Patent Publication Number: US-2021188551-A1

Title: Vending-tote and a method thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority under 35 U.S.C. § 119(e) from U.S. Provisional Patent Application No. 62/952,657, titled “Vending Machine Like tote”, filed on Dec. 23, 2019, which is incorporated in its entirely by reference for all purposes without giving rise to disavowment. 
    
    
     TECHNICAL FIELD 
     The present disclosed subject matter relates to warehouse robotics. More particularly, the present disclosed subject matter relates to automated storage and retrieval systems. 
     BACKGROUND 
     Growing operational complexity, high service requirements of computerized distribution storehouses, and the need for an efficient supply chain pose the need for automated item collection systems. Modern distribution storehouses, such as supermarkets, warehouses used for on-line supply chain, or the like, need to deal with a high volume of products being moved into and out of storage, storage density due to space constraints, and a large inventory of different types of items. The items also differ in sizes; packaging types, e.g. cans corrugated cardboard, sacks; and other physical characteristics, such as weight, density, robustness, or the like. 
     Warehouse robotics refers to the use of robots to transport materials, perform various tasks, and streamline warehouse processes. In recent years, robotics has gained its place in the supply chain, distribution center, and warehouse management industry. Technological advancements and an increasingly competitive business landscape are forcing modern warehouses to seriously consider the use of robotics. With their ability to increase productivity, accuracy, and operational efficiency warehouse automation of all kinds adds value to warehousing operations by automating the execution of menial, repetitive tasks, thus allowing human workers to focus on more complicated tasks. 
     BRIEF SUMMARY 
     According to a first aspect of the present disclosed subject matter, a vending-tote adapted to be moved by a lift-robot across a shelving-unit to rendezvous with a second tote carried by a second robot, the vending-tote comprising: a container designed to contain a plurality of items; and a dispensing mechanism integrated within the container, wherein the dispensing mechanism is configured to be activated by the lift-robot, the second robot, or both for dispensing at least one item of the plurality of items into the second tote. 
     In some exemplary embodiments, the lift-robot is configured to move the vending-tote to a dispensing position located along a vertical aisle incorporated in the shelving-unit for the rendezvous with the second tote carried by the second robot, wherein the second robot is a floor-robot configured to move across a horizontal plane. 
     In some exemplary embodiments, the vertical aisle comprises a member adapted to engage with the dispensing mechanism when the vending-tote is in the dispensing position. 
     In some exemplary embodiments, the dispensing mechanism of the vending-tote comprises a hatch having a tab, wherein the tab is adapted to be captured by the member when the vending-tote is at the dispensing position, and wherein the lift-robot is configured to open and close the hatch by exerting a side force on the tab. 
     In some exemplary embodiments, the second tote comprises a socket adapted to engage with the dispensing mechanism when the vending-tote is in the dispensing position. 
     In some exemplary embodiments, the dispensing mechanism comprises a hatch having a protrusion, wherein the socket is adapted to capture the protrusion when the vending-tote is in the dispensing position, thereby allowing the second robot to open and close the hatch by exerting a side force on the protrusion. 
     In some exemplary embodiments, the lift-robot comprises an actuating-unit adapted to interface with the dispensing mechanism of the vending-tote when the vending-tote is in the dispensing position. 
     In some exemplary embodiments, the actuating-unit comprises a motor and a transmission, wherein the dispensing mechanism comprises a second-transmission connected to a coil, wherein the transmission and the second-transmission are configured to be interfaced in the dispensing position, and wherein the motor is configured to rotate the coil for activating the dispensing mechanism via the second-transmission in the dispensing position. 
     In some exemplary embodiments, the actuating-unit comprises a linear translation actuator, wherein the dispensing mechanism comprises a chain having a plurality of dividers adapted to engage in turn with a member, and wherein the linear translation actuator are configured to push the chain with the member for dispensing at least one item when the linear translation actuator and the member are interfaced, wherein the member and the linear translation actuator are configured to be interfaced in the dispensing position. 
     In some exemplary embodiments, the dispensing mechanism is configured to selectively dispense the at least one item without dispensing a portion of the plurality of items, whereby the dispensing mechanism is configured to divide the plurality of items between the second tote and the container. 
     According to a second aspect of the present disclosed subject matter, a method of dispensing a measured number of items using the vending-tote of claim  1 , the method comprising: dispatching the second robot carrying the second tote to rendezvous with the vending-tote; moving the vending-tote using the lift-robot to a dispensing position; and activating the dispensing mechanism of the vending-tote to dispense the measured number of items to the second tote. 
     In some exemplary embodiments, the container of the vending-tote comprises items of a first type, wherein the second tote comprised at least one item of a second type before the activating the dispensing mechanism to dispense the measured number of items to the second tote, and wherein the first type is different than the second type, whereby after the activating, the second tote comprising a mixed content of items of different types. 
     In some exemplary embodiments, the activating the dispensing mechanism is performed by the second robot. 
     In some exemplary embodiments, the second robot is a floor-robot, wherein after the activating, dispatching the floor-robot to a packaging-terminal; whereby additional items may be picked from or added to the second tote in the packaging-terminal. 
     In some exemplary embodiments, the method of dispensing a measured number of items further comprises: determining the measured number of items and performing the activating so as to dispense exactly the measured number of items. 
     In some exemplary embodiments, the moving the vending-tote comprises displacing the vending-tote from a location on the shelving-unit, and wherein after the activating, returning the vending-tote back to the location on the shelving unit. 
     In some exemplary embodiments, the method of dispensing a measured number of items further comprises: dispatching a third robot carrying a third tote to rendezvous with the vending-tote; and activating the dispensing mechanism of the vending-tote to dispense a second measured number of items to the third tote. 
