement portion of the three-dimensional object 300 from the charged self-propelled modules 200 guided to the spatial region by the control device of system 500-2, and enable the replaced portion of the three-dimensional object 300 to be replaced with the at least one replacement portion of the three-dimensional object. During the replacement of the replaced portion of the three-dimensional object 300 with the replacement portion of the three-dimensional object 300, the control device of the system 500-2 can substantially simultaneously present control commands to the self-propelled modules 200 whose housings 210 form the replaced portion of the three-dimensional object 300 and present control commands to the self-propelled modules 200 whose housings form the replacement portion of the three-dimensional object 300, thereby minimizing the time delay in replacing the replaced portion of the three-dimensional object 300 with the replacement portion of the three-dimensional object 300.

[0182] In other embodiments of the present invention, the self-propelled modules 200 guided to a given spatial region by the control device of system 500-2 can be divided into groups, in each of which the housing 210 of the self-propelled module can at least partially form at least one of the layers of the three-dimensional object 300 having different shapes and / or sizes.

[0183] In some embodiments of the present invention, at least one or each of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 may be provided with at least one power source and may be further configured to present data related to mileage in real time to a control device of system 500-2. In such embodiments of the present invention, the control device of system 500-2 may be further configured to identify each discharged self-propelled module based on the data related to mileage received from the control unit of the self-propelled module 200, such that it can guide each discharged self-propelled module of the self-propelled modules 200 whose housings form three-dimensional object 300 to one of the tarmacs 100 that are part of system 500-2 (e.g., in response to a navigation command of the control device of system 500-2), and further reposition the remaining self-propelled modules 200 whose housings 210 participate in forming three-dimensional object 300 to change or maintain the shape and / or size of three-dimensional object 300.

[0184] In some other embodiments of the present invention, the control device of system 500-2 may further guide one or more additional self-propelled modules 200 from at least one of the parking areas 100 that are part of system 500-2 to a predetermined spatial region to enable their integration into the structure of the three-dimensional object 300 in order to change the shape and / or size of the three-dimensional object 300.

[0185] In some other embodiments of the present invention, the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 can be divided into groups, in each of which the housings 210 of the self-propelled modules can form one or more portions of three-dimensional object 300, and while forming three-dimensional object 300, the control device of system 500-2 enables the arrangement of self-propelled modules 200 such that at least one of the portions of three-dimensional object 300 can have a different shape and / or size than the rest of three-dimensional object 300.

[0186] In some other embodiments of the present invention, at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be provided with at least one power source, the system 500-2 may further include a laser projection unit (not shown) configured to emit a laser beam, and the self-propelled module 200 may be provided with a laser emission receiver / converter (not shown) electrically coupled to the power source and configured to convert the received laser beam into an electrical current to enable charging of the power source. In certain embodiments of the present invention, at least one or each of the self-propelled modules 200 that are part of the system 500-2 may be further configured to provide real-time data regarding its mileage to a control device of the system 500-2, and the control device of the system 500-2 may be further configured to control operation of the laser projection unit (not shown) to direct a laser beam toward a self-propelled module 200 whose mileage is below a predetermined threshold.

[0187] In various embodiments of the present invention, the control device of system 500-2 may be configured to present navigation commands to at least some of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300, after a predetermined period of time has elapsed, to direct them to at least one of the parking areas that are part of system 500-2.

[0188] In various other embodiments of the present invention, the control device of system 500-2 may be configured to issue navigation commands to at least some of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 to guide them substantially simultaneously or sequentially to at least one of the parking areas 100 that are part of system 500-2.

[0189] In various other embodiments of the present invention, the control device of system 500-2 may be further configured to present navigation commands to at least some of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300 to guide them, either as a group or sequentially, to at least one of the parking areas 100 that are part of system 500-2.

[0190] In some embodiments of the present invention, the control device of system 500-2 may be further configured to present navigation commands to one or more of the charged self-propelled modules 200 that are part of system 500-2 (i.e., self-propelled modules 200 whose mileage has been replenished using a charging device at parking lot 100) to enable them to return to their initial spatial location and re-form the same three-dimensional object 300, or to form other three-dimensional objects different from three-dimensional object 300.

[0191] In some other embodiments of the present invention, one or more of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 may be configured to automatically move to at least one of the parking areas 100 that are part of system 500-2 after a predetermined period of time has elapsed.

[0192] In some other embodiments of the present invention, one or more of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 may be configured to automatically move to at least one of the parking areas that are part of system 500-2 substantially simultaneously or sequentially.

[0193] In various embodiments of the present invention, at least some of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 may be configured to automatically move, either as a group or sequentially, to at least one of the parking areas that are part of system 500-2.

[0194] In one embodiment of the present invention, one or more of the charged self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 can be configured to automatically return to their original spatial location to recreate the same three-dimensional object 300 or to form other three-dimensional objects different from three-dimensional object 300.

[0195] According to yet another embodiment of the present invention, the control device of system 500-2 may be further configured to present navigation commands to at least some of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300, and may enable rearrangement of these self-propelled modules 200 to separate three-dimensional object 300 into at least two different three-dimensional objects.

[0196] According to another embodiment of the present invention, the control device of system 500-2 may further enable the self-propelled modules 200 guided to a predetermined spatial region in response to a navigation command of the control device of system 500-2 at a predetermined spatial location according to a predetermined model of the three-dimensional object, thereby enabling the formation of at least two three-dimensional elements in the spatial region. In one variation of the given embodiment of the present invention, the control device of system 500-2 may further be configured to present navigation commands to the self-propelled modules 200 whose housings 210 form at least two three-dimensional elements, and may enable the repositioning of these self-propelled modules 200 to combine the three-dimensional elements into at least one cohesive three-dimensional object.

[0197] According to another embodiment of the present invention, the housing 210 of at least one or each self-propelled module 200 that is part of system 500-2 and used to form three-dimensional object 300 may be further provided with one or more displays (not shown), and the control device of system 500-2 may be further configured to present data related to images to at least one self-propelled module 200 so that the images are displayed on at least one of its displays. Each of the displays in self-propelled module 200 may be one of a group of displays including: an LCD display, an LED display, an OLED display, an AMOLED display, a DLP display, a TFT display, an IPS display, a TN display, an STN display, a CSTN display, an FSTN display, a DSTN display, a DLP display, a TFD display, an LTPS display, a UFB display, a CRT display, a PDP display, a laser display, etc. It should be noted that the image displayed on each of the displays of the self-propelled module with display 200 may be a static image (e.g., a photograph, a drawing, a picture, etc.) or a dynamic image (e.g., a clip, a presentation, a film, an animated image, etc.). Furthermore, the image displayed on each of the displays of the self-propelled module with display 200 may be a two-dimensional image, a three-dimensional image, or a combination thereof, and such two-dimensional or three-dimensional image may be at least partially moving.

[0198] According to some other embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may further be provided with one or more screens, and the system 500-2 may further include a projection device (not shown), and the control device of the system 500-2 may be further configured to present data regarding the image to the projection device so that the image is projected onto at least one of the screens associated with the at least one self-propelled module having a screen.

[0199] According to some other embodiments of the present invention, the housing 210 of at least one or each of the self-propelled modules 200 that are part of the system 500-2 may further be provided with one or more screens and projection devices (not shown), and the control device of the system 500-2 may be further configured to present data regarding the image to the projection device so that the image is projected onto at least one of the screens associated with the self-propelled modules having the screens.

[0200] According to another embodiment of the present invention, system 500-2 may further include a projection device (not shown), and the control device of system 500-2 may be further configured to present data regarding an image to the projection device of system 500-2 so that the image is projected onto at least one of the housings 210 of the self-propelled modules forming the three-dimensional object 300.

[0201] According to another embodiment of the present invention, at least one or each housing 210 of a self-propelled module 200 that is part of system 500-2 may be provided with a projection device (not shown), and the control device of system 500-2 may be further configured to present data related to an image to the projection device, so that an image is projected onto housing 210 or multiple housings 210 of the self-propelled module.

[0202] According to some other embodiments of the present invention, the system 500-2 can further include a mobile or stationary load-supporting structure (not shown), which can be configured to accommodate one or more of the self-propelled modules 200 guided to a given spatial region by a control device of the system 500-2, and to form the three-dimensional object 300 from the accommodated self-propelled module housings 210 according to a model of the three-dimensional object, or from the accommodated self-propelled module housings 210 and the load-supporting structure (not shown) according to a model of the three-dimensional object. In one variation of this embodiment of the present invention, the mobile or stationary load-supporting structure of the system 500-2 can be provided with one or more parking platforms (not shown), each configured to accommodate at least one of the self-propelled modules 200 guided to the given spatial region by the control device of the system 500-2. In another variation of this embodiment of the invention, the movable or stationary load-supporting structure of the system 500-2 may be provided with at least one fastening means configured to interact with at least one of the self-propelled modules 200 that are guided to the predetermined spatial region by the control device of the system 500-2. In yet another variation of the given embodiment of the invention, at least one or each of the self-propelled modules 200 that are guided to the predetermined spatial region by the control device of the system 500-2 may be provided with one or more fastening means (not shown), each configured to interact with a movable or stationary load-supporting structure of the system 500-2.

