SLAM robot and a paired application thereof
A method of composing a plurality of semi-enclosed floor surface constituents for digitally representing a fully enclosed floor surface on a screen of a smart computing device paired with a robot. The method includes composing digital representations of boundary lines of the floor surface by organizing a swarm of points to form the boundary lines, composing digital representations of the plurality of semi-enclosed floor surface constituents by organizing the digital representations of the boundary lines as they are composed to form the digital representations of the plurality of semi-enclosed floor surface constituents, and composing the digital representation of the fully enclosed floor surface using the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed.
1 . A method of composing a plurality of semi-enclosed floor surface constituents for digitally representing a fully enclosed floor surface on a screen of a smart computing device paired with a robot, comprising:
composing, with a processor of the robot, in real-time, upon first startup of the robot, and as the robot moves on a floor surface, digital representations of boundary lines of the floor surface by organizing a swarm of points to form the boundary lines, wherein:
the swarm of points are formed based on at least light bouncing off of a wall or an obstacle captured by a sensor disposed on the robot; and
a location of a boundary line corresponds to a location where the floor surface ends and a wall begins;
composing, with the processor of the robot, in real-time, and as the robot moves on the floor surface, digital representations of the plurality of semi-enclosed floor surface constituents by organizing the digital representations of the boundary lines as they are composed to form the digital representations of the plurality of semi-enclosed floor surface constituents, wherein:
an inner surface of each digital representation of a semi-enclosed floor surface constituent is semi-enclosed by digital representations of respective boundary lines;
the application displays, on the screen of the smart computing device, the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed in real-time; and
each digital representation of a semi-enclosed floor surface constituent is displayed in a different color; and
composing, with the processor of the robot, in real-time, and as the robot moves on the floor surface, the digital representation of the fully enclosed floor surface using the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed, wherein:
the digital representation of the fully enclosed floor surface is composed by iteratively connecting an inner surface of a new digital representation of a semi-enclosed floor surface constituent as it is composed to an inner surface of a previously composed digital representation of a semi-enclosed floor surface constituent, until the digital representation of the fully enclosed floor surface is complete;
the application displays, on the screen of the smart computing device, an inner surface of each digital representation of a semi-enclosed floor surface constituent in a different color of a color pallet as each digital representation of a semi-enclosed floor surface constituent is composed in real-time; and
the application displays, on the screen of the smart computing device, the digital representation of the fully enclosed floor surface as it is composed and in completed form.
2 . The method of claim 1 , wherein the boundaries of the digital representation of each semi-enclosed floor surface constituent is displayed in a same color or a color of a background.
3 . The method of claim 1 , wherein:
each of the plurality of the semi-enclosed floor surface constituents represents a room; and
the fully enclosed floor surface represents a floor plan.
4 . The method of claim 1 , wherein the application displays, on the screen of the smart computing device, the digital representation of the fully enclosed floor surface and the individually colored inner surface of each digital representation of a semi-enclosed floor surface constituent prior to an end of a first work session of the robot.
5 . The method of claim 1 , further comprising:
receiving, with the application, via the screen of the smart computing device, at least one input designating a division of a particular digital representation of a semi-enclosed floor surface constituent into two digital representations of two smaller semi-enclosed floor surface constituents, wherein:
the application displays, on the screen of the smart computing device, the particular digital representation of the semi-enclosed floor surface constituent in a single color prior to its division; and
upon division of the particular digital representation of the semi-enclosed floor surface constituent, the application displays, on the screen of the smart computing device, each of the two digital representations of the two smaller semi-enclosed floor surface constituents in different colors.
6 . The method of claim 1 , further comprising:
receiving, with the application, via the screen of the smart computing device, at least one input designating a merger of two adjacent digital representations of semi-enclosed floor surface constituents to form a single larger digital representation of a semi-enclosed floor surface constituent, wherein:
the application displays, on the screen of the smart computing device, each of the two adjacent digital representations of the semi-enclosed floor surface constituents in different colors prior to their merger; and
upon merging the two adjacent digital representations of the semi-enclosed floor surface constituents, the application displays, on the screen of the smart computing device, the single larger digital representation of the semi-enclosed floor surface constituent in a single color.