     According to a third aspect of the present disclosed subject matter, a method for assembling an order that is comprised by a plurality of items, the method comprising: placing a tote on a floor-robot configured to move between at least one shelving-unit and a packaging-terminal; dispatching the floor-robot carrying the tote to rendezvous with a vending-tote; moving the vending-tote by a lift-robot from a shelving-unit to a dispensing position, wherein the dispensing position is located adjacent a shelving unit, wherein the lift-robot is configured to move across the shelving-unit; activating a dispensing mechanism of the vending-tote to dispense a measured number of one or more items of the order to the tote, wherein the activating is performed automatically without human intervention; returning the vending-tote to the shelving-unit; dispatching the floor-robot carrying the tote to the packaging terminal; adding, manually or automatically, items to the tote to assemble the order; and delivering the order, wherein the delivering the order comprises delivering the tote. 
     In some exemplary embodiments, the method for assembling an order further comprises: dispatching the floor-robot to rendezvous with a second vending-tote carrying items of a second type, wherein the vending-tote is carrying items of a first type; and activating a dispensing mechanism of the second vending-tote to dispense a second measured number of one or more items of the order to the tote, wherein the activating the dispensing mechanism of the second vending-tote is performed automatically without human intervention. 
     In some exemplary embodiments, the method for assembling an order further comprises: moving the vending-tote by the lift-robot to a second dispensing position, wherein a second floor-robot carrying a second tote is dispatched to rendezvous with the vending-tote at the second dispensing position, wherein the second tote is participating in an assembly of a second order; and activating the dispensing mechanism of the vending tote to dispense a second measured number of one or more items to the second tote. 
     Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosed subject matter belongs. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present disclosed subject matter, suitable methods and materials are described below. In case of conflict, the specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and not intended to be limiting. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Some embodiments of the disclosed subject matter described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of the preferred embodiments of the present disclosed subject matter only, and are presented in the cause of providing what is believed to be the most useful and readily understood description of the principles and conceptual aspects of the disclosed subject matter. In this regard, no attempt is made to show structural details of the disclosed subject matter in more detail than is necessary for a fundamental understanding of the disclosed subject matter, the description taken with the drawings making apparent to those skilled in the art how the several forms of the disclosed subject matter may be embodied in practice. 
       In the drawings: 
         FIG. 1  illustrates an isometric view of an automated distribution storehouse, in accordance with some exemplary embodiments of the disclosed subject matter; 
         FIG. 2  illustrates a front view of a shelving-unit of the automated distribution storehouse, in accordance with some exemplary embodiments of the disclosed subject matter; 
         FIG. 3  illustrates a front view of a vending-tote in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter; 
         FIG. 4  illustrates a front view of a vending-tote in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter; 
         FIG. 5  illustrates a front view of a vending-tote in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter; 
         FIG. 6  illustrates a front view of an alternative dispensing mechanism of the vending-tote, of  FIG. 5 , in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter; 
         FIG. 7  shows a block diagram of a mission planning control system, in accordance with some exemplary embodiments of the disclosed subject matter; and 
         FIG. 8  shows a flowchart diagram of a method of assembling an order in the automated distribution storehouse, in accordance with some exemplary embodiments of the disclosed subject matter. 
     
    
    
     DETAILED DESCRIPTION 
     One objective of the present disclosure is to provide automated distribution storehouses with a vending-tote to autonomously dispense a measured number of items to another tote in an automated manner, and potentially without departing from its shelf-unit. In some cases, the vending-tote may be coupled with either a lift-robot or a floor-robot. In some exemplary embodiments, it may be desired that the vending-tote may dispense only a portion of its content, in a selective manner, and retain the remainder portion of the items retained therein. 
     Another objective of the present disclosure is providing automated distribution storehouses with a system and method adapted for utilizing the vending-totes. 
     The vending-tote of the present disclosure may obviate the need to dispatch a plurality of floor-robots to bring the totes of each and every item to be manually assembled into another tote at a packaging-area. Instead, a floor-robot carrying a collection-tote, of the present disclosure, may be configured to wander between vending-totes that contain items of a deliverable order and utilize the vending-tote dispensing capability for collecting a required number of items from each such vending-tote, e.g. assembling the order. 
     In some exemplary embodiments, the vending-tote of the present disclosure may be utilized within a robotic warehouse such as disclosed in U.S. Pat. No. 10,472,172B2, entitled “Robotic inventory handling”, filed 8 Jun. 2016, which is hereby incorporated by reference in its entirety for all purposes and without giving rise to disavowment. The vending-tote may be carried by robots of such robotic inventory handling system, including by lift-robots, floor-robots, or the like. 
     One technical effect of utilizing the disclosed subject matter is reducing the total number of floor-robots trips per each order assembly and reducing the amount of human labor involvement per order. Another technical effect of utilizing the disclosed subject matter is speeding up the process of assembling an order and enhancing the efficiency of robot deployment in automated distribution storehouses. 
     The disclosed subject matter may provide for one or more technical improvements over any pre-existing technique and any technique that has previously become routine or conventional in the art. Additional technical problems, solutions and effects may be apparent to a person of ordinary skill in the art in view of the present disclosure. 
     Referring now to  FIG. 1  illustrating an isometric view of an automated distribution storehouse, in accordance with some exemplary embodiments of the disclosed subject matter. 
     Automated distribution storehouse  10  comprises a plurality of shelving-units  11 , which are mounted side-by-side, at least one packing terminal  60 , and a plurality of floor-robots  40  capable of traveling independently across a horizontal plane, e.g. floor, between the shelving-units  11  and the packaging terminal  60 . 
