Robotic surface cleaning service

A surface cleaning service system, comprising:

• one or more robotic surface cleaning devices, each comprising:
• a chassis;
• a set of wheels;
• one or more motors to drive the wheels;
• one or more processors;
• one or more sensors;
• a network interface card;
• and
• a memory storing instructions that when executed by the one or more processors effectuates operations, comprising:
• determining, with the one or more processors, usage data of a respective robotic surface cleaning device;
• determining a first location of the respective robotic surface cleaning device in an environment;
• obtaining, with the one or more sensors, first data indicative of an environmental characteristic of the first location;
• adjusting a first operational parameter of a first actuator based on the sensed first data, wherein the adjusting is configured to cause the first operational parameter to be in a first adjusted state while the respective robotic surface cleaning device is at the first location;
• and
• forming or updating a debris map of the environment based on data output by a sensor of the one or more sensors configured to sense debris on a floor of the environment;
• wherein:
• the first actuator is a motor configured to drive rotation of a vacuum impeller, fan, or blower;
• the first operational parameter is motor speed or torque;
• the environmental characteristic is a type of flooring in an ontology of floor types that distinguishes between carpet flooring and other types of flooring;
• and
• adjusting comprises increasing the motor speed or torque in response to determining the robot is over carpet flooring relative to motor speed or torque applied when the respective robotic surface cleaning device is over other types of flooring.