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 apparatus is provided with a base assembly, an upright assembly, and a fluid recovery system. The base assembly includes a base housing, a brush chamber, at least one brushroll in the brush chamber; and a removable brush housing. A portion of the brush chamber is removable with the brush housing.

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 floor cleaning tool including a housing, a reservoir that is coupled to the housing and that contains a cleaning solution, and a resiliently deformable plate that is coupled to the housing. The plate defines apertures that are fluidly coupled to the reservoir, and the apertures are oriented to deposit cleaning solution onto a surface. The plate is removable from the housing.

A surface cleaning apparatus includes a housing including an upright handle assembly and a base mounted to the upright handle assembly and adapted for movement across a surface to be cleaned. The surface cleaning apparatus is further provided with a fluid delivery system comprising a fluid dispenser configured to dispense fluid to a brushroll and at least one fluid delivery channel forming a portion of a fluid delivery pathway. The fluid delivery channel can extend adjacent to a portion of the suction nozzle assembly. An interference wiper interfaces with a portion of the brushroll to remove excess liquid from the brushroll.

Disclosed herein are a cleaning robot and a method of controlling the same. The cleaning robot according to one embodiment includes a modular in which one or more modules configured to support different functions are integrated, and a controller configured to control the overall operation of the cleaning robot.

A surface cleaning apparatus includes a housing including an upright handle assembly and a base mounted to the upright handle assembly and adapted for movement across a surface to be cleaned. The surface cleaning apparatus is further provided with a fluid delivery system comprising a fluid dispenser configured to dispense fluid to a brushroll and at least one fluid delivery channel forming a portion of a fluid delivery pathway. The fluid delivery channel can extend adjacent to a portion of the suction nozzle assembly. An interference wiper interfaces with a portion of the brushroll to remove excess liquid from the brushroll.

A surface cleaning apparatus includes a housing including an upright handle assembly and a base mounted to the upright handle assembly and adapted for movement across a surface to be cleaned. The surface cleaning apparatus is further provided with a fluid delivery system comprising a fluid dispenser configured to dispense fluid to a brushroll and at least one fluid delivery channel forming a portion of a fluid delivery pathway. The fluid delivery channel can extend adjacent to a portion of the suction nozzle assembly. An interference wiper interfaces with a portion of the brushroll to remove excess liquid from the brushroll.