7 . The method of claim 6 , wherein the single larger digital representation of the semi-enclosed floor surface constituent is divided into two or more smaller digital representations of semi-enclosed floor surface constituents in one or more steps to achieve a different division of the single larger digital representation of the semi-enclosed floor surface constituent into the two or more digital representations of the semi-enclosed floor surface constituents prior to their merging.
8 . The method of claim 7 , wherein upon merging the two or more digital representations of the semi-enclosed floor surface constituents, the single larger digital representation of the semi-enclosed floor surface constituent is displayed in a color in which one of the two or more digital representations of the semi-enclosed floor surface constituents was displayed in prior to their merging.
9 . The method of claim 1 , further comprising:
actuating, with the processor of the robot, the robot to move along a first movement path, wherein actuating the robot to move along the first movement path comprises at least a repetitive iteration of:
actuating, with the processor of the robot, the robot to traverse a first linear segment;
actuating, with the processor of the robot, the robot to rotate 180 degrees in a first rotation comprising traversing a first distance in a direction perpendicular to the first linear segment after starting the first rotation and before finishing the first rotation;
actuating, with the processor of the robot, the robot to traverse a second linear segment; and
actuating, with the processor of the robot, the robot to rotate 180 degrees in a second rotation comprising traversing a second distance in a direction perpendicular to the second linear segment after starting the second rotation and before finishing the second rotation, wherein:
the first distance and the second distance are less than the coverage width of the robot; and
the coverage width of the robot is smaller than a width of the robot and equal to a length of a cleaning tool positioned on an underside of the robot.
10 . The method of claim 1 , wherein:
the robot performs a coverage task upon starting up and facing towards a work area; and
the robot moves along at least parallel lines while executing the coverage task, while concurrently, and in the background, executing the method of composing the digital representation of the fully enclosed floor surface.
11 . The method of claim 10 , wherein:
the robot begins moving along the at least parallel lines after leaving a charging station of the robot and before following along a first wall;
the robot executes the coverage task outwardly from a starting point of the robot until completion of the coverage task; and
the robot performs coverage of walls as they are encountered by the robot.
12 . The method of claim 1 , wherein:
the swarm of points forming the boundary lines are based on light detection and ranging (LIDAR) sensor data; and
one of:
the LIDAR sensor is disposed on a top surface of a body of the robot and is occluded by at least two pillars holding a LIDAR sensor cover equipped with a tactile sensor for recognizing bumps with a height exceeding a height of the top surface of the body of the robot; or
the LIDAR sensor is disposed within the body of the robot directly under the top surface and front facing, with at least a rear of the LIDAR sensor occluded.
13 . The method of claim 1 , wherein:
a camera is disposed on the robot;
the camera captures images along a trajectory of the robot; and
the images comprise meta data including one of a time stamp of a time a respective image was captured and a location or a coordinate of the camera at a time the respective image was captured.
14 . The method of claim 13 , further comprising:
detecting, with the processor of the robot, objects in the images.
15 . The method of claim 14 , further comprising:
actuating, with the processor of the robot, the robot to alter a planned path of the robot based on default settings or user-provided instructions.
16 . The method of claim 1 , further comprising:
detecting, with the processor of the robot, in real-time, a sudden and unexpected displacement of the robot; and
adjusting, with the processor of the robot, a location of the robot within the digital representation of the fully enclosed floor surface while maintaining an integrity of the digital representation of the fully enclosed floor surface.
17 . The method of claim 16 , wherein the processor of the robot maintains the integrity of the digital representation of the fully enclosed floor surface up to a displacement exceeding a diameter of the robot.
18 . The method of claim 16 , wherein the application displays, on the screen of the smart computing device, a path of the robot including a line indicative of the displacement within the digital representation of the fully enclosed floor surface.
19 . The method of claim 1 , wherein:
a second planned path of the robot for a coverage task performed during a second run improves after execution of a first planned path of the robot for the coverage task performed during a first run; and
the improved second planned path completes the coverage task in less time than the first planned path completes the coverage task.
20 . The method of claim 1 , wherein control functions of the robot, sensor readings captured by sensors disposed on the robot, path planning methods, mapping methods, and room detection methods are all processed on a single microcontroller.
21 . The method of claim 1 , wherein:
data is transmitted from the robot to the cloud;
the data is accessible using the application; and
the data is encrypted to prevent a third party, a manufacturer of the robot, a cloud service provider, or an unintended party from viewing the data.