[0203] According to some other embodiments of the present invention, one or more of the parking areas 100 that are part of the system 500-2 may further be provided with one or more charging devices (not shown), and the control device of the system 500-2 may be configured to guide one or more of the self-propelled modules 200 that are part of the system 500-2 and whose housings 210 form the three-dimensional object 300 to at least one of the parking areas 100, and each of the guided self-propelled modules may be coupled to at least one of the charging devices to replenish its mileage.

[0204] According to some embodiments of the present invention, one or more of the self-propelled modules 200 that are part of the system 500-2 and whose housings 210 form the three-dimensional object 300 can each be equipped with two or more propulsion units 220, and the control device of the system 500-2 can further switch off at least one of the propulsion units 220 while each of the self-propelled modules 200 equipped with a propulsion unit is present as part of the formed three-dimensional object 300.

[0205] According to various embodiments of the present invention, one or more or each of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form the three-dimensional object 300 may be provided with a position determination module (not shown) configured to determine the geographic coordinates of the self-propelled module 200 in real time and present the determined coordinates to a control device of system 500-2, and the control device of system 500-2 may be further configured to detect a deviation or spatial displacement of the spatial location of at least a portion of the formed three-dimensional object 300 based on data on the geographic coordinates of the self-propelled module and a given model of the three-dimensional object, and may be configured to move only the self-propelled module 200 that corresponds to the deviation or displaced portion of the three-dimensional object 300 back to its initial spatial location according to the model of the three-dimensional object 300.

[0206] According to various other embodiments of the present invention, at least one or each housing 210 of the self-propelled modules 200 that are part of system 500-2 and used to form three-dimensional object 300 may be provided with at least one force sensor (not shown) and configured to measure the force applied to housing 210 by a user in real time and present the measured force to a control device of system 500-2 in real time, and the control device of system 500-2 may be further configured to displace each of the self-propelled modules 200 whose housing 210 has a force applied thereto in accordance with the magnitude of the measured force in order to change the shape, spatial location and / or spatial orientation of the three-dimensional object 300.

[0207] In one embodiment of the present invention, at least some (e.g., two or more) or each of the housings 210 of the self-propelled modules 200 that are part of system 500-2 and that form three-dimensional object 300 can be configured to be displaced by a user relative to each other and / or relative to the remaining housings 210 of the housings of self-propelled module 200 (i.e., relative to one or more housings 210 of the self-propelled modules that are also used to form three-dimensional object 300, but that do not change their spatial location when a similar displacement force is applied by the user or in response to a control command from a control device of system 500-2).

[0208] In another embodiment of the present invention, system 500-2 is part of system 500-2, and its housing 210 can at least partially modify three-dimensional object 300 by enabling at least one additional self-propelled module to be added to self-propelled modules 200 that form three-dimensional object 300 or by enabling at least one self-propelled module to be removed from self-propelled modules 200 that form three-dimensional object 300.

[0209] In yet another embodiment of the present invention, at least one of the self-propelled modules 200 that are part of system 500-2 and whose housing 210 forms the three-dimensional object 300 may be provided with a position determination module (not shown) configured to determine the spatial coordinates of the at least one self-propelled module 200 in real time and present the determined spatial coordinates to a control device of system 500-2, and the control device of system 500-2 may be further configured to modify the model of the three-dimensional object based on the determined spatial coordinates of the self-propelled modules if they deviate from initial spatial coordinates corresponding to the initial model of the three-dimensional object. Thus, when the formed three-dimensional object 300 corresponding to a particular model of the three-dimensional object is at least partially modified by adding at least one additional self-propelled module to the self-propelled modules 200 whose housings 210 form the three-dimensional object 300 and / or by removing at least one self-propelled module of the self-propelled modules 200 whose housings 210 form the three-dimensional object 300, the positioning module (not shown) substantially tracks the structural changes of the previously formed three-dimensional object 300 and thus enables adjusting or modifying the initial model of the three-dimensional object that was used while forming the previously formed three-dimensional object 300. When further using, instead of or in addition to the initial model of the three-dimensional object, an adjusted model of the three-dimensional object, which can be recorded in a respective database or stored in a respective storage device, the control device of system 500-2 enables the formation, in a given spatial region, of an already modified three-dimensional object that corresponds to the adjusted model of the three-dimensional object and that takes into account all of the above possible operations that were performed on the structure of the initially formed three-dimensional object 300.

[0210] In another embodiment of the invention, system 500-2 may further include a scanning device (not shown) configured to scan the modified three-dimensional object and present the scanning results of the three-dimensional object to the control device of system 500-2, and the control device of system 500-2 may be further configured to form or update a model of the three-dimensional object based on the scanning results. Thus, when a formed three-dimensional object 300 corresponding to a particular model of the three-dimensional object is at least partially modified by adding at least one additional self-propelled module to the self-propelled modules 200 whose housings 210 form the three-dimensional object 300 and / or by removing at least one self-propelled module from the self-propelled modules 200 whose housings 210 form the three-dimensional object 300, the scanning device of system 500-2 substantially tracks the structural changes of the previously formed three-dimensional object 300, thus enabling the initial model of the three-dimensional object used during the formation of the previously formed three-dimensional object 300 to be adjusted or modified based on the scanning results obtained from scanning the modified three-dimensional object with the scanning device of system 500-2.

[0211] In some other embodiments of the present invention, at least one of the self-propelled modules 200 that are part of system 500-2 and whose housings 210 form three-dimensional object 300 can further include one or more structural modules (not shown) attached to it to at least partially alter the geometry of three-dimensional object 300. In one variation of this embodiment of the present invention, at least one of the self-propelled modules 200 that each have at least one structural module (not shown) attached to it can further include at least one fastening or coupling element that enables attaching the structural module to the at least one self-propelled module 200. In another variation of this embodiment of the present invention, at least one of the self-propelled modules 200 that each have at least one structural module (not shown) attached to it can further include at least one gripper (not shown) that is configured to grip at least one structural module and that is further configured to move and / or position the gripped structural module to at least partially alter the geometry of three-dimensional object 300.

[0212] Functions of a system for forming a three-dimensional object For purposes of explanation, Figure 2 also shows six example positions (A, B, C, D, E, F) that each self-propelled module 200 in system 500-2 can assume to form a three-dimensional object during its movement in the air, on land (ground), on water, underwater, and / or on the surface of a stationary or movable physical object located in at least one of the air space, ground space, water surface space, and underwater space, within the limits of one movement cycle of such self-propelled module 200, from a first point of movement to a final point of movement.

[0213] 2, each of the self-propelled modules 200 that are part of the system 500-2 is parked in a corresponding one of the parking areas 100 that are part of the system 500-2 for parking, storage, or mileage replenishment, and is waiting to receive navigation and / or control commands from the control device of the system 500-2. Position (A) substantially corresponds to the first point of movement of the self-propelled module 200 and corresponds to the start of a cycle of movement of the self-propelled module 200.

[0214] Position (B) in Figure 2 can be taken by each of the self-propelled modules 200 that are part of the system 500-2 after it is at position (A) in response to a corresponding navigation command from the control device of the system 500-2, which command can be generated, for example, in response to a request from a user device. At this position, the self-propelled modules 200 with maximum mileage (if used for the first time in a given cycle) or partial mileage (if they have sufficient remaining mileage to continue use without requiring charging or mileage replenishment), or with mileage replenished (if used repeatedly in a given cycle, i.e., after replenishing their mileage using a charging device), are released from the corresponding parking area 100 by a required amount sufficient to form a three-dimensional object 300 according to a given model of the three-dimensional object, forming an approaching group of one or more self-propelled modules in a spatial region at a certain distance from the parking area 100 (see Figure 2 (left)). It is noteworthy that to assume the above-mentioned position (B), the exit of the self-propelled modules 200 from one and the same parking area 100 (e.g., taking off, running as if exiting, floating, jumping out, rolling, crawling, etc.) can be performed sequentially, and the exit of the self-propelled modules 200 from different parking areas 100 can be performed substantially simultaneously or sequentially.

[0215] Position (C) in Figure 2 can be assumed by each of the self-propelled modules 200 that are part of system 500-2 after it is at position (B) in response to a respective navigation command from the control device of system 500-2, in which each self-propelled module 200 belonging to one of the incoming groups of self-propelled modules formed at the above-mentioned position (B) is guided by the control device of system 500-2 separately from that incoming group of self-propelled modules to a given spatial region intended to form a three-dimensional object 300 (see Figure 2 (left)).