     In some exemplary embodiments, the shelving-units  11  can be mounted on the storehouse&#39;s floor; suspended from the ceiling; ramped-up above the floor; and any combination thereof, or the like. Additionally or alternatively, the plurality of shelving-units  11  or at least a part of them may be mounted on rails that allow each shelving-unit to slide one toward the other in order to allow installing more shelving-units in a given space of the storehouse. 
     Each shelving-unit  11  can accommodate a plurality of different containers, such as tote  30 , and vending-tote  90 . It should be noted that it is not mandatory that all the containers will be of identical sizes and shapes. In some exemplary embodiments, a container may hold and retain items of a certain type (e.g., a tote comprising tomatoes). Additionally, or alternatively, a tote may comprise different types of inventory items, optionally items that have an affinity to one another. As one example, and as order that include pasta also tend to include tomato-souse, a single tote may retain both pasta inventory items and its counterpart tomato-souse inventory items. 
     In some exemplary embodiments, the floor-robots  40  are configured to obtain a container, such as a tote  30 , form a lift-robot and independently convey it to terminal  60 , or to a different a lift-robot of a different shelving-unit and vice versa. Additionally or alternatively, a floor-robot  40 , of the plurality of floor-robots may be configured to travel from one shelving-unit to another for collecting different items into the tote  30  it is carrying. 
     It should be noted that the plurality of shelving-units  11  are placed high enough above the floor so that floor-robots  40  carrying a container can travel beneath the shelves of the shelving-units in order to deliver containers to their destinations. In some exemplary embodiments, the minimal height of the lowest shelf in shelving-units  11  may be higher than a height of a floor-robot carrying a tote. In some exemplary embodiments, if there are different types of totes with different heights, the height may be a height that is compatible with the highest tote type. Additionally, or alternatively, the height may be a height that is compatible with the highest tote type that is retained in the relevant shelving-unit. 
     In some exemplary embodiments, items are picked at terminal  60  from containers that arrive, by floor-robots  40 , and packed in order totes for delivery to customers. The floor-robots also convey containers to lift-robots for placement back on shelves. In some exemplary embodiments, the packing in terminal  60  may be performed manually, such as by a human picker, by a robotic picker, or the like. In some exemplary embodiments, at terminal  60  different items may be gathered from different inventory totes that are retrieved from storage and brought to terminal  60  by floor-robots. After the inventory tote is utilized and relevant items are picked therefrom, the inventory tote may be returned to shelving-units  11  to be stored therein, in a same location as before or in a different location. In some exemplary embodiments, terminal  60  may be utilized for replenishing inventory totes, such as when new inventory arrives to distribution storehouse  10 . In some exemplary embodiments, empty inventory totes may be replenished with new items. Additionally, or alternatively, empty inventory totes may be discarded and replaced by new inventory totes that arrive to the warehouse. 
     In some exemplary embodiments, a main computer may track the contents of containers, such as totes  30  and totes  90 , and their respective location in order to plan and direct the operations of the robots and personnel in distribution storehouse  10 . 
     Referring now to  FIG. 2  illustrating a front view of a shelving-unit of the automated distribution storehouse, in accordance with some exemplary embodiments of the disclosed subject matter. Shelving-unit  11  comprising at least one section  11   s , at least one lift-robot  20 , and at least one vertical aisle  11   v.    
     In some exemplary embodiments, the at least one section  11   s  is comprised of a plurality of shelves  11   b  that are connected horizontally between posts  11   a  at intervals one above the other. It should be noted that a plurality of sections  11   s  can be connected one next to the other for extending the shelving-unit  11  length. 
     In some exemplary embodiments, each shelf  11   b  can accommodate a plurality of different containers, such as tote  30 , vending-tote  90 . 
     In some exemplary embodiments, at least one vertical-aisle  11   v  is located in a gap between two sections  11   s  of the shelving-unit  11  or next to a single section  11   s , in case of a one-sided aisle. Vertical aisle  11   v  can be utilized by a lift-robot  20  for accessing the floor-robot  40 . In some exemplary embodiments, an area on the floor under the vertical aisle  11   v  or substantially in front of it may be reserved as a designated loading zone  44 , for allowing the floor-robot  40  to rendezvous with the lift-robot  20 . 
     In some exemplary embodiments, the lift-robot  20  is capable of moving along vertical and horizontal paths situated on the front or back faces of shelving-units  11 , so as to reach any given container on the shelving-units  11 . Additionally, or alternatively, the lift-robot  20  may be capable of pulling-out any container from its location, e.g. shelf  11   b  shelving-units  11 , and move it to a floor-robot  40 , a different shelf  13   b , another lift-robot  20 , a combination thereof, or the like. In the same manner, the lift-robot  20  can return the container to an empty location on the shelves. 
     In some exemplary embodiments, the lift-robot  20  is capable of accessing containers in the two sections  11   s  on both opposing sides of a vertical aisle  11   v . It should be noted that vertical aisle  11   v  has a predefined width, which enables lift-robots to move while engaging the vertical faces of the shelving-units on both sides of the vertical aisle  11   v.    
     In some exemplary embodiments, floor-robot  40  is configured to obtain containers from and deliver containers to lift-robots  20  in the designated loading zone  44 . Floor-robots  40  are capable of traveling beneath shelves  11  in order to deliver containers to their destinations, e.g. packaging terminal  60 , as well as to reach rendezvous places with other lift-robot of another shelve unit  11 . 
     One of the processes conducted in an automated distribution storehouse is assembling orders that may comprise of a plurality of different items. In some exemplary embodiments, a lift-robot takes an inventory container having one item of the order, from its shelf, rendezvous with a floor-robot, and delivers the inventory container to the floor-robot that takes it to a packaging terminal. At the packaging terminal, such as terminal  60  of  FIG. 1 , items are collected manually from the inventory container and placed in a container dedicated to collecting the order, also referred to as an order container. Afterward, the floor-robot  40  is dispatched to return the inventory container to its shelf. The process described above may be repeated for each one of the item types in the order being assembled. However, it should be noted that several lift-robots of different shelving-units and several floor-robots can be involved simultaneously for assembling the order. Indeed, it will speed up the process but will not improve efficiency because the overall number of floor-robots trips remains the same. 
