An ultrasonic cleaning tool for cleaning a surface has a transducer and a horn for generating and transmitting vibrations to a surface to be cleaned. Cleaning solution can be supplied to the ultrasonic cleaning tool or the surface to be cleaned, and operation of the ultrasonic cleaning tool can agitate the surface and cleaning solution. The tool can be provided as part of a system for cleaning a surface, and the system can include an extraction cleaner or a cleaning cloth.

A robot cleaner includes a main body, a moving unit for moving the main body, a cleaning module capable of being brought into contact with a floor surface at at least part of a lower surface thereof, and a module drive unit for controlling an angle of inclination of the lower surface of the cleaning module with respect to the floor surface.

An apparatus for cleaning a surface includes a body defining a cavity and terminating in a distal end that is adapted, in use, to be in the vicinity of a surface to be cleaned such that the surface forms an end wall of a chamber including the cavity; at least one cleaning liquid inlet for flow of a cleaning liquid into the chamber; a divider located in or at the end of the cavity that divides the chamber into first and second portions, the second portion, in use, being in fluid communication with the surface to be cleaned; and an acoustic transducer associated with the first portion to introduce acoustic energy into the chamber; wherein the divider is adapted to permit the passage of acoustic energy therethrough from the first portion to the second portion of the chamber to thereby allow pressure fluctuations to be generated at the surface.

A multifunctional mopping machine includes a handle, a body and a main machine. The body includes a mounting base, and a housing provided with a cleaning assembly; the body is detachably connected to the mounting base; the main machine includes a negative pressure assembly and a power supply assembly; the power supply assembly, the negative pressure assembly and the cleaning assembly form a cleaning mechanism; and a water tank for supplying water to the cleaning assembly, and a sodium hypochlorite electrolysis generator are arranged on the mounting base. An ultraviolet sterilizing lamp facing the ground to be cleaned is arranged on the housing. A tail end of a dust collecting hose communicates with a negative pressure end of the main machine, and collects both dirty water and dust on the floor, so as to ensure no stain left on the floor, satisfying present floor washing requirements.

A cleaner includes a body forming an external appearance, and a spin-mop cleaning module configured to support the body and including at least one spin-mop provided so as to come into contact with a floor while rotating in a clockwise direction or in a counterclockwise direction when viewed from an upper side. The inclination angle of a lower surface of the spin mop is changeable relative to a horizontal plane.

A model of a physical environment may be determined based at least in part on sensor data collected by one or more sensors at a robot. The model may include a plurality of constraints and a plurality of data values. A trajectory through the physical environment may be determined for an ultraviolet end effector coupled with the robot to clean one or more surfaces in the physical environment. The ultraviolet end effector may include one or more ultraviolet light sources. The ultraviolet end effector may be moved along the trajectory.

The improved mobile robot utilizes a cooperative wheeled support arrangement having a unique axle design that preferably cooperates with a base support module. A tri-axle is preferably used to support at least one omni-wheel on each axle section. Multiple omni-wheels on each section can be used for higher load applications. The tri-axle is of a fixed design and each wheel pivots on the individual axle section. Preferably, the axle sections are welded to each other.

A cleaning robot may include a chassis, a camera, a control unit, a mobility apparatus, and a movable lighting element. The control unit may execute computer programming instructions in a manner depending on information received from the camera. The mobility apparatus may be capable of causing the cleaning robot to move through a physical space. The movable lighting element may include one or more light sources selectively emitting ultraviolet light

The improved mobile robot utilizes a cooperative wheeled support arrangement having a unique axle design that preferably cooperates with a base support module. A tri-axle is preferably used to support at least one omni-wheel on each axle section. Multiple omni-wheels on each section can be used for higher load applications. The tri-axle is of a fixed design and each wheel pivots on the individual axle section. Preferably, the axle sections are welded to each other.

A cleaner includes a body, a left spin-mop module located on a left side of the body and a right spin-mop module located on a right side of the body, each of the left spin-mop module and the right spin-mop module being rotatable about a first rotational axis to perform mopping, a left spin-drive unit disposed on the left side of the body, the left spin-drive unit being configured to provide a force to rotate the left spin-mop module; and a right spin-drive unit disposed on the right side of the body, the right spin-drive unit being configured to provide a force to rotate the right spin-mop module. Each of the left spin-drive unit and the right spin-drive unit has a second rotational axis that extend in a direction different from the first rotational axis of the respective left spin-drive unit and the right spin-drive unit.