[0216] Position (D) in Figure 2 can be assumed by each of the self-propelled modules 200 that are part of system 500-2 in response to a respective navigation command from the control device of system 500-2 after being at position (C), where each self-propelled module 200 is guided by the control device of system 500-2 to a given spatial region in which it is intended to form a three-dimensional object 300 and is placed at a given spatial location according to a given model of the three-dimensional object, where the self-propelled module 200 is part of a plurality of self-propelled modules that form the three-dimensional object 300 and occupies a specific spot as part of the three-dimensional object 300 according to the model of the three-dimensional object 300 (see Figure 2 (center)), thereby forming one of the component parts of such three-dimensional object 300.

[0217] Position (E) in Figure 2 can be assumed by each of the self-propelled modules 200 that are part of system 500-2 after it is in position (D) in response to a respective navigation command from the control device of system 500-2, in which the self-propelled modules 200 each exit (e.g., take off, run out of, float, jump out, roll, crawl, etc.) the multiple self-propelled modules 200 that form the three-dimensional object 300 in a given spatial region substantially simultaneously or sequentially (e.g., while dismantling the three-dimensional object 300, while rearranging the three-dimensional object 300, or while guiding such self-propelled modules 200 to replenish their mileage) so that they can be guided by the control device of system 500-2 toward the parking area 100 that is part of system 500-2 (see Figure 2 (right)).

[0218] Position (F) in Figure 2 can be taken by each of the self-propelled modules 200 that are part of system 500-2 in response to a respective navigation command from the control device of system 500-2 after being at position (E), in which the self-propelled modules 200, guided towards the parking area 100 by the control device of system 500-2, are placed in a spatial region at a certain distance from the parking area 100, allowing one or more exit groups of self-propelled modules to be formed in the spatial region (see Figure 2 (right)).

[0219] 2, each of the self-propelled modules 200 that has taken up a position as part of one of the exiting groups of self-propelled modules near the parking areas 100 transitions from position (F) to position (A) in FIG. 2 in response to a corresponding navigation command of the control device of the system 500-2, where the self-propelled modules substantially simultaneously or sequentially exit their exiting group of self-propelled modules to be accommodated in at least one of the parking areas 100, in particular at least one parking area 100 that has a vacant or unoccupied charging device. Thus, eventually, each self-propelled module 200 again takes up position (A), but prior to this, it switches off any additional motors or propulsion units (if any) and folds any of the auxiliary means for moving the self-propelled module described above (e.g., wings, tracks, sails, landing gear, etc.), and then transitions to the execution of a process for moving the self-propelled module 200 into or onto the corresponding one of the parking areas 100. It is worth noting that, in position (A) to which each self-propelled module 200 returns, this self-propelled module 200 is in an immobile state with the propulsion unit 220 switched off and the auxiliary means (not shown) for moving the self-propelled module folded. Once in position (A), the power supply unit of the self-propelled module 200 is coupled to a charging device of the parking lot 100, allowing the self-propelled module 200 to replenish its mileage and then store it on the parking lot until the moment it receives a new navigation command from the control device of the system 500-2 to exit the parking lot 100 (with guidance to a predetermined spatial area within which the same three-dimensional object 300 is formed, or with guidance to a new spatial area within which a new three-dimensional object, which may be the same as or different from the three-dimensional object 300, is formed).

[0220] FIG. 6 schematically illustrates a generalized embodiment of a system 500-3 for forming a three-dimensional object according to the present invention, and it is understood that the descriptions of specific or alternative embodiments discussed above with respect to the system 500-2 for forming a three-dimensional object according to the present invention shown in FIG. 2 also apply to the system 500-3.

[0221] In particular, system 500-3 allows for the formation of three-dimensional object 300 in a given cavity, e.g., a natural or artificial depression (e.g., a hole, a river, a canyon, a pothole, a crack between ice floes, etc.) (as shown in FIG. 6 ), or in a mold / framework / enclosure (e.g., a casting mold, a casting mold, the interior space of an apparatus enclosure, the interior space of a room in a building, a cavity defined by a frame, a framework, etc.). Thus, a cavity for use with the subject system may be, e.g., a few mm 3 Or a few centimeters 3 , 1m 3 Or a few meters 3 , or tens or even hundreds of meters 3 and its volume can be changed. The technical ability to fill such cavities with the self-propelled modules 200 is conditioned by the current state of the art and the level of development of the individual components, but further improvements in the individual elements of the system are possible, including in terms of the minimum and / or maximum size of the self-propelled modules and their individual elements, which can likewise find application in the subject technical problem. The shape of the cavities is not particularly limited in any way; in addition, the size and / or shape of the cavities can change dynamically, for example, the shape of a crack between ice floes when the ice moves, an elastic mold for casting, or a flexible / movable frame.

[0222] The cavity is bounded by cavity edges and includes an opening configured to receive a housing of the self-propelled module within the cavity.

[0223] The cavity may have a predetermined (known) size according to one of the three-dimensional object models selected by the user from among the available models of three-dimensional objects previously created for the cavity using standard input / output means of the user device, which may be stored in a database of three-dimensional object models that the user device has access to or can gain access to, and which is also displayed on the display of the user device in a form appropriate for the given location type of the formation of the three-dimensional object, which user device may further be part of system 500-3.

[0224] In alternative embodiments, the size of the cavity may not be known (determined) or predetermined, in which case the model of the three-dimensional object 300 is a model of at least one surface of the three-dimensional object. For example, at least one surface of the three-dimensional object may be disposed between the edges of the cavity at an opening. In this case, the self-propelled module 200 is guided to the predetermined spatial region where the cavity is disposed, and the housing of the self-propelled module 200 fills the cavity. In response to the self-propelled module 200 filling the cavity to its edge, at least one surface of the filled cavity is formed in the area of ​​the opening, which is at least one surface of the formed three-dimensional object, for example, a surface used by a vehicle passing through a pit or a ravine, as shown in a non-limiting illustrative example in FIG. 6 .

[0225] In response to a change in the shape or size of the cavity and a corresponding change in at least one surface of the three-dimensional object, for example in the case of ice movement in a crack, the control device of the system is configured to restore at least one surface of the three-dimensional object by adding at least one additional self-propelled module to the plurality of self-propelled modules whose housings fill the cavity, or by removing at least one self-propelled module from the plurality of self-propelled modules whose housings fill the cavity.

[0226] In one possible embodiment, the system further includes a scanning device configured to scan at least one surface of the three-dimensional object and present the scanning result of the at least one surface of the three-dimensional object to the control device, and the control device is further configured to reconstruct the at least one surface of the three-dimensional object based on the scanning result. The reconstruction of the surface of the three-dimensional object in the illustrated example of Figure 6 will be apparent when reconstructing the surface for vehicle passage when one or more self-propelled modules are pressed against the surface, creating protrusions, and / or when one or more self-propelled modules 200 are lowered / depressed, creating recesses in the surface.

[0227] There is one possible embodiment, according to which at least one of the self-propelled modules is configured to be installed in the cavity and is provided with a scanning device configured to scan at least one surface of the three-dimensional object and / or to scan the cavity and / or to determine the position of the edge of the cavity, thereby obtaining a scan result of at least one surface of the three-dimensional object, or the three-dimensional object, or the edge of the cavity, respectively.

[0228] In one possible embodiment, the self-propelled module further includes a control unit that forms a reference self-propelled module, and the control unit is communicatively coupled to the scanning device and the self-propelled module and configured to guide at least a portion of the self-propelled modules to the reference self-propelled module in a quantity corresponding to a three-dimensional model of the cavity or at least one surface of the three-dimensional object, so that the guided self-propelled modules fill the cavity and form a given three-dimensional object or at least one given surface of the three-dimensional object.

[0229] Notably, a task that can be solved using system 500-3 is to create, from the housing of self-propelled module 200, a three-dimensional object 300 in the form of a crossing structure, bridge, pontoon, walkway, or similar structure for a vehicle (e.g., a motorcycle) to cross a pothole, a river, a ravine, a wavy road surface, a crack in an ice floe, etc. In particular, as shown in Figure 6, the task at hand is solved by filling a recess with self-propelled module 200 according to a model of the formation of the three-dimensional object or a model of the formation of at least one surface of the three-dimensional object corresponding to a cavity, the size and shape of which may be known in advance or unknown.