22 . The method of claim 1 , wherein:
the robot comprises a camera disposed on a front side of the robot forward-facing;
the camera captures images of light emitted by the at least one illuminator onto obstacles; and
the method further comprises:
recognizing, with the processor of the robot, an obstacle type of obstacles based on the captured images, wherein possible obstacle types comprises at least a wire, a toy, a garment, socks, shoes, animal feces, and furniture; and
actuating, with the processor of the robot, the robot to perform a particular action based on the obstacle type.
23 . The method of claim 22 , wherein an illuminator is disposed on a front side of the robot forward-facing and operates in tandem with the camera for obstacle detection.
24 . The method of claim 22 , wherein the application displays, on the screen of the smart computing device, an obstacle type of each obstacle or an icon associated with the obstacle type at a location of the respective obstacle within the digital representation of the fully enclosed floor surface.
25 . The method of claim 22 , wherein the processor determines the obstacle type using a neural network algorithm trained using a training set of images comprising obstacles with different obstacle types.
26 . The method of claim 24 , where in the user corrects the obstacle type or the icon associated with the obstacle type using the application.
27 . The method of claim 1 , wherein:
the robot comprises at least two cleaning tools; and
a speed of at least one of the two cleaning tools is based on a type of the floor surface or settings configured by a user using the application.
28 . The method of claim 1 , wherein pairing the application with the robot comprises:
a one-time exchange of information between the processor of robot and the application while the smart computing device is positioned within a proximity of the robot; or
scanning a QR code displayed by the application, on the screen of the smart computing device, using a camera disposed on the robot.
29 . The method of claim 1 , wherein:
each of the plurality of the semi-enclosed floor surface constituents represents a room; and
the robot finishes cleaning a first room prior to cleaning a next room of a plurality of rooms within the fully enclosed floor surface.
30 . The method of claim 1 , further comprising:
receiving, with the application, via the screen of the smart computing device, at least one input designating an instruction for the robot to clean an area in close proximity to a particularly labelled obstacle; and
actuating, with the processor of the robot, the robot to execute the instruction.
31 . The method of claim 1 , further comprising:
receiving, with a home assistant paired with the robot, a verbal instruction for the robot to clean an area in close proximity to a particular labelled object or an area; and
actuating, with the processor of the robot, the robot to execute the instruction.
32 . The method of claim 1 , further comprising:
capturing, with a floor sensor disposed on the robot, data indicative a floor type of the floor surface; and
adjusting, with the processor of the robot, an impeller motor speed to reduce or increase suction based on the floor type, wherein the impeller motor speed is increased when the floor type is carpet.
33 . The robot of claim 1 , wherein:
the robot periodically downloads and updates a software or a firmware of the robot to include new features, enhancements, bug fixes, or newly supported language packs; and
the application displays, on the screen of the smart computing device, an availability of a new update and a status of a download or update as it occurs.
34 . The method of claim 1 , wherein the application:
displays, on the screen of the smart computing device, a battery level; an estimated cleaning duration required to complete cleaning in an area or a current cleaning duration;
obstacles and obstacle types within the digital representation of the fully enclosed floor surface; a location of a docking station of the robot within the digital representation of the fully enclosed floor surface; a robot status; a quantity of area cleaned; cleaning history;
and firmware information; and
receives, via the screen of the smart computing device, at least one input designating a schedule for cleaning different areas; an instruction to vacuum or mop or vacuum and mop different areas; a suction level for cleaning different areas; a no-entry zone; a modification to the digital representation of the fully enclosed floor surface; an addition, a modification, or a deletion of a name of an area; an instruction to find the robot; an instruction for the docking station to empty a dustbin of the robot into a bin of the docking station; and an instruction for the robot to navigate to a particular object or area for cleaning.
35 . The method of claim 34 , wherein the application further:
displays, on the screen of the smart computing device, a path of the robot; and a location of the robot within the digital representation of the fully enclosed floor surface; and
receives, via the screen of the smart computing device, at least one input designating a fluid flow rate level for mopping different areas; and an instruction for the docking station to refill a container of the robot with cleaning solution or water.