     Vending-totes  90  may be designed to be coupled with either a lift-robot or a floor-robot to autonomously dispense a measured number of items to another tote, such as tote  30 , without departing from its shelving-unit. Additionally, or alternatively, vending-tote  100  may be configured to dispense the measured number of items while being suspended above the other tote. Additionally, or alternatively, vending-tote  100  may be configured to dispense the measured number of items without being transported to terminal  60 . 
     In some exemplary embodiments, tote  30  may be an inventory tote. Inventory tote may be used for storing, on the shelves of shelving-unit  11 , one type of inventory item, or different inventory items that have an affinity to one another. In some exemplary embodiments, a vending-tote  100  may be utilized to dispense items of different type to tote  30 . Such mixed-content tote may be then transported to terminal  60  to be utilized to assemble an order tote. Additionally, or alternatively, tote  30  may be an order tote, in which the order, or portion thereof is assembled. In some exemplary embodiments, tote  30  may be used as a container in which vending-totes dispense items to it while it is being carried by the floor-robot  40 . In some exemplary embodiments, tote  30  can travel on top of floor-robot  40  between different shelves  11  for collecting different items from different vending-totes in order to assemble an order and deliver it to terminal  60  for assembling an order tote or to customer. 
     In some exemplary embodiments, tote  30  comprises partitions that form compartments to enable separating different items from one another. 
     Referring now to  FIG. 3  illustrating a front view of a vending-tote in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter. Vending-tote  100  may be a vending-tote, such as ** of  FIG. 1 . Vending-tote  100  may be a container designed for retaining a plurality of items  50 . Vending-tote  100  may have a dispensing capability enabling selective dispensing of the items. 
     The vending-tote  100 , of  FIG. 3 , is depicted in a dispensing position after it was pulled-out, by lift-robot  20 , from a shelf and moved across the shelving-unit to vertical aisle  11   v  to rendezvous with floor-robot  40 . Vending-tote  100  is illustrated in a dispensing position, located directly above tote  30 , which is carried by floor-robot  40 . In some exemplary embodiments, vending-tote  100  may comprise a hatch  110  having a tab  111  fitted at one end of the hatch  110 . Tab  111  may be utilized in a procedure of dispensing a measured number of items to tote  30 . 
     In some exemplary embodiments, the lift-robot  20  may utilize pullers  22  for grabbing the vending-tote  100  as well as moving it sideways along a horizontal axis of the vertical aisle  11   v . The lift-robot  20  is also capable of moving up and down along rails  13  by means of crawlers  21 , thereby lifting the vending-tote  100  to shelves  11   b  level or down toward tote  30 . However, it is noted that other mechanisms may be utilized for moving lift-robot  20 , for carrying totes by lift-robot  20 , or the like. 
     In some exemplary embodiments, the procedure of dispensing a measured number of items starts by lowering vending-tote  100 , with lift-robot  20 , to a height level where member  112  captures tab  111  of the vending-tote  100 . Member  112  may be a rigid bracket connected to one rail  13  at a level that defines the lowest possible height that vending-tote  100  can be lowered. Additionally, or alternatively, member  112  may be coupled to another element, and may be separated from any rail or shelving unit. As an example, member  112  may be affixed to a side wall. It will be appreciated that the height level may define the height in which items can be dropped to tote  30  placed on a floor-robot  40 . In some exemplary embodiments, the height level may be an optimal height for dropping of items (e.g., below a height that may cause damage to the dropped item, or to items dropped thereon). In some exemplary embodiments, there may be different members at different height levels enabling the computer system orchestrating the order assembly to select different heights for different scenarios that involve vending items. 
     In some exemplary embodiments, the lift-robot  20  moves the vending-tote  100  sideways towards opposing rail  13  that is opposite to rail  13  to which member  112  is coupled and thereby exerts a side force on the tab resulting in opening the hatch  110  by a sliding motion. In some exemplary embodiments, hatch  110  may remain opened for a duration that enables the dispensing of a required amount of items. Additionally, or alternatively, a size of the opening may be controlled by the lift-robot  20 . Different sizes of openings may provide a different amount of dispensed items, thereby allowing the system to control the amount of items being dispensed. In some exemplary embodiments, after the dispensing is completed, the lift-robot  20  moves back, toward rail  13  to which the member  112  is coupled, for closing hatch  110 . In some exemplary embodiments, the dispensing procedure may be followed by returning the vending-tote  100  to its place on the shelf, to a different place, or to perform another dispensing operation. 
     In some exemplary embodiments, tab  111  and member  112  may be positioned in a perpendicular manner to that illustrated, so as to allow movement of lift-robot  20  in the axis of the vertical aisle  11   v  instead of a sideway motion, as illustrated therein. Other configurations may be implemented that relay on a different sideway motion or exertion of force. 
     Referring now to  FIG. 4  illustrating a front view of another vending-tote in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter. Vending-tote  200  may be a vending-tote, such as ** of  FIG. 1 . Vending-tote  200  is a container designed for retaining a plurality of items  50 . Vending-tote  200  may have a dispensing capability enabling selective dispensing of the items. 
     The vending-tote  200 , of  FIG. 4 , is depicted in a dispensing position after it was pulled-out, by lift-robot  20 , from a shelf and moved across the shelving-unit to vertical aisle  11   v  above tote  30 , which is carried by floor-robot  40 . In some exemplary embodiments, vending-tote  200  may comprise a hatch  210  having a protrusion  211 . In some exemplary embodiments, the protrusion  211  may be fitted at one end of the hatch  210 . The protrusion may be utilized in a procedure of dispensing a measured number of items to tote  30 . 
