An autonomous cleaning robot (e.g., an autonomous vacuum) may employ a cleaning head for cleaning messes in an environment. The cleaning head may comprise an enclosure with a brush opening at a first side, a mop opening at a second side, and an outlet connected to a vacuum pump. The outlet may open to a cavity within the enclosure. The cleaning head may further comprise a brush roller configured at a front of the enclosure, a mop roller configured behind the brush roller in the enclosure, an actuator connecting the mop roller and brush roller to the enclosure, and a selection flap hinged at a top portion of the cavity. Each of the brush roller and mop roller may be externally exposed at the brush opening and mop opening, respectively, and the actuator may be configured to move the enclosure vertically.

An autonomous cleaning robot (e.g., an autonomous vacuum) may clean an environment using a cleaning head that is self-actuated. The cleaning head includes an actuator assembly comprising an actuator configured to control rotation and vertical movement of a cleaning roller, a controller, and a cleaning roller having an elongated cylindrical length connected to the actuator assembly. The cleaning head also includes a computer processor connected to the actuator assembly and a non-transitory computer-readable storage medium that causes the computer processor to map the environment based on sensor data captured by the autonomous vacuum. The computer processor may determine an optimal height for the cleaning head based on the map and instruct the actuator assembly to adjust the height of the cleaning head.

An autonomous cleaning robot (e.g., an autonomous vacuum) may clean an environment using a cleaning head that is self-actuated. The cleaning head includes an actuator assembly comprising an actuator configured to control rotation and vertical movement of a cleaning roller, a controller, and a cleaning roller having an elongated cylindrical length connected to the actuator assembly. The cleaning head also includes a computer processor connected to the actuator assembly and a non-transitory computer-readable storage medium that causes the computer processor to map the environment based on sensor data captured by the autonomous vacuum. The computer processor may determine an optimal height for the cleaning head based on the map and instruct the actuator assembly to adjust the height of the cleaning head.

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.

A waste collection bag may be used by an autonomous cleaning robot (e.g., an autonomous vacuum) to store waste during a plurality of cleaning processes. The waste bag comprises a waste bag, a waste collection sachet, and an absorbent. The waste bag has a first side and a second side, where the first side has an opening for waste to enter, and is composed of filtering material. The waste collection enclosed sachet has a first side and a second side that connect to form a cavity. The waste collection enclosed sachet is tethered to the second side of the waste bag and is composed of dissolvable paper. The absorbent may absorb liquid waste and is located inside the cavity of the waste collection enclosed sachet.

A surface cleaning head with a leading roller may be used to facilitate capturing of debris in the air flow into a suction conduit on the underside of the surface cleaning head. The leading roller is generally positioned adjacent to and in advance of the opening of the suction conduit. The surface cleaning head may have dual agitators—a leading roller and a rotating brush roll—with the leading roller being located in front of the brush roll. The leading roller may have a smaller diameter than the brush roll and may provide a softer cleaning element. The leading roller may also have a bottom portion exposed to the flow path to the suction conduit and at least a top half that is not exposed to that flow path. The leading roller may also float relative to the surface cleaning head and/or may be adjustable relative to the brush roll.

A surface cleaning head with a leading roller may be used to facilitate capturing of debris in the air flow into a suction conduit on the underside of the surface cleaning head. The leading roller is generally positioned adjacent to and in advance of the opening of the suction conduit. The surface cleaning head may have dual agitators—a leading roller and a rotating brush roll—with the leading roller being located in front of the brush roll. The leading roller may have a smaller diameter than the brush roll and may provide a softer cleaning element. The leading roller may also have a bottom portion exposed to the flow path to the suction conduit and at least a top half that is not exposed to that flow path. The leading roller may also float relative to the surface cleaning head and/or may be adjustable relative to the brush roll.

An autonomous cleaning robot (e.g., an autonomous vacuum) may clean an environment using a cleaning head that is self-actuated. The cleaning head includes an actuator assembly comprising an actuator configured to control rotation and vertical movement of a cleaning roller, a controller, and a cleaning roller having an elongated cylindrical length connected to the actuator assembly. The cleaning head also includes a computer processor connected to the actuator assembly and a non-transitory computer-readable storage medium that causes the computer processor to map the environment based on sensor data captured by the autonomous vacuum. The computer processor may determine an optimal height for the cleaning head based on the map and instruct the actuator assembly to adjust the height of the cleaning head.

An autonomous cleaning robot (e.g., an autonomous vacuum) may clean an environment using a cleaning head that is self-actuated. The cleaning head includes an actuator assembly comprising an actuator configured to control rotation and vertical movement of a cleaning roller, a controller, and a cleaning roller having an elongated cylindrical length connected to the actuator assembly. The cleaning head also includes a computer processor connected to the actuator assembly and a non-transitory computer-readable storage medium that causes the computer processor to map the environment based on sensor data captured by the autonomous vacuum. The computer processor may determine an optimal height for the cleaning head based on the map and instruct the actuator assembly to adjust the height of the cleaning head.

A vacuum cleaner is provided with a chassis and a suction nozzle coupled with the chassis for both vertical and horizontal movement relative to the chassis. The nozzle can be configured to automatically move vertically upon encountering a predetermined amount of resistance to forward or rearward movement of nozzle over a surface to be cleaned.