36 . The method of claim 1 , further comprising:
determining, with the processor of the robot, an amount of uncovered area remaining for coverage by the robot during a work session when a battery level of the robot is below a predetermined threshold;
determining, with the processor of the robot, a battery level required to complete coverage of the uncovered area; and
actuating, with the processor of the robot, the robot to return to a docking station to recharge a battery of the robot to at least the battery level required to complete coverage of the uncovered area then resume the work session.
37 . The method of claim 1 , wherein all data is processed on the robot, wherein no data processing is offloaded from the robot to the cloud.
38 . The method of claim 1 , further comprising:
determining, with the processor of the robot, a location and a size of an obstacle based on at least a portion of sensor data captured by sensors disposed on the robot; and
adjusting, with the processor of the robot, a path of the robot based on the location and the size of the obstacle.
39 . The method of claim 1 , wherein:
the robot comprises a camera, a microphone, and a speaker for video calling;
the application streams, on the screen of the smart computing device, a video and audio captured by the camera and the microphone of the robot, respectively; and
the robot streams audio captured by a microphone of the smart computing device.
40 . The method of claim 1 , wherein the robot comprises a built-in home assistant configured to receive voice commands from a user.
41 . The method of claim 1 , further comprising:
determining, with the processor of the robot, a location of a user based on audio data captured by at least one microphone disposed on the robot, wherein the audio data comprises a voice of the user spoken from the location; and
actuating, with the processor of the robot, the robot to navigate to the location of the user.
42 . The method of claim 1 , wherein:
a digital representation of a fully enclosed floor surface is generated for each floor level of a plurality of floor levels within an environment; and
the user selects a floor level on which the robot is located using the application.
43 . The method of claim 1 , wherein the processor of the robot autonomously recognizes which floor level and room the robot is currently located within based on at least a portion of sensor data captured by sensors disposed on the robot and the digital representations of fully enclosed floor surfaces corresponding to different floor levels.
44 . The method of claim 1 , wherein:
the robot comprises at least:
an impeller motor for generating suction to collect debris from the floor surface; and
a dust bin for storing the collected debris; and
the robot docks at a docking station comprising at least:
charging contacts for recharging a battery of the robot upon contact with corresponding charging contacts of the robot;
an impeller motor for generating suction to collect debris from a dust bin of the robot; and
a bin for storing the debris collected from the dust bin of the robot.
45 . The method of claim 44 , wherein:
the robot docks at the docking station upon each of completion of a work episode; an input provided to an interface of the robot or the application via the screen of the smart computing device instructing the robot to dock; and meeting a preset configuration for emptying the dust bin of the robot;
the preset configuration comprises at least an amount of volume of debris within the dust bin of the robot; and
the robot resumes cleaning after emptying the dust bin of the robot into the bin of the docking station when the dust bin of the robot is emptied during a work session.
46 . The method of claim 44 , wherein:
the robot further comprises a mopping apparatus, comprising:
a first container for storing cleaning solution or water for mopping; and
at least one mopping pad for mopping the floor surface;
the docking station further comprises:
a first reservoir for storing cleaning solution or water; and
a first mechanism for refilling the first container of the robot with cleaning solution or water from the first reservoir of the docking station; and
the robot docks at the docking station to refill the first container of the robot with cleaning solution or water upon a volume of the cleaning solution falling below a predetermined threshold; and
the robot resumes cleaning after refilling the first container of the robot from the first reservoir of the docking station when the first container is refilled during a work session.
47 . The method of claim 46 , wherein:
the mopping apparatus further comprises:
a first mechanism for moving at least one component of the mopping apparatus in a first direction and a second direction opposite the first direction on a plane parallel to the floor surface; and
a second mechanism for adjusting a distance of the at least one mopping pad in relation to the floor surface in a direction perpendicular to the floor surface; and
the method further comprises:
receiving, with the application, via the screen of the smart computing device, at least one input designating an adjustment to a speed of alternating between the first direction and the second direction;
determining, with the processor of the robot, a floor type of the floor surface based on sensor data captured by a floor sensor disposed on the robot; and
actuating, with the processor of the robot, the second mechanism to increase the distance of the at least one mopping pad in relation to the floor surface when the floor type is carpet, the robot is positioned at the docking station, and the robot is finished mopping.
48 . The method of claim 47 , further comprising:
adjusting, with the processor of the robot, the speed of alternating between the first direction and the second direction upon detection of a dried stain on the floor surface.
