Patent Publication Number: US-11041293-B2

Title: Robotic cleaning apparatus and related methods

Description:
FIELD 
     This application is related to the field of robotic cleaning apparatus and related methods. 
     INTRODUCTION 
     Domestic cleaning is generally considered an undesirable task that involves manual interaction with dirty elements within a home or office. Basins, such as toilet bowls, bathtubs, and sinks, tend to collect particularly unsanitary matter, and are therefore among the least desirable domestic elements to clean. 
     SUMMARY 
     In one aspect, a robotic cleaning apparatus for cleaning a dirty object is provided. The robotic cleaning apparatus may comprise a cleaning head and an articulated body. The articulated body may be coupled to the cleaning head and mountable to the dirty object, the body having one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, may collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. 
     In another aspect, a method of robotically cleaning an inner surface of a basin is provided. The method may comprise mapping a cleaning path of a first segment of the inner surface, and cleaning the first segment of the inner surface by moving a cleaning head along the cleaning path in contact with the first segment. 
     In another aspect, a method of robotically cleaning an inner surface of a basin is provided. The method may comprise radially moving a cleaning head into contact with a first segment of the inner surface; rotating the cleaning head about a first axis while modulating a radial position of the cleaning head to maintain brushing contact of the cleaning head along a length of the first segment; rotating the cleaning head about a second axis into alignment with a second segment of the inner surface; and rotating the cleaning head about the first axis while modulating the radial position of the cleaning head to maintain brushing contact of the cleaning head along a length of the second segment. 
     In another aspect, a robotic toilet bowl cleaning apparatus is provided. The apparatus may comprise a toilet bowl mount, a cleaning head, a body, and a controller. The body may be coupled to the cleaning head and the toilet bowl mount. The body may have one or more actuators that collectively move the cleaning head into contact with inside surfaces of a toilet bowl when the toilet bowl mount is secured to the toilet bowl. The one or more actuators, when activated, collectively move the cleaning head relative to the inside surfaces with respect to at least three different axes, including rotation about a vertical axis and rotation about a horizontal axis. The controller may be communicatively coupled to the one or more actuators to send control signals that direct the one or more actuators to activate. 
     In another aspect, a robotic cleaning apparatus for cleaning a dirty object is provided. The robotic cleaning apparatus may comprise a cleaning head and an articulated body. The articulated body may be coupled to the cleaning head and mountable to the dirty object. The body may have one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, may collectively pivot the cleaning head relative to the dirty object about a first axis, and telescopically extend the cleaning head outwardly away from the first axis along an extension axis. 
     In another aspect, a telescoping arm is provided. The telescoping arm may include a base, an outer elongate member, an inner elongate member, and a transmission. The outer elongate member may be connected to the base, and axially movable relative to the base between retracted and extended positions. The inner elongate member may be connected to the outer elongate member, and axially movable relative to the outer elongate member between the retracted and extended positions. The transmission may drive the inner and outer elongate members to move concurrently between the retracted and extended positions. 
    
    
     
       DRAWINGS 
         FIG. 1  is a perspective view of a robotic cleaning apparatus mounted to a toilet, in accordance with an embodiment; 
         FIG. 2  is a side view of the robotic cleaning apparatus of  FIG. 1 , with the toilet sectioned along line  2 - 2  in  FIG. 1 ; 
         FIG. 3  is an exploded view of the robotic cleaning apparatus of  FIG. 1  mounted to a toilet; 
         FIG. 4  is the exploded view of  FIG. 3 , with an upper housing separated into halves; 
         FIG. 5  is a perspective view of the robotic cleaning apparatus of  FIG. 1  with housings removed; 
         FIG. 6  is a perspective view of a third articulated body portion, showing an extension shaft in a retracted position; 
         FIG. 7  is the perspective view of  FIG. 6  showing the extension shaft in an intermediate position; 
         FIG. 8  is a perspective view of the third articulated body portion, showing the extension shaft in an extended position; 
         FIG. 9  is a rear perspective view of a cleaning head; 
         FIG. 10  is a front perspective view of the cleaning head of  FIG. 9 ; 
         FIG. 11  is a front elevation view of the cleaning head of  FIG. 9 ; 
         FIG. 12  is an exploded view of a rigid arm; 
         FIG. 13  is a top elevation view of the rigid arm of  FIG. 12 , showing a connector in an engaged position; 
         FIG. 14  is the top elevation view of  FIG. 13  showing the connector in a disengaged position; 
         FIG. 15  is a schematic illustration of a controller communicatively coupled to various components; 
         FIG. 16  is the side view of  FIG. 2  showing the cleaning head moved into contact with a first segment; 
         FIG. 17  is a top elevation view of the robotic cleaning apparatus of  FIG. 1  mounted to the toilet, and showing the cleaning head in three positions; 
         FIG. 18  is the side elevation view of  FIG. 2  showing the cleaning head moved into contact with a second and third segment; 
         FIG. 19  is an enlarged view of region  19  in  FIG. 18 ; 
         FIG. 20  is the side elevation view of  FIG. 2  showing the toilet seat in a tilted position and the cleaning head moved in contact with the toilet seat; 
         FIG. 21  is the top view of  FIG. 17  showing the cleaning head in two incremental positions for mapping a cleaning path; 
         FIG. 22  is a front perspective view of a robotic cleaning apparatus, in accordance with another embodiment; 
         FIG. 23A  is a rear perspective view of the robotic cleaning apparatus of  FIG. 22  showing a connector disconnected from a mount, in accordance with an embodiment; 
         FIG. 23B  is a rear perspective view of the robotic cleaning apparatus of  FIG. 22  showing the connector connected to the mount; 
         FIG. 24  is another front perspective view of the surface cleaning apparatus of  FIG. 22 ; 
         FIG. 25  is a front perspective view of a charging station, in accordance with an embodiment; 
