A mop unit lifting device and a cleaning machine are provided. The mop unit lifting device includes a mop unit, a lifting mechanism for lifting the mop unit; and a driving mechanism for driving the mop unit to rotate. The driving mechanism is a first driving mechanism that is configured not to be lifted together with the mop unit, and the lifting mechanism and the mop unit are formed in one piece or separate pieces; or the driving mechanism is a second driving mechanism that is configured to be lifted together with the mop unit, and the lifting mechanism and the mop unit are formed in separate pieces.

An autonomous cleaning robot (e.g., an autonomous vacuum) may use a sensor system to map an environment that may be used to determine where to clean. The autonomous vacuum receives visual data about the environment and determines a ground plane of the environment based on the visual data. The autonomous vacuum detects objects within the environment based on the ground plane. For each object, the autonomous vacuum segments a three-dimensional (3D) representation of the object out of the visual data and determines whether the object is static or dynamic. The autonomous vacuum adds static objects to a long-term level of a map of the environment and dynamic objects to an intermediate level of the map. The autonomous vacuum may further add virtual borders, flags, walls, and messes to the map.

The present disclosure provides a surface cleaning device and a cleaning system. The surface cleaning device includes: machine body; a cleaning component, installed connected to the machine body, the cleaning component comprises a cleaning section for cleaning a surface; a dirty water tank with a dirty water tank inlet; and a dirty water tank inlet sealing component for sealing or opening the dirty water tank inlet, and the dirty water tank inlet sealing component seals the dirty water tank inlet when the cleaning section is lifted, and opens the dirty water tank inlet when the cleaning section is lowered. The cleaning system includes a surface cleaning device and a base station, and wherein the base station uses a common exhauster to perform automatic dust collection and dirty water suction tasks for the surface cleaning device.