Method and apparatus for combining data to construct a floor plan

A method of perceiving a model of an environment, comprising:

• capturing, with a plurality of sensors coupled to a robot, a plurality of data while the robot moves within the environment, wherein:
• the plurality of data is captured from different positions within the environment through which the robot moves;
• the plurality of sensors comprise at least a first sensor and a second sensor;
• the first sensor is coupled with an active source of illumination positioned adjacent to the first sensor such that upon incidence of illumination light with an object in a path of the robot, reflections of the illumination light fall within a field of view of the first sensor;
• and
• the first sensor is a camera and the second sensor captures movement data;
• perceiving, with a processor of the robot, a model of the environment based on at least a portion of the plurality of data, the model being a top view of the environment;
• actuating, with the processor of the robot, the robot to avoid or perform work around an object encountered by the robot on a driving surface during a work session by adjusting a path of the robot;
• capturing, with an image sensor of the robot, an image of the object encountered by the robot;
• a determining, with the processor of the robot, a processor on a cloud storage system, or an application of a smartphone previously paired with the robot, an object type of a detected object, wherein the object type comprises at least one of cords, garments, socks, shoes, feces, and earphones;
• storing, with the processor of the robot, the model of the environment in a memory accessible to the processor of the robot in a subsequent work session;
• and
• transmitting, with the processor of the robot, the model of the environment to the application of the smartphone;
• wherein:
• display
• the application is configured to display:
• model of the environment autonomously divided into subareas;
• historical information relating to a previous work session comprising at least areas within which debris was detected, areas cleaned, and a total cleaning time;
• a robot status;
• a total area cleaned after completion of a work session;
• a battery level;
• a current cleaning duration;
• an estimated total cleaning duration required to complete a work session;
• an image of an object and an object type of the object;
• maintenance information;
• and firmware information;
• and is configured to
• receive at least one user input designating a modification to a divider dividing at least a portion of the model of the environment;
• a deletion of a divider to merge at least two subareas within the model of the environment;
• an addition of a divider to divide an area within the model of the environment;
• a selection, an addition, or a modification of a label of a subarea within the model of the environment;
• an addition, a modification, or a deletion of a subarea within which the robot is not permitted to enter;
• scheduling information corresponding to different subareas;
• a number of coverage repetitions of a subarea or the environment by the robot during a work session;
• a vacuum power of the robot to use in a subarea or the environment;
• a vacuuming task to be performed within a subarea or the environment;
• a deletion or an addition of a robot paired with the application;
• an instruction to find the robot;
• an instruction to contact customer service;
• an instruction for the docking station of the robot to empty a bin of the robot into a bin of the docking station;
• an instruction to dock at the docking station;
• and an instruction to navigate to a particular location to perform work;
• an intensity of cleaning;
• and a preference associated with content of a captured image;
• and
• the robot comprises a cleaning tool.

A memory storing instructions that when executed by a processor of a robot effectuates operations comprising:

• obtaining, with the processor of the robot, a plurality of data captured with a plurality of sensors coupled to the robot while the robot moves within the environment, wherein:
• the plurality of data is captured from different positions within the environment through which the robot moves;
• the plurality of sensors comprise at least a first sensor and a second sensor;
• the first sensor is coupled with an active source of illumination positioned adjacent to the first sensor such that upon incidence of illumination light with an object in a path of the robot, reflections of the illumination light fall within a field of view of the first sensor;
• and
• the first sensor is a camera and the second sensor captures movement data;
• perceiving, with the processor of the robot, a model of the environment based on at least a portion of the plurality of data, the model being a top view of the environment;
• actuating, with the processor of the robot, the robot to avoid or perform work around an object encountered by the robot on a driving surface during a work session by adjusting a path of the robot;
• obtaining, with the processor of the robot, an image of the object encountered by the robot captured with an image sensor disposed on the robot, wherein:
• the processor of the robot, a processor on a cloud storage system, or an application of a smartphone previously paired with the robot;
• and
• the object type comprises at least one of cords, garments, socks, shoes, feces, and earphones;
• storing, with the processor of the robot, the model of the environment in a memory accessible to the processor of the robot in a subsequent work session;
• and
• transmitting, with the processor of the robot, the model of the environment to the application of the smartphone;
• wherein:
• display
• the application is configured to display:
• the model of the environment autonomously divided into subareas;
• historical information relating to a previous work session comprising at least areas within which debris was detected, areas cleaned, and a total cleaning time;
• a robot status;
• a total area cleaned after completion of a work session;
• a battery level;
• a current cleaning duration;
• an estimated total cleaning duration required to complete a work session;
• an image of an object and an object type of the object;
• maintenance information;
• and firmware information;
• and is configured to receive at least one user input designating a modification to a divider dividing at least a portion of the model of the environment;
• a deletion of a divider to merge at least two subareas within the model of the environment;
• an addition of a divider to divide an area within the model of the environment;
• a selection, an addition, or a modification of a label of a subarea within the model of the environment;
• an addition, a modification, or a deletion of a subarea within which the robot is not permitted to enter;
• scheduling information corresponding to different subareas;
• a number of coverage repetitions of a subarea or the environment by the robot during a work session;
• a vacuum power of the robot to use in a subarea or the environment;
• a vacuuming task to be performed within a subarea or the environment;
• a deletion or an addition of a robot paired with the application;
• an instruction to find the robot;
• an instruction to contact customer service;
• an instruction for the docking station of the robot to empty a bin of the robot into a bin of the docking station;
• an instruction to dock at the docking station;
• and an instruction to navigate to a particular location to perform work;
• an intensity of cleaning;
• and a preference associated with content of a captured image;
• and
• the robot comprises a cleaning tool.