[0230] 6, system 500-3 includes self-propelled modules 200, each having a housing 210, an air propulsion unit 220 that enables movement in the air (flight), and a wheelbase 240 that enables movement on a terrestrial (land) surface, which are initially installed on at least one of the parking areas (not shown) that are also part of system 500-3, and further includes a reference (base) self-propelled module 200-R, each having a spherical housing 210 and two air propulsion units 220 attached inside the spherical housing 210, which establish a reference (base) spatial location for forming three-dimensional object 300 in the recess. Furthermore, reference (base) self-propelled module 200-R further includes a control unit (not shown) configured to establish communication with a user device to enable mutual data exchange. Notably, the reference self-propelled support module 200-R, like the self-propelled module 200 initially used to form the three-dimensional object 300, may be installed at one of the parking areas of the system 500-3, or at any other location or area of ​​space where a connection can be established between the self-propelled support module 200-R and a user device of the system so that data can be exchanged between them.

[0231] To set a reference (base) location, the user uses the standard input / output means of his / her user device to make a selection on a previously created three-dimensional map of the geographical area or map of the surrounding space, which is then saved in a database of maps of the surrounding space that the user device has access to or can access, and which is then displayed on the display of the user device, where the map of the surrounding space shows a three-dimensional image of the surrounding space with objects placed therein, including a recess in which a three-dimensional object 300 corresponding to the model of the three-dimensional object previously selected by the user must be formed. In response to data regarding a user-selected location (i.e., a recess in the illustrative example) that forms the three-dimensional object, presented to the control unit of the reference (base) self-propelled module 200-R by a user device (not shown), the control unit of the reference (base) self-propelled module 200-R switches on or activates the propulsion unit 220 of the self-propelled module 200-R so that the reference self-propelled module 200-R moves (flies) through the air toward the recess and then lands on the bottom of the recess, thereby setting the reference location (or by landing it on the surface of water or other fluid present in the recess, thereby achieving the setting of the reference location, or by hovering it in the air or airspace within the limits of the recess, thereby holding or maintaining the spatial location that sets the reference location). After the reference self-propelled module 200-R lands at a reference location within the limits of the recess, the control unit of the reference self-propelled module 200-R presents data about the reference location, which is set by the reference self-propelled module 200-R and corresponds to a user-selected location for the formation of the three-dimensional object, to the self-propelled modules 200 at the parking lot of the system 500-1. In response to the data about the reference location for the formation of the three-dimensional object, the self-propelled modules 200 are guided from the parking lot of the system 500-1 under the control of its control unit or under the control of the control unit of the reference self-propelled module 200-R to a predetermined spatial region corresponding to the reference location by a number corresponding to the model of the three-dimensional object pre-selected by the user, so that the guided self-propelled modules 200 land simultaneously or sequentially and then move sequentially or simultaneously on the ground (land) to directly above the recess where the three-dimensional object 300 must be formed. When the guided self-propelled module 200 reaches one or more edges of the recess where the three-dimensional object 300 must be formed, the guided self-propelled module 200 enters the recess (e.g., rolls down, slides down, swims, falls, runs, etc.) and references the reference self-propelled module 200-R so that the guided self-propelled module 200 is accommodated in a predetermined spatial location. Thus, the spatial location of each of the self-propelled modules 200 used to form the three-dimensional object 300 in the recess is set using a value of spatial displacement (i.e., displacement along at least one of the three-dimensional coordinate axes) with respect to the reference location occupied by the self-propelled support module 200-R, and the reference self-propelled module 200-R serves as a reference for the three-dimensional object 300 formed in the recess from the housing of the self-propelled module 200.

[0232] Alternatively, the user may manually (including using auxiliary tools, equipment, or devices) place the reference (base) self-propelled module 200-R at a desired spot that will essentially serve as the reference (base) location for forming the three-dimensional object 300 (e.g., at the bottom of the recess, on the surface of the water or other fluid in the recess, or at a predetermined location in the air space of the recess; at least one of the propulsion units 220 of the reference self-propelled module 200-R must be turned on beforehand), allowing the reference self-propelled module 200-R to provide data regarding the reference location to the self-propelled module 200, so that the self-propelled module 200 can be placed at the predetermined spatial location by reference to the reference self-propelled module 200-R. In one variation of this alternative embodiment of system 500-1, the reference self-propelled module 200-R may further include a positioning module (e.g., a GPS system, a GLONASS system, a Beidou system, or any other suitable positioning system known in the art) configured to determine the spatial coordinates of the reference self-propelled module 200-R in real time, and may further be configured to provide specific spatial coordinates to the self-propelled module 200 used to form the three-dimensional object 300, in order to adjust or correct the spatial coordinates of the spatial region to which the self-propelled module 200 must be guided from the corresponding parking spot of system 500-1 by an amount corresponding to a user-selected model of the three-dimensional object, and / or to adjust or correct at least one of the spatial locations that the guided self-propelled module 200 must occupy with respect to the reference location occupied by the reference self-propelled module 200-R while forming the three-dimensional object 300.In yet another variation of this alternative embodiment of system 500-3, reference self-propelled module 200-R can further include a scanning unit (not shown) configured to create a three-dimensional map of the surrounding space of the spot where reference self-propelled module 200-R was automatically or manually placed and that should be considered as the reference location for forming three-dimensional object 300 in the recess, and communicatively coupled with the control unit of reference self-propelled module 200-R, so that the control unit of reference self-propelled module 200-R can determine whether self-propelled module 200 is a reference location of system 500-1. A three-dimensional map of the surrounding space can be presented to the self-propelled module 200 used to form the three-dimensional object 300 to adjust or correct the spatial coordinates of the spatial region that must be guided from the corresponding parking spot by an amount corresponding to the user-selected model of the three-dimensional object, and / or to adjust or correct at least one of the spatial locations that the guided self-propelled module 200 must occupy with respect to a reference location occupied by the reference self-propelled module 200-R based on the three-dimensional map of the surrounding space while forming the three-dimensional object 300. Furthermore, the control unit of the reference self-propelled module 200-R can be further configured to adjust the model of the three-dimensional object corresponding to the recess in which the three-dimensional object 300 must be formed based on data regarding the three-dimensional map of the surrounding space obtained by the control unit of the reference self-propelled module 200-R from the scanning unit of the reference self-propelled module 200-R, thereby adjusting or correcting the number of self-propelled modules 200 required to form the three-dimensional object 300 and / or adjusting or correcting the spatial location of the self-propelled modules 200 if the size, shape, and / or contour of the recess changes, even before guiding the self-propelled module 200 to the recess or starting the process of forming the three-dimensional object 300 in the recess.Furthermore, the scanning unit of the reference self-propelled module 200-R can be attached to an extendable or retractable rod under the control of the control unit of the reference self-propelled module 200-R, thereby scanning the surface of the three-dimensional object 300 formed in a recess within which the vehicle must travel; in this case, the control unit of the reference self-propelled module 200-R can be further configured to evaluate whether the flatness of the surface of the travel meets a predetermined threshold based on the surface scanning result, and to remove or add at least one self-propelled module 200 from or to the three-dimensional object 300 to correct (particularly, smooth or linearize) the flatness of the surface of the travel. Thus, the scanning unit of the reference self-propelled module 200-R can also use the system 500-3 to dynamically modify the recess to form the three-dimensional object 300.

[0233] It is noteworthy that the reference self-propelled module 200-R used as part of the system 500-3 can be configured in the form of a self-propelled module 200 in any one of the embodiments described herein, or any stationary object, configured to be held or moved by a user, equipped with a control unit or transceiver configured to exchange data with the self-propelled module 200 that is part of the system 500-3, used to form the three-dimensional object 300, to present data to the self-propelled module 200 regarding a reference location occupied by the object, and used to set the spatial location of the self-propelled module 200 while forming the three-dimensional object 300.

[0234] It is further noted that the self-propelled module 200, the apron (not shown), and the three-dimensional object 300 that are part of the system 500-3 shown in FIG. 1 can be configured similarly or identically to any one of the examples of the self-propelled module 200, the apron 100, and the three-dimensional object 300 described above in this specification with respect to the system 500-2 for forming a three-dimensional object shown in FIG. 2, respectively.

[0235] Method for forming a three-dimensional object - Patent Application 20070122997 Figure 7 is a block diagram showing the basic operations of a method 600 for forming a three-dimensional object, and the method 600 for forming a three-dimensional object shown in Figure 7 is based on the self-propelled module shown in Figure 3 and can be performed using a system 500-2 for forming a three-dimensional object, which can be implemented according to any one of the relevant embodiments of the present invention described in this specification (i.e., an embodiment of the present invention relating to the self-propelled module 200 according to Figure 3 and an embodiment of a system 500-2 for forming a three-dimensional object based on using the self-propelled module 200 according to Figure 3 to form a desired three-dimensional object 300).