     In some exemplary embodiments, the lift-robot  20  may utilize pullers  22  for grabbing the vending-tote  200  as well as moving it sideways along a horizontal axis of the vertical aisle  11   v . The lift-robot  20  is also capable of moving up and down along rails  13  by means of crawlers  21 , and thereby lifting the vending-tote  200  to shelves  11   b  level or down toward tote  30 . However, it is noted that other mechanisms may be utilized for moving lift-robot  20 , for carrying totes by lift-robot  20 , or the like. 
     In some exemplary embodiments, tote  30  comprises a socket  211  fitted on top of tote  30  and adapted to be utilized in the procedure of dispensing a measured number of items to the tote  30 . 
     In some exemplary embodiments, the procedure of dispensing a measured number of items starts by lowering vending-tote  200 , by lift-robot  20 , to a level where socket  212  captures protrusion  211  of the vending-tote  200 . Socket  212  may be a rigid bracket or a member connected on top of tote  30 . In some exemplary embodiments, socket  212  may be located at a height that is accessible to vending-tote  200 , when lowered by lift-robot  20 . In some exemplary embodiments, socket  212  may be positioned at a level that defines the lowest possible height to which vending-tote  200  can be lowered. In some exemplary embodiments, such level may define an optimal height in which items can be dropped to a tote  30  placed on a floor-robot  40 . 
     In some exemplary embodiments, the hatch  210  of vending-tote  200  can be opened by moving the vending-tote  200  (with lift-robot  20 ) sideways, away from tote  30 ; moving the tote  30  (with floor-robot  40 ) sideways, away from vending-tote  200 ; and a combination thereof. It will be appreciated that by moving either one of the totes sideways a side force is exerted on protrusion  211 , thereby opening or closing hatch  210 . After hatch  110  was opened for a duration that enabled dispensing a required number of items, creating an opening of a desired size enabling the dispensing of the required number of items, combination thereof or the like, hatch  210  of vending-tote  200  can be closed by moving the tote  30  or the vending-tote  200  or both sideways toward each other. This dispensing procedure may be followed by returning the tote  200  to its place on the shelf, to a new place, or to a different dispensing position for another dispensing operation. 
     In some exemplary embodiments, protrusion  211  and socket  212  may be positioned in a perpendicular manner to that illustrated, so as to allow movement of lift-robot  20  or of floor-robot  40  in the axis of the vertical aisle  11   v  instead of a sideway motion, as illustrated in  FIG. 4 . Other configurations may be implemented that relay on a different sideway motion or exertion of force. 
     Referring now to  FIG. 5  illustrating a front view of yet another vending-tote in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter. Vending-tote  300 , such as vending-tote *** of  FIG. 1 , may be a container designed for retaining a plurality of items  50 . Vending-tote may be configured to provide a selective dispensing capability of the items. 
     The vending-tote  300  of  FIG. 5  is depicted in a dispensing position after it was pulled-out, by lift-robot  20 , from a shelf and moved across the shelving-unit to vertical aisle  11   v  above tote  30 . In some exemplary embodiments, vending-tote  300  may comprise an opening  301  and at least one spiral dispensing mechanisms  320  that can be utilized in a procedure of dispensing a measured number of items to tote  30 . 
     It will be appreciated that the lift-robot  20  may utilize pullers  22  for grabbing the vending-tote  100  as well as moving it sideways along a horizontal axis of the vertical aisle  11   v . The lift-robot  20  is also capable of moving up and down along rails  13  by means of crawlers  21 , and thereby lifting the vending-tote  100  to shelves  11   b  level or down toward tote  30 . However, it is noted that other mechanisms may be utilized for moving lift-robot  20 , for carrying totes by lift-robot  20 , or the like. 
     In some exemplary embodiments, lift-robot  20  further comprises an actuating-unit comprised of an actuator  325 , such as an electrical motor, and a transmission  326 , such as gears, a belt mechanism, a combination thereof, or the like that are configured to interface with spiral dispensing mechanism  320  of vending-tote  300 . 
     In some exemplary embodiments, the spiral dispensing mechanism  320  comprises a coil  322  connected to a second-transmission  321 , designed to interface with transmission  326  of lift-robot  20 . In some exemplary embodiments, either second-transmission  321  protrudes upwardly, transmission  326  protrudes downwardly or both to enable interfacing of the transmissions so that coil  322  can be rotated upon activating the actuator  325  by the lift-robot  20 . 
     In some exemplary embodiments, the procedure of dispensing a measured number of items starts by lowering vending-tote  300 , by lift-robot  20 , to a level where transmission  321  and  326  are interfaced, e.g. engaged. In some exemplary embodiments, loops making up the coil  322  comprise spaced neighboring loops which are capable of holding items  50 . A last loop of the coil is designed for dispensing one item  50  to a tote  30  through the opening  301  when the coil  322  is rotated following actuator  325  activation by lift robot  20 . Thus, the dispensing of a measured number of items to tote  30  is proportional to the number of rotations of the lift-robot  20  driven actuator  325 . In some exemplary embodiments, opening  301  may be opened and closed by a hatch (not shown), so as to allow dispensing therethrough when the dispensing mechanism is activated, while remaining closed when the dispensing mechanism is not activated. 
     Referring now to  FIG. 6  illustrating a front view of an alternative dispensing mechanism of the vending-tote  300 , in a dispensing position, in accordance with some exemplary embodiments of the disclosed subject matter. 
