Inflatable, moveable structure

An inflatable, moveable structure comprising:

• a fluid source;
• at least one chamber comprising a substantially inelastic outer membrane defining a cavity extending therebetween, in which the or each cavity is in fluid communication with the fluid source;
• a regulatory mechanism in communication with the or each chamber, in which the regulatory mechanism is configured to control fluid flow into or out of the corresponding cavity;
• and
• a control system comprising at least one sensor, in which the at least one sensor comprises:
• at least one pressure sensor, the or each pressure sensor located within a corresponding chamber and operable to determine the pressure of the fluid within the corresponding chamber and/or the pressure ratio of fluid within at least two chambers;
• and/or
• at least one spatial orientation sensor configured to determine the spatial orientation of the at least one chambers,
• in which the control system is operable to effect movement of the structure by controlling operation of the regulatory mechanism in response to one or more of the determined spatial orientation of the structure as determined by the spatial orientation sensor(s) and/or fluid pressure within the corresponding chamber(s) and/or pressure ratio of fluid within at least two chambers as determined by the pressure sensor(s), and
• in which the outer membrane of one or more chambers comprises a pattern or visual markers which are configured to be distorted when contacted by an external element, and in which the control system further comprises a camera system configured to detect distortion of a pattern or a visual marker of a chamber when distorted by contact.

An inflatable, moveable structure comprising:

• a fluid source;
• one or more chamber arrangements, in which each chamber arrangement comprises a plurality of chambers each comprising a substantially inelastic outer membrane defining a cavity extending therebetween, wherein each chamber arrangement is independently in communication with a fluid source, in which the or each chamber arrangement is linked to or bears on, in use, a further chamber arrangement;
• a regulatory mechanism in communication with the or each chamber, in which the regulatory mechanism is configured to control fluid flow into or out of the corresponding cavity;
• and
• a control system comprising at least one sensor, in which the at least one sensor comprises:
• at least one pressure sensor, the or each pressure sensor located within a corresponding chamber and operable to determine the pressure of the fluid within the corresponding chamber and/or the pressure ratio of fluid within at least two chambers;
• and/or
• at least one spatial orientation sensor configured to determine the spatial orientation of at least one of the chambers,
• in which the control system is operable to effect movement of the structure by controlling operation of the regulatory mechanism in response to one or more of the determined spatial orientation of the structure as determined by the spatial orientation sensor(s) and/or fluid pressure within the corresponding chamber(s) and/or pressure ratio of fluid within at least two chambers as determined by the pressure sensor(s).