         FIG. 26  is a front perspective view of a robotic cleaning system including the robotic cleaning apparatus of  FIG. 22  docked in the charging station of  FIG. 25 ; 
         FIG. 27  is schematic illustration of a robotic cleaning apparatus navigating a cleaning head around an obstacle; 
         FIG. 28  is a side elevation view, with the toilet sectioned, illustrating cleaning a vertically oriented surface segment in accordance with an embodiment; 
         FIG. 29  is a perspective view of a robotic cleaning apparatus with housings removed, in accordance with an embodiment; 
         FIG. 30  is a perspective view of a third articulated body portion of the robotic cleaning apparatus of  FIG. 29 , showing a telescoping arm in a retracted position; 
         FIG. 31  is a perspective view of the third articulated body portion of  FIG. 30 , with the telescoping arm in an extended position; 
         FIG. 32A  is a top plan view of the telescoping arm of  FIG. 30  in the retracted position; 
         FIG. 32B  is a cross-section taken along line  32 B- 32 B in  FIG. 32A ; 
         FIG. 33A  is a top plan view of the telescoping arm of  FIG. 30  in the extended position; 
         FIG. 33B  is a cross-section taken along line  33 B- 33 B in  FIG. 33A ; 
         FIG. 34  is a rear perspective view of a cleaning head, in accordance with an embodiment; 
         FIG. 35  is a front perspective view of the cleaning head of  FIG. 34 ; 
         FIG. 36  is a front elevation view of the cleaning head of  FIG. 34 ; 
         FIG. 37  is a rear perspective view of the cleaning head of  FIG. 34 , with a separated cleaning member; and 
         FIG. 38  is a side view showing a sectioned toilet with a toilet seat in a tilted position and the robotic cleaning apparatus of  FIG. 29  having the cleaning head of  FIG. 34  moved into contact with the toilet seat. 
     
    
    
     DESCRIPTION OF VARIOUS EMBODIMENTS 
     Numerous embodiments are described in this application, and are presented for illustrative purposes only. The described embodiments are not intended to be limiting in any sense. The invention is widely applicable to numerous embodiments, as is readily apparent from the disclosure herein. Those skilled in the art will recognize that the present invention may be practiced with modification and alteration without departing from the teachings disclosed herein. Although particular features of the present invention may be described with reference to one or more particular embodiments or figures, it should be understood that such features are not limited to usage in the one or more particular embodiments or figures with reference to which they are described. 
     The terms “an embodiment,” “embodiment,” “embodiments,” “the embodiment,” “the embodiments,” “one or more embodiments,” “some embodiments,” and “one embodiment” mean “one or more (but not all) embodiments of the present invention(s),” unless expressly specified otherwise. 
     The terms “including,” “comprising” and variations thereof mean “including but not limited to,” unless expressly specified otherwise. A listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms “a,” “an” and “the” mean “one or more,” unless expressly specified otherwise. 
     As used herein and in the claims, two or more parts are said to be “coupled”, “connected”, “attached”, or “fastened” where the parts are joined or operate together either directly or indirectly (i.e., through one or more intermediate parts), so long as a link occurs. As used herein and in the claims, two or more parts are said to be “directly coupled”, “directly connected”, “directly attached”, or “directly fastened” where the parts are connected in physical contact with each other. As used herein, two or more parts are said to be “rigidly coupled”, “rigidly connected”, “rigidly attached”, or “rigidly fastened” where the parts are coupled so as to move as one while maintaining a constant orientation relative to each other. None of the terms “coupled”, “connected”, “attached”, and “fastened” distinguish the manner in which two or more parts are joined together. 
     As used herein and in the claims, a first element is said to be “received” in a second element where at least a portion of the first element is received in the second element unless specifically stated otherwise. 
     Further, although method steps may be described (in the disclosure and/or in the claims) in a sequential order, such methods may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. The steps of methods described herein may be performed in any order that is practical. Further, some steps may be performed simultaneously. 
       FIG. 1  shows a robotic cleaning apparatus  100 , which is operable to automatically clean a dirty object  104 . For example, robotic cleaning apparatus  100  may be operable to automatically clean at least inside surfaces  108  of a basin  112 , such as a toilet bowl as shown, a sink, or other bowl-like portion of a dirty object  104 . As shown, robotic cleaning apparatus  100  may include an articulated body  116  that is secured to the dirty object  104  by a mount  120  and that is drivingly connected to a cleaning head  124 . Articulated body  116  may be operable to move the cleaning head  124  with several degrees of freedom into brushing contact with dirty object  104 , such as across inside surfaces  108  of basin  112 . Once activated, robotic cleaning apparatus  100  may clean the dirty object  104  automatically (i.e. without further user action). 
     Still referring to  FIG. 1 , articulated body  116  may be suspended over basin  112 . As shown, articulated body  116  may be suspended within a periphery of basin  112 . Referring to  FIG. 2 , basin  112  has a volume  128  bordered by basin inside surfaces  108  and basin opening  132 . Articulated body  116  may be positioned partially within (and partially outside) a volume  128  of basin  112  as shown, entirely within basin volume  128 , or entirely outside (e.g. above) basin volume  128 . In any case, articulated body  116  may be spaced apart from surfaces  108  of basin  112 . For example, articulated body  116  may be positioned within a projection of basin opening  132  normal to the plane of basin opening  132 . This can allow articulated body  116  to move cleaning head  124  outwardly (e.g. radially outwardly) from articulated body  116  into contact with inside surfaces  108  of basin  112 . 
     Referring to  FIGS. 3-5 , robotic cleaning apparatus  100  may include one or more actuators  136  that, when activated, collectively act to move cleaning head  124  relative to dirty object  104  into contact with surfaces of dirty object  104 . For example, the actuator(s)  136  may form part of articulated body  116  as shown. Robotic cleaning apparatus  100  may also include a controller  140  that is communicatively coupled to actuator(s)  136  to send control signals that activate actuator(s)  136  automatically to perform a cleaning operation. 