[0236] In particular, the method 600 for forming a three-dimensional object shown in FIG. 7 includes three main operations, i.e., main steps 610, 620, and 630: step 610 includes presenting a navigation command and a given model of the three-dimensional object to the self-propelled modules 300, each having a housing 210; and step 620 includes guiding the self-propelled modules 200 from at least one parking area 100 to a given spatial region in response to the navigation command, and forming the guided self-propelled modules 200 according to the given model of the three-dimensional object. Step 630 includes enabling each of the modules 200 to be installed at a given spatial location and forming at least one three-dimensional object 300 from the housing 210 of the installed self-propelled module 200, and presenting a control command to at least one of the self-propelled modules 200 whose housing 210 forms the three-dimensional object 300, thereby enabling the shape and / or size of at least a portion of the housing 210 of the at least one self-propelled module 200 to be changed in order to change the geometry of the formed three-dimensional object 300.

[0237] In one embodiment of the present invention, the method 600 for forming a three-dimensional object shown in FIG. 7 may include an additional step of manually displacing at least one of the self-propelled modules 200 whose housings 210 form the three-dimensional object 300.

[0238] In another embodiment of the invention, method 600 for forming a three-dimensional object shown in FIG. 7 can include the additional step of manually adding at least one additional self-propelled module to self-propelled modules 200 whose housings form three-dimensional object 300, or further, the additional step of manually removing at least one self-propelled module of self-propelled modules 200 whose housings form three-dimensional object 300, in order to modify three-dimensional object 300.

[0239] In yet another embodiment of the present invention, the method 600 for forming a three-dimensional object shown in FIG. 7 may include the additional step of measuring in real time a force applied to at least one housing 210 of the self-propelled modules 200 whose housing 210 forms the three-dimensional object 300 with the aid of a force sensor (not shown) provided on the housing 210, and displacing the self-propelled module 200 in response to the measured force to change the shape and / or spatial location of the three-dimensional object 300.

[0240] In another embodiment of the present invention, the method 600 for forming a three-dimensional object shown in FIG. 7 may include the additional steps of determining in real time the spatial coordinates of the self-propelled modules 200 whose housings 210 form the three-dimensional object 300 using position determination modules provided in the self-propelled modules 200, and modifying the model of the three-dimensional object based on the determined spatial coordinates of the self-propelled modules 200 when at least one of the self-propelled modules 200 deviates from the initial model of the three-dimensional object.

[0241] In another embodiment of the present invention, the method 600 for forming a three-dimensional object shown in FIG. 7 may include the additional steps of scanning the modified three-dimensional object by a scanning device (not shown), and forming or updating a model of the three-dimensional object based on the obtained scanning results of the modified three-dimensional object.

[0242] The exemplary embodiments, examples, and descriptions of the invention provided are merely to facilitate understanding of the principles of the claimed invention, and are not intended to be limiting. Other possible embodiments of the invention, or modifications or improvements to the above-described embodiments of the invention, will be apparent to those skilled in the art upon reading the above description. The scope of the invention is limited only by the appended claims.

Claims

1. 1. A system for forming a three-dimensional object, comprising: one or more parking areas; Each module has its own housing, and Equipped with The self-propelled module is housed within an aircraft apron, and the system also includes: a control device communicatively coupled to the self-propelled modules and configured to guide at least some of the self-propelled modules from at least one of the parking stalls to a given spatial region, and to enable each of the guided self-propelled modules to be placed at a given spatial location according to a given model of a three-dimensional object, thereby forming at least one three-dimensional object from the housings of the placed self-propelled modules. A system comprising:

2. 10. The system of claim 1, wherein at least two of the self-propelled modules further comprise one or more flexible or spring-loaded connecting elements each of which enables detachable coupling of the at least two self-propelled modules to one another while forming the three-dimensional object and enables changing the spatial location and / or spatial orientation of at least one of the at least two self-propelled modules to at least partially alter the geometry of the three-dimensional object.

3. 10. The system of claim 1, wherein at least two of the self-propelled modules each further comprise one or more moveable joints that enable detachable coupling of the at least two self-propelled modules to one another while forming a three-dimensional object and that enable changing the spatial location and / or spatial orientation of at least one of the at least two self-propelled modules to at least partially alter the geometry of the three-dimensional object.

4. 4. The system of claim 3, wherein at least one of the at least two self-propelled modules further comprises a drive unit under the control of the control device and operably coupled to the movable joint of at least one of the self-propelled modules to enable its spatial location and / or spatial orientation to be changed.

5. 10. The system of claim 1, wherein at least two of the self-propelled modules further comprise one or more telescoping or extendable joints, each of which enables detachable coupling of the at least two self-propelled modules to one another during formation of the three-dimensional object and enables alteration of the spatial location and / or spatial orientation of at least one of the at least two self-propelled modules to at least partially change the geometry of the three-dimensional object during its expansion, and wherein at least one of the at least two self-propelled modules comprises a drive unit under control of the control device and operably coupled to its joint to enable its expansion.

6. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules is a folded mesh configured to surround the at least one self-propelled module when unfolded, and wherein at least one of the self-propelled modules further comprises a drive unit under the control of the control device and operably coupled to the folded mesh to enable its unfolding while forming the three-dimensional object in response to control commands of the control device.

7. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules is configured to be flexible or elastic, and the at least one self-propelled module further comprises one or more movable actuating members configured to interact with at least one of the portions of the housing during its movement, thereby enabling the shape and / or size of the housing to be at least partially changed, and further comprises a drive device under the control of the control device and operably coupled to the movable actuating members, enabling movement of at least one of the movable actuating members in response to a control command from the control device.

8. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules is configured to be flexible or elastic, and at least one of the self-propelled modules further comprises one or more movable actuating members configured to be operably coupled to at least one of the portions of the housing, allowing the shape of the housing to be at least partially changed during its movement, and further comprises a drive device under the control of the control device and operably coupled to the movable actuating members, enabling its movement in response to control commands from the control device.

9. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules is made from parts or plates coupled to each other or configured to be displaced relative to each other so as to at least partially change the shape of the housing, and wherein at least one of the self-propelled modules further comprises one or more movable actuating members, each of which is operably coupled to or configured to interact with at least one of the parts or plates to enable its displacement relative to each other during movement of the actuating member, and further comprises a drive device under the control of the control device and operably coupled to the actuating members to enable their movement in response to control commands from the control device.

10. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules is made from movable parts or plates that are each configured to change their spatial position and / or spatial orientation, allowing the shape of the housing to be at least partially changed, and wherein at least one of the self-propelled modules further comprises one or more movable actuating members, each of which is operably coupled to at least one of the parts or plates and allows the spatial position and / or spatial orientation of the at least one part or plate to be changed during movement of the actuating member, and further comprises a drive device under the control of the control device and operably coupled to the actuating member to enable its movement in response to control commands from the control device.

11. 2. The system of claim 1, wherein at least two of the self-propelled modules each further comprise a position determination module configured to determine the geographic coordinates of the self-propelled module in real time and to present the determined spatial coordinates to the control device, and wherein the control device is further configured to present a navigation command to at least one of the at least two self-propelled modules to change the movement path of at least one of the self-propelled modules when the distance between the at least two self-propelled modules is determined to be less than a predetermined threshold based on the spatial coordinates.

12. 10. The system of claim 1, wherein at least one of the guided self-propelled modules further comprises a gripper configured to move and / or position at least one other self-propelled module of the guided self-propelled modules while forming a three-dimensional object from the housing of the self-propelled module.

13. 10. The system of claim 1, further comprising one or more structural modules, wherein at least one of the guided self-propelled modules further comprises a gripper configured to move and / or position at least one of the structural modules to form at least a portion of a three-dimensional object from the housing of the self-propelled module and the structural modules.

14. 14. The system of claim 13, wherein the housing of at least one of the structural modules is configured to change its shape and / or size, and the control device is configured to present control commands to the at least one structural module to enable the shape and / or size of at least a portion of the housing of the at least one structural module to be changed to at least partially change the geometry of the formed three-dimensional object.

15. 2. The system of claim 1, wherein at least one of the self-propelled modules is an unmanned aerial vehicle, and at least one of the self-propelled modules further comprises a measurement sensor for measuring flight parameters of the self-propelled module configured to measure flight parameters of the at least one self-propelled module, and further configured to present the measured flight parameters of the self-propelled module to the control device, and the control device is further configured to present navigation commands to the self-propelled module to change its movement path and / or operating mode if at least one of its flight parameters does not correspond to a threshold value or exceeds a threshold range.

16. 2. The system of claim 1, wherein each of the at least two self-propelled modules comprises at least one power source and is further configured to present data regarding mileage to the control device in real time, allowing replacement with at least one other self-propelled module from at least one of the parking areas when the mileage of the self-propelled module to be replaced falls below a predetermined threshold.

