Mobile floor-cleaning robot with floor-type detection

A cleaning robot, comprising:

• a drive configured to drive the robot across a floor surface;
• a navigation sensor system comprising:
• a motion sensor;
• a visual sensor aligned with a substantially transparent window of a protective cover of the robot;
• a tactile sensor responsive to activation of a bumper;
• one or more cliff sensors;
• and
• one or more proximity sensors;
• a cleaning head assembly positioned to engage the floor surface while the robot is maneuvered by the drive;
• a vacuum source;
• a cleaning bin configured to collect debris from the floor surface;
• an air exhaust port configured to direct airflow away from the floor surface;
• and
• a controller circuit in communication with the cleaning head assembly and the motion sensor, the controller circuit configured to determine a flooring type associated with a cleaning characteristic of the robot and configured to alter the cleaning characteristic of the robot as a function of the determined flooring type;
• wherein the visual sensor is configured to provide information for generating a virtual map;
• wherein the configurations to cause the controller circuit to determine a flooring type include configurations to cause the controller circuit to:
• detect a change caused by the robot crossing a flooring interface between hardwood flooring and an area rug;
• and
• identify a change in flooring type of the floor surface in response to detecting the change caused by the robot crossing the flooring interface between hardwood flooring and an area rug.