US 12,454,409 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)
Filed by CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US)
Filed on Nov. 14, 2023, as Appl. No. 18/508,380.
Application 18/508,380 is a continuation of application No. 17/915,213, granted, now 11,866,253, previously published as PCT/US2020/067174, filed on Dec. 28, 2020.
Application 17/915,213 is a continuation in part 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 2024/0101348 A1, Mar. 28, 2024
This patent is subject to a terminal disclaimer.
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)] 23 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 first mobile conveyor disposed on a first side of a layer;
wherein one or more totes stored in a source row in the layer may be moved from an end of the source row and onto the first mobile conveyor as the totes in the source row are moving at a constant velocity toward the first mobile conveyor.