17. 10. The system of claim 5, wherein at least one of the at least two self-propelled modules is further configured to present data regarding the operation of the drive unit to the control device in real time, to enable replacement of the drive unit with at least one other self-propelled module from at least one of the parking areas in the event of a failure of the drive unit.

18. 2. The system of claim 1, wherein at least one of the self-propelled modules further comprises a sensor for measuring parameters of a structural state of the self-propelled module, configured to measure parameters of a structural state of the at least one self-propelled module, and further configured to present the measured parameters of the structural state of the self-propelled module to the control device in real time, to enable replacement with at least one other self-propelled module from at least one of the parking areas if at least one of the parameters of the structural state of the at least one self-propelled module does not correspond to a threshold value or exceeds a threshold range.

19. 17. The system of claim 16, wherein the at least one power source each comprises at least one of the group including a battery, an internal combustion engine based generator, a hydrogen engine based generator, and a solar panel.

20. 17. The system of claim 16, wherein at least one of the parking areas further comprises at least one charging device, and wherein the control device is further configured to direct at least one discharged self-propelled module to one of the parking areas to enable coupling of the discharged self-propelled module with one of the charging devices to replenish its mileage.

21. 21. The system of claim 20, wherein each of the charging devices is a wireless charging device or a wired charging device.

22. 21. The system of claim 20, wherein the self-propelled modules are configured to be electrically coupled to one another, either sequentially or in parallel, while housed within the parking area to enable coupling to a charging device for simultaneously replenishing their driving range.

23. 2. The system of claim 1, wherein at least one of the self-propelled modules further comprises a detection device configured to determine the distance of the self-propelled module to other self-propelled modules within the operating area of ​​the detection device, and further configured to change its spatial location and / or operating mode if the distance to the detected self-propelled module is less than a threshold value, or further configured to present data to the control device regarding the determined value of the distance to the detected self-propelled module, so that the spatial location, movement path, and / or operating mode of the self-propelled module or the detected self-propelled module can be changed if the distance to the detected self-propelled module is less than a threshold value.

24. 10. The system of claim 1, wherein the control device is further configured to present navigation commands to at least a portion of the self-propelled modules whose housings form a three-dimensional object, enabling the self-propelled modules to be repositioned to at least partially change the geometry of the three-dimensional object.

25. 2. The system of claim 1, wherein the self-propelled modules, whose housings form a three-dimensional object, are divided into at least two groups, and the self-propelled modules of one of the groups have different overall dimensions, shape of the housing, operating parameters, type of self-propelled module, and / or type of power source of the self-propelled module, and / or type of self-propelled module than the self-propelled modules of the other of the groups.

26. 2. The system of claim 1, wherein the self-propelled modules whose housings form a three-dimensional object are divided into at least two groups, and the self-propelled modules in one of the groups have a different movement speed than the self-propelled modules in the other of the groups.

27. 10. The system of claim 1, wherein at least some of the self-propelled modules whose housings form the three-dimensional object are each further configured to hold or maintain their spatial location for a given period of time according to the model of the three-dimensional object, thereby causing the formed three-dimensional object to remain in a predetermined position.

28. 10. The system of claim 1, wherein at least some of the self-propelled modules whose housings form a three-dimensional object are each further configured to change their spatial location according to the model of the three-dimensional object, thereby allowing at least some of the three-dimensional object to move in space.

29. 2. The system of claim 1, wherein the control device of the system is further configured to present data regarding the modification of at least the portion of the three-dimensional object to at least some of the self-propelled modules whose housings form the three-dimensional object, and wherein each of the some of the self-propelled modules is further configured to modify its spatial position in real time according to the data regarding the modification of the portion of the three-dimensional object so as to form an at least partially modified three-dimensional object.

30. 2. The system of claim 1, wherein the control device of the system is further configured to present data related to modifications of the model of the three-dimensional object to at least some or one of the self-propelled modules whose housings form the three-dimensional object, and wherein the self-propelled modules are each further configured to modify their spatial positions in real time according to the data related to modifications of the model of the three-dimensional object, thereby enabling the movement of the three-dimensional object in space or at least part thereof to be performed.

31. 10. The system of claim 1, wherein the self-propelled modules whose housings form the three-dimensional object are divided into at least two groups, wherein one self-propelled module of the group is configured to form a portion of the three-dimensional object and another self-propelled module of the group is configured to form another portion of the three-dimensional object.

32. 10. The system of claim 1, wherein the self-propelled modules whose housings form the three-dimensional object are divided into at least two groups, wherein one self-propelled module of the group is configured to form a stationary portion of the three-dimensional object, and the other self-propelled module of the group is configured to form a movable portion of the three-dimensional object.

33. 2. The system of claim 1, wherein the self-propelled modules guided to a predetermined spatial region are divided into two groups, and the housings of the self-propelled modules from the first group form at least one first layer of the three-dimensional object, and the housings of the self-propelled modules from the second group form at least one second layer of the three-dimensional object.

34. 10. The system of claim 1, wherein the self-propelled modules guided to a predetermined spatial region comprise fastening or coupling means that allow the self-propelled modules to detachably interact with each other while forming a three-dimensional object from the housings of the coupled self-propelled modules.

35. 35. The system of claim 34, wherein the fastening or coupling means of the self-propelled modules are configured to unfold, spread or expand to allow detachable interaction of the self-propelled modules with each other.

36. 35. The system of claim 34, wherein the fastening or coupling means of the self-propelled modules are configured to extend from the housings of the self-propelled modules to allow detachable interaction of the self-propelled modules with each other.

37. 10. The system of claim 1, wherein at least two of the self-propelled modules guided to the predetermined spatial region are configured to mechanically couple to one another to form a cluster self-propelled module configured to detachably interact with at least one other self-propelled module of the self-propelled modules while forming the three-dimensional object.

38. 10. The system of claim 1, wherein the self-propelled modules guided to a predetermined spatial area are configured to mechanically couple to one another to form a cluster self-propelled module, and the control device enables the formation of a three-dimensional object from the housing of the cluster self-propelled module.

39. 2. The system of claim 1, wherein each of the self-propelled modules further comprises at least one gripper and an imaging device configured to capture images in real time within a field of view so as to identify at least one of the guided self-propelled modules within the field of view while present in the spatial region, each of the grippers communicatively coupled to the imaging device so as to grip one of the identified self-propelled modules in response to data regarding the identified self-propelled module from the imaging device.

40. 10. The system of claim 1, wherein the control device enables the spatial position of at least one of the self-propelled modules whose housings form a three-dimensional object to be changed, thereby enabling its displacement in space along at least one of three-dimensional coordinate axes relative to the remaining self-propelled modules, such that the three-dimensional object can assume a regular shape, a concave shape, a convex shape, or a curved shape.

41. 2. The system of claim 1, wherein the self-propelled modules, whose housings form the three-dimensional object, form a given number of sequentially arranged horizontal or vertical rows, wherein in at least one of the rows, the self-propelled modules are configured to maintain their spatial location, and in at least other of the rows, the self-propelled modules are configured to change their spatial location, allowing a portion of the three-dimensional object corresponding to the row of self-propelled modules to move or move in space.

42. 2. The system of claim 1, wherein the control device enables replacement of at least one of the discharged self-propelled modules with at least one charged self-propelled module in at least one of the spots of the formed three-dimensional object.

43. 43. The system of claim 42, wherein the control device further enables the discharged self-propelled module to be guided to one of the ramps to replenish its mileage, and enables the self-propelled module with replenished mileage to return, thereby realizing replacement of one of the discharged self-propelled modules in the formed three-dimensional object.

44. 44. The system of claim 43, wherein the control device enables the discharged self-propelled module to be replaced with the charged self-propelled module while the discharged self-propelled module is present in a spatial location corresponding to one of the replacement spots.

45. 21. The system of claim 20, wherein the control device enables guiding charged self-propelled modules to a given spatial region in a quantity corresponding to a quantity of self-propelled modules whose housings form a three-dimensional object, enabling substantially simultaneous replacement with the charged self-propelled modules.

46. 46. ​​The system of claim 45, wherein the control device further enables formation of a replacement three-dimensional object from the charged self-propelled module in the spatial region, the replacement three-dimensional object being a replica of the three-dimensional object to be replaced, thereby enabling exchange of the replacement three-dimensional object with the replacement three-dimensional object.

47. 47. The system of claim 46, wherein the control device further enables the replacement of the three-dimensional object to be replaced with a replacement three-dimensional object after a predetermined period of time.

48. 2. The system of claim 1, wherein the self-propelled modules, whose housings form the three-dimensional object, are divided into at least two groups, in each of which the housings of the self-propelled modules form one of the portions of the three-dimensional object, and wherein the control device further enables formation, in the spatial region, of at least one replacement portion of the three-dimensional object from charged self-propelled modules that are guided to the spatial region, and enables the replaced portion of the three-dimensional object to be exchanged with the replacement portion of the three-dimensional object.