     The vending-tote  300  is depicted in a dispensing position after it was pulled-out, by lift-robot  20 , from a shelf and moved across the shelving-unit to vertical aisle  11   v  above tote  30 . In some exemplary embodiments, vending-tote  300  comprising an opening  301  and at least one chain dispensing mechanisms  350  utilized for dispensing a measured number of items to tote  30 . 
     In some exemplary embodiments, the lift-robot  20  further comprises an actuating-unit  355 , such as for example a linear translation actuator, configured to push/pull a member  354  of the chain dispensing mechanism  350 . 
     In some exemplary embodiments, the chain dispensing mechanism  350  comprises a loop chain  351  configured to rotate around sprockets  352 , along the vending-tote  300 . In some exemplary embodiments, chain  351  comprises a plurality of dividers  353  utilized for separating between items  50  and engaging with member  354 . 
     In some exemplary embodiments, a procedure of dispensing a measured number of items starts by lowering vending-tote  300 , with lift-robot  20 , to a level where member  354  interfaces with actuating-unit  355 . It will be noted that member  354  protrudes upwardly or actuating-unit  355  protrudes downwardly or both to enable interfacing the actuator  325  with member  354 . Following the interfacing, the lift-robot  20  may activate the actuating-unit  355  causing it to push or pull the chain  352  by means of the divider  353  to which member  354  was engaged. 
     Consequently, one item  50  is dispensed to a tote  30  through opening  301 , and member  354  flips to the next divider. Thus, the dispensing of a measured number of items to tote  30  is related to the number of times that chain  351  was pushed or pulled by actuating-unit  355 . 
     In some exemplary embodiments, the vending-totes  100 ,  200 , and  300 , of  FIGS. 3-5 , may be carried by floor-robot  40  for collecting dispensable items, i.e. replacing tote  30  of the embodiments depicted in  FIGS. 3-5 . Furthermore, the vending-totes or any other tote, such as tote  30 , may be pulled out of the shelf, placed on the floor-robot  40 , and being dispatched: to collect additional items from other lift-robot; terminal  60 ; a combination thereof, or the like. 
     Referring now to  FIG. 7  showing a block diagram of a mission planning control system, in accordance with some exemplary embodiments of the disclosed subject matter. Mission planning control system  600  may be a computerized system adapted to perform missions and control executions associated to automated distribution storehouse, such as the storehouse  10 , of  FIG. 1 , and perform methods such as depicted in  FIG. 7 . 
     In some exemplary embodiments, system  600  may comprise at least one computer  601 , at least one workstation  602 , at least one antenna  603 , and a connection to the Internet. Computer  601  may be a central computer; an agent in a distributed computing system; a server that utilizes a cloud computing server (CCS)  666 ; and any combination thereof, or the like. 
     In some exemplary embodiments, computer  601  may comprise input/output (I/O) interface (not shown) used for transmitting and receiving information and instructions between the computer  601  and devices, such as a workstation  602 ; a plurality of lift-robots  20 ; a plurality of floor-robots  40 ; and a plurality of vending-totes. Additionally or alternatively, the I/O interface may be used for communicating with the Internet to enable computer  601  to utilize Cloud Computing Server (CCS)  666 . 
     In some exemplary embodiments, the workstation may be used for providing a user of system  600  visualized statuses, reports, or the like. Additionally, or alternatively, the user may use workstation  602  to input orders to be assembled, shipment information, or the like. In some exemplary embodiments, the I/O modules of computer  601  may comprise radio transceivers, such as Wi-Fi transceivers; Bluetooth® transceivers; a combination thereof, or the like. The transceivers may be used by the computer  601  for communicating with the plurality of lift-robots  20 ; a plurality of floor-robots  40 ; and a plurality of vending-totes by means of one or more antennas  603 . Additionally, or alternatively, wired communication or other types of wireless communications may be utilizing. 
     In some exemplary embodiments, computer  601  may comprise an internal memory unit (not shown). The memory unit may comprise persistent memory components, such as flash memory or any type of read-only-memory; and volatile memory components, such as random-access memory (RAM). Additionally or alternatively, the memory unit may comprise external memory devices such as for example, a flash disk, an optical storage device, a CD, a DVD, a hard disk, a cloud-storage, such as Google-drive, and any combination thereof, or the like. In some exemplary embodiments, the memory unit may retain program code to activate computer  602  to perform acts associated with any of the steps shown in  FIG. 7 . Furthermore, the memory unit may retain dedicated software comprising executable files, libraries, and service files intended for mission-planning and controlling the plurality of lift-robots  40  and the plurality floor-robots  40 . Additionally or alternatively, the memory unit may also retain a plurality of orders to be assembled. 
     System  600  may be utilized to perform computations required for planning and controlling missions of the robots in addition to managing the inventory and shipments of the automated distribution storehouse. A mission can be associated with assembling one or more orders. In some exemplary embodiments, the computer  601  generates a plurality of sequentially ordered tasks for each mission; associate certain lift-robots  20  and certain floor-robots  40  to be used in the mission; and transmits the tasks to those robots. The controlling of the missions, by computer  601 , involves monitoring and policing activities of each robot of the automated distribution storehouse. 
     It will be appreciated that in some embodiments the lift-robot and the floor-robot can perform only one task at a time. However, a lift-robot or a floor-robot may perform its task at the same time that other lift-robots  20  or floor-robots are performing theirs. Moreover, a lift-robot and a floor-robot associated with the same mission can perform their tasks at the same time as long as they aren&#39;t rendezvousing with one another. 
     For example, a lift-robot  20 , associated with a mission, can perform one task of retrieving a tote from a shelf and bringing it to a vertical-aisle. At the same time a floor-robot  40 , associated with the same mission, can travel to rendezvous with the lift-robot  20 . Yet, the lift-robot can&#39;t proceed with its following task, e.g. dispensing items, before the floor-robot rendezvous with it. Similarly, the floor-robot  40  can&#39;t proceed to its following task before the lift-robot completes its task. 
