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

Claim 16:
17. 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;
selectively providing a first vacuum pressure with a first maximum air flow rate at the end effector of the programmable motion device from a high flow source;
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;
monitoring changes in an air flow at the end effector;
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;
selecting between coupling the end effector to any of the first vacuum pressure or a positive pressure responsive to whether the air flow at the end effector of the programmable motion device is sufficient for continued grasping of the object; and
selectively providing a positive pressure air flow at the end effector of the programmable motion device in response to determining that the air flow at the end effector of the programmable motion device is insufficient for continued grasping of the object.