Patent ID: 11945100
Assignee: BERKSHIRE GREY OPERATING COMPANY, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 26:
27. A method of grasping and moving objects using a programmable motion device, said method comprising:
attaching a load detection device to an end effector of a programmable motion device, wherein the load detection device includes a magnetic field sensor that senses a magnet mounted on the programmable motion device;
passively selecting between a high vacuum source providing a first vacuum pressure with a first maximum air flow rate at the end effector of the programmable motion device and a high flow source providing a second vacuum pressure with a second maximum air flow rate at the end effector, the second vacuum pressure being higher than the first vacuum pressure, and the second maximum air flow rate being greater than the first maximum air flow rate;
determining a position of the load detection device responsive to movements of the end effector grasping the object by sensing the magnet on the programmable motion device with the magnetic field sensor;
determining an air flow at the end effector while grasping an object; and
actively selecting between coupling the end effector to either a positive pressure or any of the first vacuum pressure and the second vacuum pressure responsive to determining whether the air flow at the end effector on the object is sufficient for continued grasping of the object based on the position of the load detection device and the changes in air flow within the end effector.