     Actuator(s)  136  may act to impart any movement upon cleaning head  124 . For example, each actuator  136  may act to rotate cleaning head  124 , translate cleaning head  124 , or move cleaning head  124  in more complex patterns involving both rotation and translation in one or more directions. In some embodiments, actuator(s)  136  may be operable to rotate cleaning head  124  about first and second axes  144   1  and  144   2 , and translate cleaning head about a radial axis  144   3 . This may be achieved by any number of actuators  136 . 
     Still referring to  FIGS. 3-5 , articulated body  116  may include a first actuator  136   1  that acts to rotate cleaning head  124  about a first axis  144   1 , a second actuator  136   2  that acts to rotate cleaning head  124  about a second axis  144   2 , and a third actuator  136   3  that acts to translate cleaning head  124  about an extension axis  144   3 . First and second axes  144   1  and  144   2  can be any axes that allow cleaning head  124  to be repositioned relative to dirty object  104 . As shown, first axis  144   1  is non-parallel to second axis  144   2 , and first and second axes  144   1  and  144   2  are not co-extensive with extension axis  144   3 . This allows extension axis  144   3  to be reoriented by rotating cleaning head  124  about first and second axes  144   1  and  144   2 . As shown, first actuator  136   1  may be a yaw actuator that rotates cleaning head about a yaw axis  144   1 , and second actuator  136   2  may be a pitch actuator that rotates cleaning head about a pitch axis  144   2 . Third actuator  136   3  may be a radial actuator that translates cleaning head  124  along a radial axis  144   3 . 
     Referring to  FIG. 5 , actuator(s)  136  can be any device that acts to impart movement upon cleaning head  124  in response to control signals (e.g. electrical signals) from controller  140 . For example, actuator(s)  136  may include servos as shown, DC or AC motors, fluid piston cylinders, or another type of actuator. In the illustrated example, articulated body  116  includes a first portion  148  rotatably connected about first axis  144   1  to a second portion  152 , and a third portion  156  rotatably connected about second axis  144   2  to second portion  152 . 
     As shown, first actuator  136   1  may be mounted to first and second body portions  148  and  152  so that first actuator  136   1  can be activated to impart rotation of second body portion  152  relative to first body portion  148  about first axis  144   1 . Similarly, second actuator  136   2  may be connected to second and third body portions  152  and  156  so that second actuator  136   2  can be activated to impart rotation of third body portion  156  relative to second body portion  152  about second axis  144   2 . 
     Referring to  FIG. 6 , third articulated body portion  156  is shown in accordance with an embodiment. As shown, third articulated body portion  156  includes an extension shaft  160 , and an actuator  136   3 . Extension shaft  160  has a distal end  164  to which cleaning head  124  ( FIG. 3 ) is mounted in use. Extension shaft  160  is movable between the retracted position shown, through an intermediate position ( FIG. 7 ), to an extended position ( FIG. 8 ) by operation of the actuator  136   3 . 
     Returning to  FIG. 6 , actuator  136   3  may be a rotary-type actuator, such as a servo, and drivingly connected to extension shaft  160  indirectly by a rotary to linear movement linkage  168 . Linkage  168  can be any linkage that can convert rotary movement by rotary actuator  136   3  into linear movement of extension shaft  160 . This allows actuator  136   3  to drive extension shaft  160  to move between the retracted position shown, and an extended position ( FIG. 8 ). As seen in  FIGS. 6-8 , the illustrated example includes a linkage  168  including a drive arm  172  and a slotted arm  176 . As shown, drive arm  172  has a proximal portion  180  connected to actuator  136   3 , and a distal portion  184  constrained to slot  188  of slotted arm  176 . Slotted arm  176  is connected to extension shaft  160  and slot  188  extends transverse (e.g. perpendicular) to extension axis  144   3 . As drive arm  172  is rotated about proximal portion  180 , distal portion  184  moves along slot  188  and drives slotted arm  176  and extension shaft  160  to move along extension axis  144   3 . 
     Reference is now made to  FIG. 29-31 , which show an extension shaft  160  in accordance with another embodiment. As shown, extension shaft  160  may take the form of a telescoping arm. Telescoping arm  160  may be used in connection with robotic cleaning apparatus  100  as shown, by itself, or in connection with another type of apparatus (e.g. a photography tripod, display mount, aerial work platform vehicle (aka ‘cherry picker’), lighting fixture, microphone boom, or a crane). Telescoping arm  160  may include a plurality of elongate members  504  that telescope between the retracted position ( FIGS. 29-30 ) and the extended position ( FIG. 31 ). This can provide telescoping arm  160  with greater extensibility, a more compact size in the retracted position, or both. 
     Referring to  FIGS. 30-31 , telescoping arm  160  may be extended and retracted by activating actuator  136   3 . For example, as described above in connection with  FIG. 6 , telescoping arm  160  may be connected to actuator  136   3  by a rotary to linear movement linkage  168 . As shown, telescoping arm  160  may include an outer elongate member  504   1  and an inner elongate member  504   2 . Each elongate member  504  may extend axially (e.g. along or parallel to extension axis  144   3 ) from a proximal end  508  to a distal end  512  (see also,  FIGS. 32B and 33B ). Outer elongate member  504   1  may be connected to third body portion  156  (which may be referred to as a ‘base’ when telescoping arm  160  is implemented in other apparatus) and axially movable (e.g. slideable) relative to third body portion  156  between the retracted position ( FIG. 30 ) and extended position ( FIG. 31 ). Inner elongate member  504   2  may be connected to outer elongate member  504   1  and axially movable (e.g. slideable) relative to outer elongate member  504   1  (and third body portion  156 ). 