49. 49. The system of claim 48, wherein during the exchange of the exchanged portion of the three-dimensional object with the replacement portion of the three-dimensional object, the control device substantially simultaneously presents control commands to the self-propelled module whose housing forms the exchanged portion of the three-dimensional object.

50. 2. The system of claim 1, wherein the self-propelled modules guided to a given spatial region are divided into groups, each of which is capable of at least partially forming at least one layer of a three-dimensional object having a different shape and / or size.

51. 2. The system of claim 1, wherein at least one of the self-propelled modules whose housings form the three-dimensional object comprises at least one power source and is further configured to present data regarding its mileage to the control device in real time, and wherein the control device is further configured to identify a discharged self-propelled module based on the data regarding the mileage, enable guidance of the discharged self-propelled module to one of the parking areas, and enable repositioning of remaining self-propelled modules of the self-propelled modules whose housings form the three-dimensional object to change or maintain the shape and / or size of the three-dimensional object.

52. 10. The system of claim 1, wherein the control device is further configured to guide one or more additional self-propelled modules into the spatial region from at least one of the ramps, enabling their integration into the structure of the three-dimensional object to modify the shape and / or size of the three-dimensional object.

53. 2. The system of claim 1, wherein the self-propelled modules, whose housings form the three-dimensional object, are divided into groups, in each of which the housings of the self-propelled modules form one or more of the portions of the three-dimensional object, and wherein during formation of the three-dimensional object, the control device enables arrangement of the self-propelled modules such that at least one of the portions of the three-dimensional object has a different shape and / or size than the rest of the three-dimensional object.

54. 10. The system of claim 1, wherein at least one of the self-propelled modules, the housing of which forms the three-dimensional object, comprises at least one power source, the system further including a laser projection unit configured to emit a laser beam, and at least one of the self-propelled modules further comprises a laser emission receiver / converter electrically coupled to the power source and configured to convert the received laser beam into an electrical current to enable charging of the power source.

55. 55. The system of claim 54, wherein at least one of the self-propelled modules, whose housing forms a three-dimensional object, is further configured to present data regarding its traveled distance to the control device in real time, and wherein the control device is further configured to control operation of the laser projection unit such that the laser beam is directed to at least one of the self-propelled modules when the traveled distance falls below a predetermined threshold.

56. 2. The system of claim 1, further comprising a movable or stationary load-supporting structure configured to accommodate one or more of the self-propelled modules guided by the control device to a given spatial region, and enabling the formation of the three-dimensional object from housings of the accommodated self-propelled modules according to the model of the three-dimensional object, or from the housings of the accommodated self-propelled modules and the load-supporting structure according to the model of the three-dimensional object.

57. 57. The system of claim 56, wherein the load-bearing structure comprises one or more parking platforms each configured to accommodate at least one of the guided self-propelled modules.

58. 57. The system of claim 56, wherein the load-bearing structure comprises at least one fastening means configured to interact with at least one of the guided self-propelled modules.

59. 57. The system of claim 56, wherein each of the guided self-propelled modules comprises one or more fastening means respectively configured to interact with the load-bearing structure.

60. 2. The system of claim 1, wherein one or more of the parking areas further comprises one or more charging devices, and wherein the control device is further configured to guide one or more of the self-propelled modules, whose housings form a three-dimensional object, to at least one of the parking areas such that each of the guided self-propelled modules is coupled to at least one of the charging devices to replenish its mileage.

61. 61. The system of claim 60, wherein the control device is configured to, after a predetermined period of time, present a navigation command to the self-propelled module, whose housing forms a three-dimensional object, to guide the self-propelled module to the at least one parking spot.

62. 61. The system of claim 60, wherein the control device is configured to present navigation commands to at least some of the self-propelled modules whose housings form a three-dimensional object to guide the self-propelled modules substantially simultaneously or sequentially to the at least one parking spot.

63. 61. The system of claim 60, wherein the control device is configured to present navigation commands to at least some of the self-propelled modules whose housings form a three-dimensional object to guide the self-propelled modules in a group or sequentially to the at least one parking spot.

64. 64. The system of any one of claims 60 to 63, wherein the control device is further configured to present navigation commands to one or more of the charged self-propelled modules to return them to an initial spatial location and reshape the three-dimensional object.

65. 2. The system of claim 1, wherein one or more of the parking areas further comprises one or more charging devices, and wherein one or more of the self-propelled modules, the housings of which form the three-dimensional object, are configured to move to at least one of the parking areas comprising a charging device, such that each of the guided self-propelled modules can be coupled to one of the charging devices to replenish its mileage.

66. 66. The system of claim 65, wherein one or more of the self-propelled modules, the housings of which form the three-dimensional object, are configured to automatically move to the at least one parking spot after a predetermined period of time.

67. 66. The system of claim 65, wherein one or more of the self-propelled modules, the housings of which form a three-dimensional object, are configured to automatically move to the at least one parking spot substantially simultaneously or sequentially.

68. 66. The system of claim 65, wherein at least one of the self-propelled modules, the housing of which forms a three-dimensional object, is configured to automatically move to the at least one parking spot in a group or sequentially.

69. 69. The system of any one of claims 65 to 68, wherein one or more of the charged self-propelled modules are configured to automatically return to their original spatial location and re-form the three-dimensional object.

70. 10. The system of claim 1, wherein the control device is further configured to present navigation commands to at least a portion of the self-propelled modules whose housings form a three-dimensional object to enable rearrangement of the self-propelled modules to separate the three-dimensional object into at least two distinct three-dimensional elements.

71. 71. The system of claim 70, wherein the control device is further configured to present navigation commands to the self-propelled modules whose housings form the at least two three-dimensional elements to enable rearrangement of the self-propelled modules to combine the three-dimensional elements into at least one integral three-dimensional object.

72. 10. The system of claim 1, wherein the housing of at least one of the self-propelled modules further comprises one or more displays, and the control device is further configured to present data regarding images to at least one of the self-propelled modules to enable the images to be displayed on at least one of the displays.

73. 73. The system of claim 72, wherein the image displayed is a static image or a dynamic image.

74. 10. The system of claim 1, wherein the housing of at least one of the self-propelled modules further comprises one or more screens, the system further comprises a projection device, and the control device is further configured to present data regarding an image to the projection device so that the image can be projected onto at least one of the screens.

75. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules further comprises one or more screens and projection devices, and the control device is further configured to present data regarding an image to the projection device so that the image can be projected onto at least one of the screens.

76. 10. The system of claim 1, further comprising a projection device, wherein the control device is further configured to present data regarding an image to the projection device so that the image can be projected onto at least one of the housings of the self-propelled modules forming a three-dimensional object.

77. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules includes a projection device, and the control device is further configured to present data regarding an image to the projection device so that the image can be projected onto the housing.

78. The system of claim 1 , wherein one or more of the self-propelled modules whose housings form a three-dimensional object each comprise two or more propulsion units.

79. 80. The system of claim 78, wherein the control device further enables at least one of the propulsion units to be switched off while each of the self-propelled modules with a propulsion unit is present as part of the formed three-dimensional object.

80. 79. The system of claim 78, further configured to allow at least one of the self-propelled modules, whose housings form a three-dimensional object, to maintain the propulsion unit in a switched off or activated state while present as part of the formed three-dimensional object.

81. 2. The system of claim 1, wherein one or more of the self-propelled modules, whose housings form a three-dimensional object, comprise a position determination module configured to determine the geographic coordinates of at least one of the self-propelled modules in real time and present the determined coordinates to the control device, and wherein the control device is further configured to detect a deviation or spatial displacement of a spatial location of at least a portion of the formed three-dimensional object based on data regarding the geographic coordinates of the self-propelled module and the model of the three-dimensional object, and to move the self-propelled module corresponding to the deviated or displaced portion of the three-dimensional object to return it to its initial spatial location in accordance with the model of the three-dimensional object.

82. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules that forms the three-dimensional object comprises at least one force sensor configured to measure a force applied to the housing by a user in real time and present the measured force to the control device, and wherein the control device is further configured to displace at least one of the self-propelled modules in response to the measured force to change the shape, spatial location, and / or spatial orientation of the three-dimensional object.

83. The system of claim 1 , wherein at least two of the housings of the self-propelled modules that form the three-dimensional object are each configured to be displaced relative to one another by a user.

84. 10. The system of claim 1, wherein at least one additional self-propelled module can be added to the self-propelled module whose housing forms the three-dimensional object, or at least one self-propelled module of the self-propelled module whose housing forms the three-dimensional object can be removed to at least partially modify the three-dimensional object.

