US 11,866,253 B2
High-density automated storage and retrieval system
Herman Herman, Pittsburgh, PA (US); and Gabriel Goldman, Pittsburgh, PA (US)
Assigned to CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US)
Appl. No. 17/915,213
Filed by CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US)
PCT Filed Dec. 28, 2020, PCT No. PCT/US2020/067174
§ 371(c)(1), (2) Date Sep. 28, 2022,
PCT Pub. No. WO2021/236164, PCT Pub. Date Nov. 25, 2021.
Application 17/915,213 is a division of application No. PCT/US2020/033790, filed on May 20, 2020.
Claims priority of provisional application 62/850,191, filed on May 20, 2019.
Prior Publication US 2023/0139228 A1, May 4, 2023
Int. Cl. B65G 1/04 (2006.01); B65D 21/02 (2006.01)
CPC B65G 1/0435 (2013.01) [B65D 21/0204 (2013.01); B65G 1/0478 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A storage structure comprising:
a plurality of layers, each layer comprising a plurality of rows for storing a plurality of totes; and
a conveyer located on opposite ends of any layer;
wherein totes stored in a source row may be removed from an end of the source row and onto a conveyer as the totes in the source row are moving at a constant velocity toward the conveyer; and
wherein totes on a conveyer may be stored in a destination row as the totes in the destination row are moving at a constant velocity away from the conveyer.