     In the retracted position ( FIG. 30 ), at least a first portion  516   1  of outer elongate member  504   1  axially overlaps third body portion  156 , and at least a first portion  516   2  of inner elongate member  504   2  axially overlaps outer elongate member  504   1 . For example, inner elongate member  504   2  may at least partially nest within outer elongate member  504   1  in the retracted position. In the example shown, outer elongate member  504   1  is tubular with a hollow interior that receives at least first portion  516   2  in the retracted position. Outer elongate member  504   1  may be tubular with a cross-sectional shape that is round (e.g. circular), polygonal (e.g. rectangular), or another regular or irregular shape. Alternatively or in addition, outer elongate member  504   1  may at least partially nest within third body portion  156  in the retracted position. For example, third body portion  156  may include a tubular portion  520  with a hollow interior that receives at least first portion  516   1  in the retracted position. 
     In the extended position ( FIG. 31 ), at least first portion  516   1  is axially offset (e.g. axially spaced apart) from third body portion  156 , and at least first portion  516   2  is axially offset (e.g. axially spaced apart) from outer elongate member  504   1 . For example, body portion  520 , first portion  516   1 , and first portion  516   2  may be axially arranged in series, in that order, to provide an extended axial length  526  (e.g. along or parallel to third axis  144   3 ) from third body portion distal end  524  to inner elongate member distal end  512   2 , when in the extended position. As shown, cleaning head  124  may be connected to inner elongate member distal end  512   2 . Cleaning head  124  may have bristles  192   1  that extend axially outward of elongate member distal end  512   2  for cleaning surfaces positioned axially outward of distal end  512   2 . 
     In some embodiments, telescoping arm  160  includes a transmission  528  that synchronizes (e.g. drives) the inner and outer elongate members to move concurrently when the telescoping arm  160  moves between the retracted and extended positions. This contrasts with traditional telescoping arm designs that move each arm segment to their respective extended position one at a time, in sequence. Thus, transmission  528  can allow telescoping arm  160  to move more quickly between the retracted and extended positions, and reduce the range of motion required from actuator  136   3  to move telescoping arm  160  between the retracted and extended positions. 
     As an example, transmission  528  may tie the movements of outer and inner elongate members  504   1  and  504   2 , such that as actuator  136   3  moves outer elongate member  504   1  toward the extended position, transmission  528  causes inner elongate member  504   2  to concurrently move toward the extended position. In this example, when actuator  136   3  completes moving outer elongate member  504   1  relative to body portion  156  to the extended position, inner elongate member  504   2  will too have completed moving relative to outer elongate member  504   1  to the extended position. In other words, transmission  528  may drive inner elongate member  504   2  to move axially relative to outer elongate member  504   1 , in response to and concurrently as outer elongate member  504   1  moves axially relative to third body portion  156 . 
     Reference is now made to  FIGS. 32A-32B and 33A-33B . In some embodiments, transmission  528  may include a flexible tie  532 . Flexible tie  532  may include one or more lengths of rope, belt, or chain. As shown, outer elongate member  504   1  may include a pair of axially spaced apart pulleys  536 . Flexible tie  532  may be mounted to pulleys  536 , rigidly connected to third body portion  156  at a first connection  540 , and rigidly connected to inner elongate member  504   2  at a different second connection  544 . Connections  540  and  544  are located at different positions along the length of flexible tie  532 . 
     Reference is now made to  FIGS. 32B and 33B . In use, as telescoping arm  160  moves from the retracted position ( FIG. 32B ) toward the extended position ( FIG. 33B ), distal pulley  536   1  moves with outer elongate member  504   1  axially away from body-tie connection  540 , which causes flexible tie  532  to revolve (also referred to as circulate) around pulleys  536  (counterclockwise from the vantage of  FIGS. 32B and 33B ). This results in inner elongate member-tie connection  544  moving axially outward towards distal pulley  536   1 , whereby inner elongate member  504   2  (which is joined to connection  544 ) is moved axially outward relative to outer elongate member  504   1  (which is joined to distal pulley  536   1 ). In the illustrated example, distal end  512   2  of inner elongate member  504   2  extends axially relative to third body portion  156  at twice the speed of outer elongate member  504   1 . 
     Transmission  528  may retract inner elongate member  504   2  in a similar but opposite fashion. As telescoping arm  160  moves from the extended position ( FIG. 33B ) towards the retracted position ( FIG. 32B ), proximal pulley  536   2  moves with outer elongate member  504   1  axially away from body-tie connection  540 , which causes flexible tie  532  to revolve around pulleys  536  (clockwise from the vantage of  FIGS. 32B and 33B ). This results in inner elongate member-tie connection  544  moving axially inward towards proximal pulley  536   2 , whereby inner elongate member  504   2  (which is joined to connection  544 ) is moved axially inward relative to outer elongate member  504   1  (which is joined to proximal pulley  536   2 ). In the illustrated example, distal end  512   2  of inner elongate member  504   2  retracts axially relatively to third body portion  156  at twice the speed of outer elongate member  504   1 . 
     In the example shown, flexible tie  532  forms an endless loop and is joined to each of third body portion  156  and inner elongate member  504   2  at a single position (connections  540  and  544 ). In other embodiments, flexible tie  532  may have a length which extends between distinct, spaced apart ends. For example, the two ends of flexible tie  532  may be joined to third body portion  156  or to inner elongate member  504   1 , at one position or at two spaced apart positions. Alternatively, flexible tie  532  may include two separated lengths (e.g. of rope, cable, or chain), each having their own spaced apart ends. In this case, each length of flexible tie  532  may be mounted to a different one of pulleys  536 , with one end connected to third body portion  156  and one end connected to inner elongate member  504   1 . 
     Pulleys  536  may take any form suitable to allow flexible tie  532  to circulate over them as telescoping arm  160  moves between the retracted and extended positions. For example, pulleys  536  may include rotating wheels over which flexible tie  532  can roll, or stationary posts over which flexible tie  532  can slide. 