85. 85. The system of any one of claims 82 to 84, wherein at least one of the self-propelled modules, whose housings form the three-dimensional object, comprises a position determination module configured to determine spatial coordinates of at least one of the self-propelled modules in real time and present the determined spatial coordinates to the control device, and wherein the control device is further configured to modify the model of the three-dimensional object based on the determined spatial coordinates of the self-propelled module if they deviate from initial spatial coordinates corresponding to the initial model of the three-dimensional object.

86. 85. The system of any one of claims 82 to 84, further comprising a scanning device configured to scan the modified three-dimensional object and present the scanned results of the three-dimensional object to the control device, wherein the control device is further configured to form or update the model of the three-dimensional object based on the scanned results.

87. 10. The system of claim 1, wherein one or more structural modules are capable of attachment to at least one of the self-propelled modules whose housings form the three-dimensional object to at least partially alter the geometry of the three-dimensional object.

88. 88. The system of claim 87, wherein at least one of the self-propelled modules further comprises at least one fastening or coupling element to enable the attachment of the structural module to at least one of the self-propelled modules.

89. 88. The system of claim 87, wherein at least one of the self-propelled modules further comprises at least one gripper configured to grasp the at least one structural module and is further configured to move and / or position the captured structural module to at least partially alter the geometry of the three-dimensional object.

90. 2. The system of claim 1, wherein the housing of at least one of the self-propelled modules is configured to change its shape and / or size, and wherein the control device is configured to present control commands to at least one of the self-propelled modules whose housing forms the three-dimensional object, such that the shape and / or size of at least a portion of the housing of at least one of the self-propelled modules can be changed to at least partially change the geometry of the formed three-dimensional object.

91. 2. The system of claim 1, wherein the self-propelled module is configured to be installed within a cavity having an opening, the opening being bounded by an edge of the cavity, the self-propelled module is configured to receive the housing of the self-propelled module within the cavity and fill the cavity with the housing of the self-propelled module, and in response to the cavity being filled with the self-propelled module up to the edge of the cavity, at least one surface of the filled cavity is formed in the area of ​​the opening, which is at least one surface of the formed three-dimensional object.

92. 92. The system of claim 91, wherein in response to a change in the shape or size of the cavity and a corresponding change in at least one surface of the three-dimensional object, the control device of the system is configured to restore at least one surface of the three-dimensional object by adding at least one additional self-propelled module to the plurality of self-propelled modules whose housings fill the cavity, or by removing at least one self-propelled module from the self-propelled modules whose housings fill the cavity.

93. 93. The system of claim 92, wherein the system further comprises a scanning device configured to scan at least one surface of the three-dimensional object and present the scanning results of the at least one surface of the three-dimensional object to the control device, and the control device is further configured to reconstruct the at least one surface of the three-dimensional object based on the scanning results.

94. 92. The system of claim 91 , wherein at least one of the self-propelled modules comprises a scanning device configured to be installed in a cavity and configured to scan at least one surface of a three-dimensional object and / or to scan the cavity and / or to determine the position of the edge of the cavity, thereby obtaining a scan result of at least one surface of the three-dimensional object, or the three-dimensional object, or the edge of the cavity, respectively.

95. 95. The system of claim 94, wherein the self-propelled modules further comprise a control unit that forms a reference self-propelled module, the control unit being communicatively coupled to the scanning device and the self-propelled modules and configured to guide at least a portion of the self-propelled modules to the reference self-propelled module in a quantity corresponding to the three-dimensional model of the cavity or at least one surface of a three-dimensional object, such that the guided self-propelled modules fill the cavity and form a given three-dimensional object or at least one given surface of a three-dimensional object.

96. 1. A method for forming a three-dimensional object, comprising: Presenting navigation commands and a given model of the three-dimensional object to self-propelled modules, each having a housing. Including, In response to the navigation command, the self-propelled modules are further guided from at least one parking area to a given spatial region, allowing each of the guided self-propelled modules to be installed at a given spatial location according to a given model of a three-dimensional object, and forming at least one three-dimensional object from the housings of the installed self-propelled modules.

97. 97. The method of claim 96, further comprising presenting the control commands to at least one of the self-propelled modules whose housing forms the three-dimensional object, wherein the shape and / or size of at least a portion of the housing of at least one of the self-propelled modules can be altered to change the geometry of the formed three-dimensional object.

98. 97. The method of claim 96, further comprising manually displacing at least one of the self-propelled modules whose housings form the three-dimensional object.

99. 97. The method of claim 96, further comprising manually adding at least one additional self-propelled module to the self-propelled modules whose housings form the three-dimensional object, or manually removing at least one self-propelled module from the self-propelled modules whose housings form the three-dimensional object, to modify the three-dimensional object.

100. 97. The method of claim 96, further comprising: measuring in real time with the aid of a force sensor provided on the housing a force applied to at least one of the self-propelled modules, whose housing forms the three-dimensional object; and displacing the self-propelled module in response to the measured force to change the shape and / or spatial location of the three-dimensional object.

101. 101. The method of any one of claims 96 to 100, further comprising: using a position determination module provided on the self-propelled modules to further determine in real time spatial coordinates of the self-propelled modules whose housings form a three-dimensional object; and when at least one of the self-propelled modules deviates from an initial model of the three-dimensional object, modifying the model of the three-dimensional object based on the determined spatial coordinates of the self-propelled modules.

102. 101. The method of any one of claims 96 to 100, further comprising scanning the modified three-dimensional object by a scanning device, and forming or updating the model of the three-dimensional object based on the obtained scanning of the modified three-dimensional object.

103. 1. A self-propelled module for forming a three-dimensional object, comprising: a housing provided with one or more air propulsion units that enable movement of the self-propelled module; and wherein the housing is further configured to allow the self-propelled module to be installed within an aircraft apron, and the self-propelled module comprises: a control unit configured to receive navigation commands from an external control device to enable movement of the self-propelled module from the apron to a given spatial region using at least one of the propulsion units, and to enable placement of the self-propelled module at a given spatial location to form at least a portion of a given three-dimensional object. A self-propelled module further comprising:

104. 104. A self-propelled module as described in claim 103, wherein the housing comprises at least one controllable actuation member operably coupled to the housing, the actuation member being configured to change the shape and / or size of at least a portion of the housing when actuated, and the control unit being operably coupled to the actuation member such that it can present the control commands thereto for actuating the actuation member.

105. 104. A self-propelled module as described in claim 103, wherein the housing comprises two or more propulsion units.

106. 106. The self-propelled module of claim 105, wherein each of the propulsion units is configured in the form of one of a group of propulsion units including a sail, a marine propeller, a Voith-Schneider propeller, a bladed propeller, a water jet propulsion unit, a paddle wheel, an oar-type propulsion unit, a fin-type propulsion unit, a fishtail propulsion unit, a wheeled chassis, a pneumatic tire roller propulsion unit, a rotary cutter propulsion unit, a caterpillar propulsion unit, a half-track propulsion unit, a ski-catter propulsion unit, a screw-type propulsion unit, a walking propulsion unit, an electromagnetic propulsion unit, a jet propulsion unit, a flapping wing propulsion unit, a walking wheel propulsion unit, a square wheel propulsion unit, an oscillatory propulsion unit, an amoeba-type propulsion unit, a cross-section wheel propulsion unit, and an inertial propulsion unit.

107. 104. A self-propelled module as described in claim 103, wherein the housing further comprises an independently movable element attached thereto and configured to move within the housing under the control of the control unit, thereby enabling movement of the self-propelled module.

108. 104. The self-propelled module of claim 103, wherein the housing further comprises a drive device operably coupled to or configured to act on the housing to enable movement of the housing to move the self-propelled module in space.

109. 104. A self-propelled module as described in claim 103, wherein the housing is formed from different functional parts and comprises a drive device operably coupled to the functional parts so that the spatial location of the functional parts relative to one another can be changed to change the shape and / or size of the housing.

110. 104. A self-propelled module as described in claim 103, wherein the housing is formed from different functional portions and includes a drive device operably coupled to the functional portions to enable the functional portions to expand or expand to change the shape, size and / or contour of the housing.

111. 104. A self-propelled module as described in claim 103, wherein the housing is formed from different controllable functional portions, and the control device is communicatively coupled to the controllable functional portions to enable the spatial location of the functional portions relative to one another to change the shape, size and / or contour of the housing in response to the control commands of the control unit.

112. 104. A self-propelled module as described in claim 103, wherein the housing is formed from different controllable functional portions, and the control unit is communicatively coupled to the controllable functional portions to enable the functional portions to expand or unfold in response to the control commands of the control unit to change the shape, size and / or contour of the housing.

113. 104. The self-propelled module of claim 103, wherein the housing is configured to change its shape and / or size, and the control unit is further operably coupled to the housing and configured to receive control commands from the control device so as to change the shape and / or size of at least a portion of the housing.

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