49 . The method of claim 47 , further comprising:
actuating, with the processor of the robot, the second mechanism to move the at least one mopping pad downwards to apply a downward pressure onto the floor surface during mopping.
50 . The method of claim 47 , wherein the docking station further comprises:
a second mechanism for washing the at least one mopping pad after mopping the floor surface;
a second reservoir for storing liquid sewage from washing the at least one mopping pad; and
a third mechanism for transferring the liquid sewage to the second reservoir.
51 . The method of claim 50 , wherein:
the second mechanism uses cleaning solution or water from the first reservoir to wash the at least one mopping pad; and
the at least one mopping pad or a component of the second mechanism is in motion during washing of the at least one mopping pad.
52 . The method of claim 50 , wherein the docking station further comprises a heat-generating element for drying the at least one mopping pad after washing.
53 . The method of claim 46 , wherein the robot cleans areas that do not require mopping first.
54 . A cleaning robot, comprising:
a chassis;
a set of wheels coupled to the chassis;
a plurality of sensors;
a processor; and
memory storing instructions that when executed by the processor effectuate operations comprising:
composing, with the processor of the robot, in real-time, upon first startup of the robot, and as the robot moves on a floor surface, digital representations of boundary lines of the floor surface by organizing a swarm of points to form the boundary lines, wherein:
the swarm of points are formed based on at least light bouncing off of a wall or an obstacle captured by a sensor disposed on the robot; and
a location of a boundary line corresponds to a location where the floor surface ends and a wall begins;
composing, with the processor of the robot, in real-time, and as the robot moves on the floor surface, digital representations of the plurality of semi-enclosed floor surface constituents by organizing the digital representations of the boundary lines as they are composed to form the digital representations of the plurality of semi-enclosed floor surface constituents, wherein:
an inner surface of each digital representation of a semi-enclosed floor surface constituent is semi-enclosed by digital representations of respective boundary lines;
the application displays, on the screen of the smart computing device, the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed in real-time; and
each digital representation of a semi-enclosed floor surface constituent is displayed in a different color; and
composing, with the processor of the robot, in real-time, and as the robot moves on the floor surface, the digital representation of the fully enclosed floor surface using the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed, wherein:
the digital representation of the fully enclosed floor surface is composed by iteratively connecting an inner surface of a new digital representation of a semi-enclosed floor surface constituent as it is composed to an inner surface of a previously composed digital representation of a semi-enclosed floor surface constituent, until the digital representation of the fully enclosed floor surface is complete;
the application displays, on the screen of the smart computing device, an inner surface of each digital representation of a semi-enclosed floor surface constituent in a different color of a color pallet as each digital representation of a semi-enclosed floor surface constituent is composed in real-time; and
the application displays, on the screen of the smart computing device, the digital representation of the fully enclosed floor surface as it is composed and in completed form.
55 . Memory storing instructions that when executed by a processor of a robot effectuate operations comprising:
composing, with the processor of the robot, in real-time, upon first startup of the robot, and as the robot moves on a floor surface, digital representations of boundary lines of the floor surface by organizing a swarm of points to form the boundary lines, wherein:
the swarm of points are formed based on at least light bouncing off of a wall or an obstacle captured by a sensor disposed on the robot; and
a location of a boundary line corresponds to a location where the floor surface ends and a wall begins;
composing, with the processor of the robot, in real-time, and as the robot moves on the floor surface, digital representations of the plurality of semi-enclosed floor surface constituents by organizing the digital representations of the boundary lines as they are composed to form the digital representations of the plurality of semi-enclosed floor surface constituents, wherein:
an inner surface of each digital representation of a semi-enclosed floor surface constituent is semi-enclosed by digital representations of respective boundary lines;
the application displays, on the screen of the smart computing device, the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed in real-time; and
each digital representation of a semi-enclosed floor surface constituent is displayed in a different color; and
composing, with the processor of the robot, in real-time, and as the robot moves on the floor surface, the digital representation of the fully enclosed floor surface using the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed, wherein:
the digital representation of the fully enclosed floor surface is composed by iteratively connecting an inner surface of a new digital representation of a semi-enclosed floor surface constituent as it is composed to an inner surface of a previously composed digital representation of a semi-enclosed floor surface constituent, until the digital representation of the fully enclosed floor surface is complete;
the application displays, on the screen of the smart computing device, an inner surface of each digital representation of a semi-enclosed floor surface constituent in a different color of a color pallet as each digital representation of a semi-enclosed floor surface constituent is composed in real-time; and
the application displays, on the screen of the smart computing device, the digital representation of the fully enclosed floor surface as it is composed and in completed form.