     Referring to  FIGS. 9-11 , robotic cleaning apparatus can include any cleaning head  124  suitable for cleaning surfaces of a dirty object. Cleaning head  124  includes contact-type cleaning members  192  which clean surfaces by making physical contact with those surfaces. For example, cleaning head  124  may include bristles  192   1 , cleaning pads  192   2  and  192   3  (e.g. cloth or sponge), loose cloth, or mop strands, which clean by frictionally engagement with a dirty surface. 
     As shown, cleaning head  124  may include a cleaning head base  404  having a cleaning end  196  from which cleaning members  192  extend, and a connection end  204 . Turning to  FIGS. 6 and 9 , cleaning head connection end  204  may be connected to extension shaft distal end  164  so that cleaning head cleaning end  196  with cleaning members  192  faces outwardly from articulated body  116 . This allows extension shaft  160  to be extended to move cleaning members  192  into contact with surfaces to be cleaned. 
     Cleaning head connection end  204  may be connected to extension shaft distal end  164  in any manner. For example, cleaning head connection end  204  may be permanently or removably connected to extension shaft distal end  164 . In the illustrated example, cleaning head connection end  204  and extension shaft distal end  164  include a connector  208  that provides a releasable connection. Connector  208  can be any device that provides a releasable connection, such as a magnetic device, a latch, bayonette mount, or threads for example. In the illustrated example, connector  208  includes mating tubular members  212   1  and  212   2  that are sized and shaped to nest in one another with a friction fit that retains the connection until a deliberate user action to disconnect the cleaning head  124 . The removability of cleaning head  124  allows cleaning head  124  to be removed for cleaning, repair, or replacement as required. 
     Returning to  FIG. 1 , articulated body  116  may include a cleaning fluid reservoir  216 , and a pump  220  in some embodiments. Cleaning fluid reservoir  216  may provide storage for a volume of cleaning fluid (e.g. water or soap) that may be selectively dispensed by operation of pump  220  in response to control signals from controller  140 . As shown, cleaning fluid reservoir  216  may include a fill inlet  224  that may be closed by a removable cap  228 . In use, the user may remove cap  228 , pour cleaning fluid into fluid reservoir  216  through the opened fill inlet  224 , and then replace cap  228  to reclose fill inlet  224 .  FIG. 22  shows another embodiment of robotic cleaning apparatus  100 . As shown, pump  220  may be positioned within articulated body  116  For example, pump  220  may be positioned within third body portion  156  as shown. Alternatively, pump  220  may be positioned within or attached to first or second body portions  148  or  152 . As shown, pump  220  includes a motor  412  that when activated drives pump  220  to move cleaning fluid from cleaning fluid reservoir  216  to a fluid outlet. 
     Referring to  FIGS. 1 and 22 , pump  220  is fluidly connected to cleaning fluid reservoir  216 . Pump  220  can be any device that can draw cleaning fluid from cleaning fluid reservoir  216 , and urge that cleaning fluid to dispense from a fluid outlet. The fluid outlet can be positioned anywhere on robotic cleaning apparatus  100  suitable for spraying the cleaning fluid onto surfaces to be cleaned.  FIG. 22  shows an example in which third body portion  156  includes pump  220  and second body portion includes cleaning fluid reservoir  216 . As shown, an intake conduit  416  may fluidly connect pump  220  to cleaning fluid reservoir  216 . As shown, intake conduit  416  may have an upstream end  420  positioned within cleaning fluid reservoir  216  and a downstream end  424  connected to pump fluid inlet  428 . A fluid outlet conduit  232  may fluidly connect pump  220  to a fluid outlet (e.g. having a nozzle oriented to spray onto surfaces of the dirty object). As shown, fluid outlet conduit  232  may have an upstream end  436  connected to pump fluid outlet  432 , and a downstream end  440  proximate cleaning head  124 . 
       FIG. 6  shows an example in which a pump  220  is mounted to extension shaft distal end  164  and a fluid outlet conduit  232  is positioned to interface with cleaning head  124  ( FIG. 9 ). As shown, fluid outlet conduit  232  may be positioned within connector  208  to interface with cleaning head  124  when cleaning head  124  is connected to extension shaft  160 . Turning to  FIG. 11 , an exemplary cleaning head  124  is shown including a fluid outlet nozzle  236  positioned to receive fluid from fluid outlet conduit  232  and spray cleaning fluid outwardly from cleaning head cleaning end  196 . This can allow cleaning head  124  to dispense cleaning fluid onto the surfaces that cleaning head  124  faces or is moved into contact with (e.g. during, before, and/or after brushing the surface). 
     Reference is now made to  FIGS. 29 and 34-36 , which show a cleaning head  124  in accordance with another embodiment. Like part numbers refer to like parts in the previous figures. As shown, cleaning head  124  may include bristles  192   1 , cleaning pad  192   2 , and bristles  192   3 . 
     In some embodiments, one or more (or all) of cleaning members  192  may extend axially outward of cleaning end  196  away from articulated body  116 . In the example shown, bristles  192   1  face axially outward away from cleaning end  196  and articulated body  116 . This allows bristles  192   1  to abrasively contact dirty surfaces that are aligned axially outward of articulated body  116 . 
     In some embodiments, one or more (or all) of cleaning members  192  may be oriented to face (e.g. provide a cleaning surface facing) transverse to third axis  144   3 . This can allow those cleaning members  192  to make cleaning contact with dirty surfaces that do not align axially outward of articulated body  116 . In the illustrated example, cleaning pad  192   2  and bristles  192   3  face in opposite directions perpendicularly to third axis  144   3 . In the illustrated example, when third axis  144   3  is horizontal, cleaning pad  192   2  faces upwardly, and bristles  192   3  face downwardly. As discussed below, this allows cleaning pad  192   2  to clean a lower surface of a toilet seat for example. 