     In some exemplary embodiments, each lift-robot  20  may comprise a controller  201  and each floor-robot  40  may comprise a controller  401 . 
     In some exemplary embodiments, both controller  201  and controller  401  may be based on a central processing unit (CPU), a microprocessor, an electronic circuit, such as a field-programmable gate array (FPGA) or application-specific integrated circuit (ASIC). Controller  201  and controller  401  may each be utilized to execute tasks, assigned by computer  601 , to be carried out by lift-robot  20  and floor-robot  40  respectively. 
     In some exemplary embodiments, controllers  201  and  401  can each comprise a semiconductor memory component (not shown). The memory can be comprised of persistent and/or volatile memory, such as for example, a flash memory, a random-access memory (RAM), a programmable read only memory (PROM), a re-programmable memory (FLASH), and any combination thereof, or the like. In some exemplary embodiments, each controller utilizes its memory to retain program code, lists of tasks, and logs required for activating the robot it&#39;s connected to. 
     In some exemplary embodiments, controllers  201  and  401  can each comprise radio transceivers, such as Wi-Fi transceivers; Bluetooth® transceivers; a combination thereof, or the like. The transceivers may be used by each controller for communicating with computer  601  and other controller. For example, controller  201  of a lift-robot  20  and controller  401  of a floor-robot  40  that are associated with the same mission may communicate with one another when the floor-robot  40  arrives at their mutual rendezvous place. The communication may further involve exchanging information, such as handshake communication for tracking tasks queuing and their execution, malfunctions, items left in the vending-tote, and any combination thereof, or the like. 
     In some exemplary embodiments, controller  201  is configured to execute tasks assigned to the lift-robot  20  it is connected to. The tasks may involve typical lift-robot activities, such as extracting, pulling, moving, and replacing any one of the totes, of  FIGS. 3-6 , about a shelf that the lift-robot  20  is associated with. 
     Additionally or alternatively, controller  201  may be also configured to execute tasks that cause the lift-robot  20  to activate a vending-tote to dispense a required amount of items to a tote carried by the floor-robot  40 , such as depicted in  FIGS. 3-6 . 
     In some exemplary embodiments, controller  401  is configured to execute tasks assigned to the floor-robot  40  it is connected to. The tasks may involve typical floor-robot activities, such as traveling between rendezvous locations and terminal  60 , of  FIG. 1 , and obtaining and carrying any one of the totes. 
     Additionally or alternatively, controller  401  may be also configured to execute tasks that cause the floor-robot  40  to activate a vending-tote to dispense a required amount of items to a tote carried by the floor-robot  40 , such as depicted in  FIGS. 3-6 . 
     In some exemplary embodiments, both controller  401  and controller  201  may be configured to activate their respective robots to mutually perform the task of dispensing a required amount of items to a tote that the floor-robot  40  carries. 
     In some exemplary embodiments of the disclosed subject matter, vending-tote  100 ,  200 , and  300 , of  FIGS. 3-6 , may each comprise a vending-tote controller (not shown), such as controllers  201  and  401 . In such exemplary embodiments, the controller of the vending-tote may be utilized for executing tasks involving dispensing a required amount of items as well as providing computer  601  with status indications. Additionally or alternatively, the vending-tote controller (not shown) may also comprise sensors configured to determine a remaining amount of items in the vending-tote and transmit information indicating that amount to the computer  601 . 
     Referring now to  FIG. 8  showing a flowchart diagram of a method of assembling an order in the automated distribution storehouse, in accordance with some exemplary embodiments of the disclosed subject matter. 
     In step  701 , a mission for assembling an order, i.e. a plurality of items, may be set up in response to receiving order entry. In some exemplary embodiments, a mission planning control system, such as system  600 , generates a sequence of tasks and respectively assigns them to at least one selected lift-robot, such as lift-robot  20 , and to at least one selected floor-robot, such as floor-robot  40 . 
     In conventional implementation a mission can comprise using a lift-robots to transfer inventory totes from shelving units onto floor-robots, and vice versa. The floor-robots may transfer the totes to packaging terminals (e.g.,  60  of  FIG. 1 ), where picking is performed from the inventory totes to place items in the order tote. The order tote is then shipped as part of the assembled order. After the inventory tote is utilized in the packaging terminal, it may be returned to a location in the shelving-units (either the same location or a different one), by transferring the tote by a floor-robot and handing the tote over to a lift-robot for placement. This process may be repeated until the order is fully assembled, i.e. mission complete, and the order may be dispatched to the end-client. 
     In some exemplary embodiments, the mission may comprise using a floor-robot, carrying a tote designated as a collection-tote, for traveling between shelves having vending-totes that contain items of the order. And then collect the items from the vending-tote into the collection-tote, by means of the lift-robot or the floor-robot, followed by bringing the collection-tote to terminal  60 , from which the order is shipped. 
     In another preferred implementation of the present disclosure, the mission may be a combination of the two previously described implementations. In such combination, at least one floor-robot may be involved in collecting items from vending-tote, while one or more other floor-robots are used for bringing one or more inventory totes, having other items of the mission, to the packaging area. Additionally or alternatively, the floor-robot may first obtain a tote containing non-dispensable item, which will be used as a collection-tote, and then proceed to the vending-totes for collecting the rest of the items of the order into that tote. 
     It will be noted that the tasks and the queue in which they are arranged are derived from: items characteristics; type of totes that the items are stored in shelves; mission efficiency; and any combination thereof, or the like. 