56 . A method of composing a plurality of semi-enclosed floor surface constituents for digitally representing a fully enclosed floor surface on a screen of a smart computing device paired with a robot, comprising:
composing, with a processor of the robot, in real-time, upon a first startup of the robot, a first digital representation of a semi-enclosed boundary, an interior of which is colored in a first color, for digitally representing a first semi-enclosed floor surface constituent, wherein:
each digital representation of a semi-enclosed boundary is composed of digital representations of boundary lines;
each digital representation of a boundary line is composed of a swarm of points;
the swarm of points are formed based on at least light bouncing off of a wall or an obstacle captured by a sensor disposed on the robot;
a location of a digital representation of a boundary line on the screen corresponds to a location where a floor surface ends and a wall begins;
composing, with the processor of the robot, in real-time, and as the robot performs work and moves on the floor surface, a second digital representation of a semi-enclosed boundary, an interior of which is colored in a second color, for digitally representing a second semi-enclosed floor surface constituent, wherein:
as new swarms of points are obtained, new digital representations of semi-enclosed boundaries, an interior of each colored in a unique color, are iteratively composed for digitally representing new semi-enclosed floor surface constituents; and
composing, with the processor of the robot, in real-time, and as the robot performs work and moves on the floor surface, the digital representation of the fully enclosed floor surface using the digital representations of the plurality of semi-enclosed floor surface constituents as they are composed, wherein:
the digital representation of the fully enclosed floor surface is composed after the robot navigates the plurality of semi-enclosed floor surface constituents;
the digital representation of the fully enclosed floor surface is stored and available to the processor of the robot for future work sessions; and
the digital representation of the fully enclosed floor surface is viewed on the screen of the smart computing device and accessed by a user using an application executed on the smart computing device for at least spatially granular control of the robot.
57 . A method for transmitting data for displaying a fully enclosed floor surface on a screen of a smart computing device paired with a robot, comprising:
transmitting, by a processor of the robot, to an application, in real-time, and upon startup of the robot at a beginning of a first work session, sensor data associated with a first semi-enclosed floor surface constituent comprising a first digit code, wherein:
the application displays, on the screen of the smart computing device, the first digit code in a first color;
the first color displayed represents a surface area of the first semi-enclosed floor surface constituent;
the robot determines the first surface area and where a floor surface ends and a wall begins using a swarm of points; and
the swarm of points are formed based on at least light bouncing off of a wall or an obstacle captured by a sensor disposed on the robot;
transmitting, by the processor of the robot, to the application, in real-time, and as the robot performs work, sensor data associated with a second semi-enclosed floor surface constituent comprising a second digit code, wherein:
the application displays, on the screen of the smart computing device, the second digit code in a second color, unique to the first color; and
the second color displayed represents a surface area of the second semi-enclosed floor surface constituent;
iteratively transmitting, by the processor of the robot, in real-time, and as the robot performs work, sensor data associated with each of a plurality of semi-enclosed floor surface constituents, each comprising a unique digit code, to the application, wherein:
the application displays, on the screen of the smart computing device, each unique digit code in a unique color; and
each color displayed represents a surface area of a respective semi-enclosed floor surface constituent of the plurality of semi-enclosed floor surface constituents;
transmitting, by the processor of the robot, to the application, in real-time, and as the robot performs work, sensor data associated with a last semi-enclosed floor surface constituent comprising a last digit code, wherein:
the application displays, on the screen of the smart computing device, the last digit code in a last unique color; and
the last unique color displayed represents a surface area of the last semi-enclosed floor surface constituent; and
composing, with the processor of the robot, in real-time, and as the robot performs work, a digital representation of the fully enclosed floor surface using the semi-enclosed floor-surface constituents, wherein:
the application displays, on the screen of the smart computing device, the digital representation of the fully enclosed floor surface as it is composed and in completed form.