     Alternatively, one or both of cleaning pad  192   2  and bristles  192   3  may face transversely to third axis  144   3  at a non-perpendicular angle (e.g. 20-70 degrees) to third axis  144   3 . In some embodiments, cleaning members  192   2  and  192   3  may both face transversely to third axis  144   3 , but not in opposite directions. 
     Reference is now made to  FIG. 37 . In some embodiments, one or more (or all) of cleaning members  192  is removably connected to cleaning head  124 . This allows the cleaning member  192  to be removed for disposal, cleaning, or repair. As shown, cleaning head  124  may include a base  548  that provides a removable connection for a cleaning member  192 . In the illustrated example, cleaning pad  192   2  is removably connected to cleaning head base  548 . For example, cleaning pad  192   2  may be a single or limited-use disposable pad that is frequently disposed and replaced. In some embodiments, cleaning pad  192   2  includes a consumable material (e.g. melamine foam) that dissolves or wears away as it is used to clean dirty surfaces. 
     A cleaning member  192  may be removably connected to cleaning head base  548  in any manner. For example, a cleaning member  192  may be connected by one or more of a removable fastener (e.g. screw or bolt), clip, press-fit, latch, hook-and-loop (e.g. Velcro™), or magnets. In the illustrated example, cleaning head base  548  has a slot  552  that removably receives a lower end  556  of cleaning pad  192   2 . 
     In some embodiments, all cleaning members  192  are removably connected to cleaning head  124 . This can allow cleaning head  124  to be customizable with different cleaning members  192  that are optimal for the surfaces to be cleaned. 
     In other embodiments, all cleaning members  192  are non-removably (i.e. permanently) connected to cleaning head  124 . This can make cleaning head  124  more robust (e.g. prevent inadvertent disconnection of cleaning members  192 ), and reduce the cost of cleaning head  124  to the extent that removable connections are not required for the cleaning members  192 . 
     Referring to  FIG. 3 , articulated body  116  can be mounted in any manner that allows articulated body  116  to move cleaning head  124  into contact with surfaces to be cleaned. For example, articulated body  116  may be fastened to the dirty object  104  or an adjacent object (e.g. wall or floor) by a mount  120 , or self-supported on the dirty object  104  or adjacent object (e.g. free-standing). In the illustrated embodiment, articulated body  116  is releasably connected to a mount  120  secured to the dirty object  104  by way of a rigid arm  240 . Rigid arm  240  may have a proximal end  244  connected to the mount  120 , and a distal end  248  connected to articulated body  116 . One or both of proximal and distal ends  244  and  248  may be removably connected to the mount  120  or articulated body respectively. This can allow articulated body  116  to be selectively connected to the dirty object  104  to execute a cleaning program, and afterwards disconnected and removed (e.g. to storage or to clean another dirty object  104 ). 
     Still referring to  FIG. 3 , rigid arm proximal end  244  is shown including a connector  252  in accordance with an embodiment. As shown, mount  120  may include a recess (e.g. slot)  256  that receives connector  252 . When received in mount recess  256 , connector  252  may be movable between an engaged position in which withdrawal of connector  252  from mount recess  256  is inhibited, and a disengaged position in which connector  252  is free to withdraw from mount recess  256 . 
     Turning to  FIG. 12 , connector  252  may include a latch  260  that in the engaged position latches to an engagement portion  262  ( FIG. 3 , e.g. post) within mount recess  256  ( FIG. 3 ). As shown, robotic cleaning apparatus  100  may include a user-operable control  264  that when activated acts to disengage connector  252 . User-operable control  264  may be any user-operable device that can be mechanically or electrically connected to connector  252  and user-operated to move connector  252  to the disengaged position. For example, user-operable control  264  may be a slider as shown, a switch, button, or lever. User-operable control  264  may be positioned anywhere on robotic cleaning apparatus  100 . In the illustrated example, user-operable control  264  is positioned at an upper end  266  of rigid arm  240 . As shown, user-operable control  264  may be mechanically connected to connector  252  by way of a Bowden assembly  268 . Bowden assembly  268  may include a cable  272  which extends from user-operable control  264  through a Bowden tube  276  to connector  252 . 
       FIG. 13  shows user-operable control  264  in a first position and connector  252  in a disengaged position, and  FIG. 14  shows user-operable control  264  moved to a second position, which pulls on cable  272 , and thereby draws connector  252  to the disengaged position. As shown in  FIG. 12 , user-operable control  264  may have a bias  280  (e.g. spring) that biases user-operable control  264  to the first position, and connector  252  may include a bias  284  (e.g. spring) which biases connector  252  to the engaged position. 
     Reference is now made to  FIG. 15 , which shows a schematic illustration of controller  140  in accordance with an embodiment. As shown, controller  140  may include (hardware) processor  288  and memory  292  that are communicatively coupled to actuators  136 , pump  220 , sensor(s)  296 , and user-interface member(s)  304 . Processor  288  may be any device that can send control signals, wirelessly or by wire, that activate actuators  136  (and pump  220  if present), in accordance with instructions (e.g. a cleaning program) stored in memory  292 . 
     In some embodiments, execution of instructions from memory  292  relies in part on user inputs from user-interface member(s)  304  and/or information from sensor(s)  296 . As seen in  FIG. 3 , user-interface member(s)  304  may include a display  308  (e.g. electronic display), user input controls  314  (e.g. buttons), a speaker, and a microphone for example. Returning to  FIG. 15 , controller  140  may include a communications device  312  that allows for one or both of wired communication (e.g. by USB) or wirelessly communication (e.g. by 802.11x, Bluetooth, or infrared). In some embodiments, a user may send instructions to controller  140  from an external device (e.g. computer or smartphone) by wire or wireless through communications device  312 . 