     Characteristics of the items, such as weight, size, toughness, item&#39;s packing, or the like, determines if certain items can be collected into certain totes. For example, large tuna cans can&#39;t be dispensed to a tote containing eggs; however, tuna-cans can be added to a tote, used as collection-tote that contains onions. 
     The characteristics of the items also define if they are dispensable items or not. For example, tuna-cans, loaves of bread or the like are sold per unit and may be considered as dispensable. Some items may require weighing and would not be considered dispensable, such as items sold by weight, where the order indicates a desired weight to be included in the order. As another example, fragile items, such as eggs, may be considered non-dispensable. 
     In some exemplary embodiments, a mission efficiency in the present disclosure may be determined by the total number of trips per mission that one or more floor-robots makes between shelves  11  and terminal  60 , of  FIG. 1 . Additionally, or alternatively, efficiency may be determined based on the total number of trips of all robots, their accumulated distances, weighted accumulated distances, or the like. 
     As an example, a mission of assembling an order having 15 items has been set up. Ten items are stored in a vending-tote, i.e. dispensable items, and the rest are stored in a non-vending-tote, such as tote  30 . According to one alternative, the mission is set for dispatching one floor-robot to collect the 10 items from the vending-tote and return to terminal  60 , of  FIG. 1 , while one or more additional robots are dispatched for bringing the remaining five non-vending-totes to the terminal. Thus, a total of 6 trips. 
     According to another alternative, the mission is set to initially dispatch one or more floor-robot to collect the five non-vending-totes. Then to proceed with one or more floor-robot, having non-vending-totes, to be used as collection-tote for collecting the ten dispensable items from the vending-tote. And afterward bringing the collected non-vending-totes to the terminal. Thus, a total of 5 trips. 
     It is noted that during the mission, different vending-totes may be utilized in sequence, dispensing different items to the same collection-tote. Additionally, or alternatively, different collection-totes can be used for collecting dispensed items from different vending-totes. 
     In step  702 , a tote, such as tote  30 , may be obtained to be used as a collection-tote. A floor-robot, such as floor-robot  40 , may be tasked with obtaining and carrying the collection-tote. In some exemplary embodiments, the collection-tote may be an empty tote dedicated for collecting items from vending-tote. Additionally or alternatively, the collection-tote may be an inventory tote that comprises a non-dispensable item that is an item of the order. For example, a tote comprising a non-dispensable item in the order, such as onions, can be used as a collection-tote that is tasked with collecting into it items from different vending-totes. The floor-robot may obtain the collection-tote from a lift-robot, such as lift-robot  20 , at its first rendezvous place in the mission. Alternatively, the collection-tote may be placed manually on the floor-robot. 
     In some exemplary embodiments, step  702  may be performed, in parallel by a plurality of floor-robot which will each obtain and carry one collection-tote. Such parallel operation may be required for assembling orders containing a number of dispensable-items that neither fit in one collection-tote nor suitable to the characteristics of the rest of items, or the like. It will be understood that the following steps are conducted for each one of those collection-totes. 
     In step  703 , the floor-robot may proceed with the collection-tote to its next rendezvous place for collecting items from a vending-tote. 
     In step  704 , a vending-tote may be pulled-out by the lift-robot. In some exemplary embodiments, a vending-tote containing an item of the order is pulled-out from its place in a shelf, such as shelf-unit  11  of  FIG. 2 , and moved to vertical aisle  11   v , of  FIG. 2 , so as to rendezvous with the collection-tote. 
     In step  705 , at least one item may be dispensed. In one exemplary embodiment, the lift-robot activates the vending-tote for dispensing a measured number of items into the collection-tote. In another exemplary embodiment, the floor-robot activates the vending-tote for dispensing a measured number of items into the collection-tote. In yet another exemplary embodiment, the lift-robot and the floor-robot mutually activate the vending-tote for dispensing a measured number of items into the collection-tote. 
     In step  706 , a number of remaining vending-tote in the mission may be determined. Following the determination, steps  703  through  706  may be repeated if not all the vending-tots in the mission dispensed items into the collection-tote. 
     In step  707 , either the collection-tote or a tote that contains non-dispensable items may be dispatched to a packaging terminal, such as terminal  60 , whereby items may be picked from any one of the totes or added to one or more collection-totes designated for shipment. 
     In step  708 , a mission completion may be determined. In some exemplary embodiments, a mission is completed after dispatching to the terminal all the totes that contain non-dispensable and all the collection-totes. In case one or more collection-totes didn&#39;t complete their tasks, the system  600 , of  FIG. 6 , shall wait for the collection-totes to complete their collection procedure and reach the terminal. 
     In step  708 , one or more floor-robots may be dispatched to rendezvous with lift-robots for obtaining, from the shelves, totes containing missing non-dispensable items, and then send them to the terminal. 
     It will be appreciated that, one task of a mission of the present disclosure may be comprised of one or more of the steps described above. 
     It is to be understood that the disclosed subject matter is not limited in its application to the details of construction and the arrangement of the components set forth in the description or illustrated in the drawings. The disclosed subject matter is capable of other embodiments or of being practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting. The drawings are generally not to scale. For clarity, some elements may have been omitted from some of the drawings. 
     The terms “comprises”, “comprising”, “includes”, “including”, and “having” together with their conjugates mean “including but not limited to”. The term “consisting of” has the same meaning as “including and limited to”. 
     As used herein, the singular form “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof. 
     Throughout this application, various embodiments of this disclosed subject matter may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the disclosed subject matter. Accordingly, the description of a range should be considered to have specifically disclosed all the possible sub-ranges as well as individual numerical values within that range. 
     It is appreciated that certain features of the disclosed subject matter, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the disclosed subject matter, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination or as suitable in any other described embodiment of the disclosed subject matter. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements. 
     Although the disclosed subject matter has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims. All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present disclosed subject matter.