Systems and methods for efficiently exchanging end effector tools

A method of processing objects using a programmable motion device, said method comprising:

• identifying each of a plurality of objects at an input area to provide object identification information regarding each of the identified objects;
• providing a first vacuum cup at an attachment portion of an end effector of a programmable motion device;
• determining that at least one of the plurality of objects is associated with a second vacuum cup that is different than the first vacuum cup based on the object identification information;
• using the programmable motion device with the first vacuum cup attached to the attachment portion of the end effector to grasp and move at least one object of the plurality of objects that is not associated with the second vacuum cup;
• moving the end effector of the programmable motion device to exchange the first vacuum cup with the second vacuum cup while moving the end-effector of the programmable motion device in a continuous motion by moving the attachment portion of the end effector through a first control feature of the exchange system to remove the first vacuum cup from the attachment portion of the end effector, and by moving the attachment portion of the end effector through a second control feature of the exchange system to attach the second vacuum cup to the attachment portion of the end effector;
• and
• grasping and moving the at least one object of the plurality of objects that is associated with the second vacuum cup using the second vacuum cup attached to the attachment portion of the end effector of the programmable motion device.

An object processing system for processing objects, said object processing system comprising:

• a perception system for identifying a selected object of a plurality of objects at an input area and for providing selected object identification information;
• a processing system for selecting, based on the selected object identification information, a change of a first vacuum cup at an attachment portion of an end effector of a programmable motion device from the first vacuum cup attached to the end effector to a second vacuum cup that is provided at an exchange station, said exchange station including a first control feature of the exchange station that removes the first vacuum cup while the attachment portion is moving through the exchange station in a first continuous motion, and a second control feature of the exchange station that attaches the second vacuum cup to the attachment portion of the end effector while the attachment portion of the end effector continues to move in the first continuous motion through the exchange station;
• and
• a vacuum source for providing a vacuum pressure at an opening of the second vacuum cup attached to the attachment portion of the end effector to grasp the selected object of the plurality of objects at the input area.