     Still referring to  FIG. 15 , controller  140  may be electrically connected to a power source  316 , such as an energy storage member  320  (e.g. batteries,  FIG. 4 ) or external power (e.g. mains power). In some embodiments, controller  140  has a recharging circuit  322  to allow a connected energy storage member  320  to be recharged from a connected external power source. 
     Referring to  FIG. 4 , controller  140  may be positioned anywhere on robotic cleaning apparatus  100 . For example, controller  140  may be positioned within articulated body  116 . In the illustrated example, controller  140  is positioned within first articulated body portion  148 , and enclosed within a first portion housing  324 . 
     In order to avoid repetitious reference to  FIG. 15 , the reader is directed to refer to  FIG. 15  in connection with any mention hereafter of controller  140  or components thereof. 
     Reference is now made to  FIGS. 23A-23B . In some embodiments, robotic cleaning apparatus  100  may be configured to inhibit cleaning operations when articulated body  116  is not secured to mount  120 . This may mitigate damage to robotic cleaning apparatus  100  and injury to users from inadvertent activation of robotic cleaning apparatus  100 . Controller  140  may be configured to detect when there is and is not a connection between articulated body  116  and mount  120 . When a connection is determined (e.g. when a connection is detected or when a disconnection is not detected), then controller  140  may permit robotic cleaning apparatus  100  to activate (e.g. permit actuators  136  ( FIG. 5 ) to be activated according to a cleaning program). When a disconnection is determined (e.g. when a disconnection is detected or when a connection is not detected), then controller  140  may inhibit robotic cleaning apparatus  100  from activating (e.g. inhibit actuators  136  ( FIG. 5 ) to be activated to execute a cleaning program). 
     Robotic cleaning apparatus  100  may determine a connection between articulated body  116  and mount  120  in any manner. For example, cleaning apparatus  100  may include a sensor  296   1 , which is configured to sense a connection between articulated body  116  and mount  120 , and which is communicatively coupled to controller  140 . Controller  140  may determine whether articulated body  116  and mount  120  are connected based on signals received from sensor  296   1 . In the illustrated embodiment, sensor  296   1  is associated with (e.g. connected to or embedded within) connector  252 . Sensor  296   1  may be any device that can send a signal to controller  140  in response to one or both of a connection or disconnection of connector  252  to mount  120 . For example, sensor  296   1  may include a switch that is moved upon connecting and/or disconnecting connector  252  to mount  120 , an optical sensor, or a magnetic sensor. As shown, mount  120  may include a magnet or magnetically attractable element  444  that is sensed by magnetic sensor  296   1  when magnetic sensor  296   1  moves within a proximity of element  444 , which is indicative of connector  252  being connected to mount  120 . 
     Reference is now made to  FIGS. 24-26 . In some embodiments, a robotic cleaning system  448  may include robotic cleaning apparatus  100  and a charging station  452 . Charging station  452  may provide for storage of robotic cleaning apparatus  100  and an electric connection to mains power for recharging energy storage member  320  ( FIG. 15 ). As shown, charging station  452  may include a recess  456  (also referred to as a concavity or receptacle  456 ) sized and shaped to seat (i.e. receive at least a portion of) robotic cleaning apparatus  100 . In the illustrated example, a second recess  460  (also referred to as a collection receptacle or pan  456 ) is positioned to underlie (i.e. align vertically below) cleaning head  124  when robotic cleaning apparatus  100  is seated in recess  456 . This may permit pan  456  to collect residual cleaning fluid which may drip from cleaning head  124 . As shown, pan  456  may define a collection volume  464  that is separated from seating volume  468  (e.g. by a wall  472 ) so that cleaning fluid which collects in pan  456  does not run into seating volume  468 . 
     Still referring to  FIGS. 24-26 , charging station  452  may make an electrical connection with robotic cleaning apparatus  100  when robotic cleaning apparatus  100  is connected (also referred to as seated or docked) to charging station  452 . For example, charging station  452  may form an inductive or direct electrical connection. This may permit charging station  452  to deliver power to robotic cleaning apparatus (e.g. via a mains electrical connector  484 ) to recharge energy storage member  320  ( FIG. 15 ). As exemplified, charging station  452  may include one or more electrical contacts  476  that mate with one or more electrical contacts  480  of robotic cleaning apparatus  100  when apparatus  100  is docked to charging station  452 . Electrical contacts  476  and  480  may be provided anywhere on charging station  452  and robotic cleaning apparatus  100 , which align when apparatus  100  is docked to charging station  452 . In the illustrated example, electrical contacts  476  are provided atop a rear wall  488  of charging station  452 , and electrical contacts  480  are provided below rigid arm  240 . 
     Referring to  FIG. 2 , surfaces  108  to be cleaned of dirty object  104  may include one or more segments  328 . Where surfaces  108  include a plurality of segments  328 , robotic cleaning apparatus  100  may clean the segments in sequence, according to a cleaning program executed by controller  140 . The illustrated example depicts the cleaning of inside surfaces  108  of a basin, namely a toilet bowl. In this example, inside surfaces  108  may include a plurality of segments  328 . Segments  328  may be sized and shaped according to the dimensions of cleaning head  124 , so that cleaning head  124  can clean the entirety of each segment  328  in sequence according to a cleaning path. 
     In the example shown, each segment  328  may be annular portions of inside surfaces  108 . In length, segments  328  may form any portion of a revolution around toilet bowl  112 . For example, each segment  328  may extend in length between 180 and 360 degrees. In operation, cleaning head  124  may clean the surface segment  328  by making brushing contact along the complete length of the surface segment  328 . 
