# US 2017/0255202 A1 · Construction system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0255202 A1 - Document ID: US20170255202A1 - Status: Published application - Kind: A1 - Application number: 15/061,238 - Filed: 2016-03-04 - Published: 2017-09-07 - Earliest claimed: 2016-03-04 - Assignees: Caterpillar Inc. - Applicants: Caterpillar Inc. - Inventors: Tazio S. Grivetti; Kevin A. O'Neil; Joseph M. Spanier; Christopher M. Sketch; John Sherman; James Babin - Web page: https://patentgrep.com/patent/US20170255202A1 ## CPC - B29C 64/106: using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material - B33Y 30/00: Apparatus for additive manufacturing; Details thereof or accessories therefor - B33Y 80/00: Products made by additive manufacturing - B62D 12/02: for vehicles operating in tandem - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - E04G 21/04: Devices for both conveying and distributing (concrete pumps F04) - B29C: SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING (making preforms B29B11/00; making laminated products by combining previously unconnected layers which become one product whose layers will remain together B32B37/00 - B32B41/00) - B33Y: ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - E04G: SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS ## Abstract A construction system is provided. The construction system includes at least one machine. The construction system also includes a gantry system having a beam member. The construction system further includes a reference member provided proximal to a predetermined path of the at least one machine. The construction system includes a sensing unit associated with the at least one machine. The sensing unit is configured to determine distance of a portion of the at least one machine from the reference member. The construction system also includes a control unit in communication with the at least one machine and the sensing unit. The control unit is configured to receive inputs indicative of distance of the portion of the at least one machine from the reference member. The control unit is also configured to move the at least one machine to move the gantry system along the reference member for a predetermined distance. ## Claims ### Claim 1 A construction system comprising: at least one machine; a gantry system having a beam member, the beam member being supported at a first end on the at least one machine; a reference member provided proximal to a predetermined path of the at least one machine; a sensing unit associated with the at least one machine, the sensing unit being configured to determine distance of a portion of the at least one machine from the reference member; and a control unit in communication with the at least one machine and the sensing unit, the control unit configured to: receive inputs indicative of distance of the portion of the at least one machine from the reference member; and move the at least one machine to move the gantry system along the reference member for a predetermined distance. ### Claim 2 (depends on 1) The construction system of claim 1, wherein the control unit is further configured to: steer the at least one machine in a first direction, upon determining a threshold change of distance between the portion of the at least one machine and the reference member, in a direction opposite to the first direction. ### Claim 3 (depends on 2) The construction system of claim 2, wherein the control unit is further configured to: generate an input indicative of change in distance of the portion of the at least one machine and the reference member, in the first direction; and steer the at least one machine in the direction opposite to the first direction based on the input indicative of the change in distance. ### Claim 4 (depends on 1) The construction system of claim 1 further comprises a limiting member, wherein the control unit is further configured to: determine a distance of the portion of the at least one machine from the limiting member; and restrict movement of the at least one machine along the reference member upon determining that the distance of the portion of the at least one machine from the limiting member is below a predefined threshold. ### Claim 5 (depends on 1) The construction system of claim 1, wherein the sensing unit comprises: a first sensor positioned at a first portion of the at least one machine to generate a first input indicative of distance between the first portion of the at least one machine and the reference member; and a second sensor positioned at a second portion distant from the first portion to generate a second input indicative of distance between the second portion of the at least one machine and the reference member, wherein the first sensor and the second sensor is disposed in communication with the control unit. ### Claim 6 (depends on 1) The construction system of claim 1, wherein the sensing unit comprises one or more of sonic sensors, laser sensors, and contact sensors. ### Claim 7 (depends on 1) The construction system of claim 1 further comprising an auxiliary machine supporting a second end of the beam member of the gantry system, the auxiliary machine being configured to move with the at least one machine. ### Claim 8 (depends on 7) The construction system of claim 7, wherein the beam member is supported between the first end by a portion of the first machine and a second end by a portion of the auxiliary machine. ### Claim 9 (depends on 1) The construction system of claim 1, wherein a dispensing system is coupled to the beam member of the gantry system, the dispensing system being movable along a length of the beam member, and wherein the dispensing system is operated by one of a hydraulic system, a pneumatic system and an electrical system of the at least one machine. ### Claim 10 (depends on 1) The construction system of claim 1, wherein the gantry system is a Three Dimensional (3D) construction gantry system. ### Claim 11 A method of operating a construction system having at least one machine supporting a gantry system, the method comprising: determining distance of a portion of the at least one machine from a reference member; and moving the at least one machine to move the gantry system along the reference member for a predetermined distance. ### Claim 12 (depends on 11) The method of claim 11 further comprising: steering the at least one machine in a first direction, upon determining a threshold change of distance between the portion of the at least one machine and the reference member, in a direction opposite to the first direction. ### Claim 13 (depends on 12) The method of claim 12 further comprising: generating an input indicative of change in distance, of the portion of the at least one machine and the reference member, in the first direction; and steering the at least one machine in the direction opposite to the first direction based on the input indicative of the change in distance. ### Claim 14 (depends on 12) The method of claim 12 further comprising: determining a distance of a second portion of the at least one machine from the reference member; comparing the distance of the second portion of the at least one machine from the reference member and the distance of the portion of the machine from the reference member; and steering the at least one machine upon determining a predefined difference between the distance of the second portion of the at least one machine from the reference member and the distance of the portion of the at least one machine from the reference member. ### Claim 15 (depends on 14) The method of claim 14 further comprising: determining a direction of movement of the at least one machine; identifying at least one of the distance of the second portion of the at least one machine from the reference member and the distance of the portion of the machine from the reference member as a steering input indicative distance based on the direction of movement of the at least one machine; and steering the at least one machine in a first direction, upon determining a threshold change of the steering input indicative distance, in a direction opposite to the first direction. ### Claim 16 (depends on 11) The method of claim 11 further comprising: generating an input indicative of the distance of the portion of the at least one machine from a limiting member; and restricting movement of the at least one machine along the reference member upon determining that the distance of the portion of the at least one machine from the limiting member is below a predefined threshold. ### Claim 17 (depends on 11) The method of claim 11 further comprising: determining a distance travelled by the at least machine; and restricting movement of the at least one machine along the reference member upon determining that the distance travelled by the at least one machine is equal to a predefined distance. ### Claim 18 A method of operating a construction system having at least one machine supporting a gantry system, the method comprising: determining distance of a first portion of the at least one machine from a reference member; determining distance of a second portion of the at least one machine from a reference member; comparing the distance of the second portion of the at least one machine from the reference member and the distance of the first portion of the machine from the reference member; moving the at least one machine to move the gantry system, along the reference member for a predetermined distance; and steering the at least one machine upon determining a predefined deviation between the distance of the second portion of the at least one machine from the reference member and the distance of the first portion of the machine from the reference member. ### Claim 19 (depends on 18) The method of claim 18 further comprising: determining a direction of movement of the at least one machine; identifying at least one of the distance of the second portion of the at least one machine from the reference member and the distance of the portion of the machine from the reference member as a steering input indicative distance based on the direction of movement of the at least one machine; and steering the at least one machine in a first direction, upon determining a threshold change of the steering input indicative distance, in a direction opposite to the first direction. ### Claim 20 (depends on 18) The method of claim 18 further comprising: generating an input indicative of the distance of the portion of the at least one machine from a limiting member; and restricting movement of the at least one machine along the reference member upon determining that the distance of the portion of the at least one machine from the limiting member is below a predefined threshold.