     Still referring to  FIG. 2 , in response to user-input to commence cleaning, controller  140  may automatically (i.e. without further user action) execute a cleaning program.  FIG. 2  shows robotic cleaning apparatus  100  in a “home” position with cleaning head  124  in a retracted position. Turning to  FIG. 16 , the cleaning program may include controller  140  directing actuators  136  ( FIG. 5 ) to move cleaning head  124  into contact with a first segment  328   1 . This may include activating actuator(s)  136  to align cleaning head  124  with the first segment  328   1  and extend cleaning head  124  outwardly into contact with the first segment  328   1 . In the illustrated example, controller  140  has directed pitch actuator  136   2  to rotate cleaning head  124  downwards a predetermined angle (e.g. about 20 degrees) into alignment with first segment  328   1  and directed extension actuator  136   3  to translate cleaning head  124  outwards into contact with first segment  328   1 . 
     Referring to  FIGS. 15-16 , in some embodiments, robotic cleaning apparatus  100  includes a contact sensor  332  that is communicatively coupled to processor  288 . Contact sensor  332  can include any one or more devices that can collectively provide sensory information to controller  140  from which controller  140  can infer (e.g. determine) contact between cleaning head  124  and a dirty surface  108 . For example, contact sensor  332  may include one or more of a bumper, infrared sensor, accelerometer, or force sensor for example. Controller  140  may establish and/or maintain contact between cleaning head  124  and a segment  328  based on readings from contact sensor  332 . For example, controller  140  may activate actuator  136   3  to move cleaning head  124  radially until controller  140  determines from contact sensor  332  that cleaning head  124  exerts a force on surface  108  that is within a predetermined range of force values. The predetermined range of force values may be selected based on cleaning characteristics of cleaning head  124 . For example, insufficient force may not provide sufficient frictional contact, and too great of force may splay bristles reducing their cleaning efficiency. Use of contact sensor  332  may allow robotic cleaning apparatus  100  to accommodate a wide range of different dirty objects  104 , without the apparatus  100  or the manufacturer having prior knowledge of the object surface profiles. For example, robotic cleaning apparatus  100  may be able to clean toilet bowls of many different makes and models, including future models. 
     In alternative embodiments, robotic cleaning apparatus  100  may not include a contact sensor  332 . For example, robotic cleaning apparatus  100  may be integrated into or purpose built to clean a specific dirty object  104 , whereby controller  140  is preconfigured with cleaning paths that correspond to the surfaces  108  of that object  104 . In some embodiments, robotic cleaning apparatus  100  may be user-configurable with cleaning instructions (e.g. by transmitting instructions wirelessly or by wire to controller  140 ) specific to one or more particular dirty objects  104 . 
     Turning to  FIG. 17 , once contact is made between cleaning head  124  and segment  328   1 , controller  140  directs actuator(s)  136  ( FIG. 5 ) to move cleaning head  124  along a cleaning path in contact with a length  336  of the segment  328   1 .  FIG. 17  shows cleaning head  124  in three positions Y 1 -Y 3  along length  336  of segment  328   1 . As shown, controller  140  directs actuator(s)  136  to maintain contact between cleaning head  124  and segment  328   1  as cleaning head  124  moves along the cleaning path. In this example, controller  140  holds pitch actuator  136   2  stationary to maintain the pitch angle  342  ( FIG. 16 ), and activates yaw actuator  136   1  to rotate cleaning head  124  to rotate about yaw axis  144   1  ( FIG. 16 ). Contemporaneously, controller  140  activates actuator  136   3  to vary the radial extension of cleaning head  124  to maintain contact between cleaning head  124  and segment  328   1 . 
     The cleaning path along segment  328   1  may include a single pass across segment length  336 , or several laps across segment length  336 . For example, cleaning path may include several revolutions around toilet bowl  112 . Further, the cleaning path may have a continuous direction from start to finish or may include one or more direction reversals between the start and finish to provide a scrubbing effect for greater cleaning efficiency. Controller  140  may also direct pump  220  to spray segment  328   1  before, during, or after brushing segment  328   1  with cleaning head  124 . 
     Reference is now made to  FIG. 18 . If dirty surface  108  includes a plurality of segments  328 , then after cleaning a first segment  328   1 , and in accordance with a cleaning program in memory  292 , controller  140  may direct actuator(s)  136  ( FIG. 5 ) to move cleaning head  124  into contact with a subsequent segment  328   2  or  328   3 , and then clean the subsequent segment  328   2  or  328   3  by moving along a cleaning path encompassing the respective segment  328   2  or  328   3  while maintaining contact between the cleaning head  124  and the segment, substantially as described above with respect to first segment  328   1 .  FIG. 18  shows cleaning head in two alternative positions P 2  and P 3 , in which cleaning head has been moved into contact with segments  328   2  and  328   3  respectively. In the example shown, moving to a subsequent segment  328   2  or  328   3  may include actuating pitch actuator  136   2  to rotate cleaning head  124  about pitch axis  144   2  ( FIG. 5 , e.g. 0 to 60 degrees exclusive) into alignment with the subsequent segment  328   2  or  328   3 . It will be appreciated that surface  108  may include any number of segments  328  (e.g. 1-50 segments), and that segments  328  may partially overlap. 
     Reference is now made to  FIG. 28 . In some embodiments, one or more (or all) of segments  328  may be vertically oriented. As shown, moving cleaning head  124  along a vertically oriented segment  328  may include rotating cleaning head  124  about pitch axis  144   2  ( FIG. 5 ). This may provide an efficient cleaning routine for certain surfaces  108 , such as those proximate to (e.g. abutting) a toilet outlet  496  for example. In the illustrated example, controller  140  may, in response to user-input to commence cleaning, execute a cleaning program that includes activating one or more of actuator(s)  136  ( FIG. 5 ) to move cleaning head  124  into contact the vertically aligned segment  328 . Next, the controller  140  may, in accordance with the cleaning program, move cleaning head  124  along a cleaning path in contact with the length  336  of the segment  328 . For example, controller  140  may actuate pitch actuator  136   2  ( FIG. 5 ) to move cleaning head  124  up or down (or both) along the length  336  of segment  328  while modulating extension actuator  136   3  ( FIG. 5 ) to maintain contact between cleaning head  124  and surface segment  328 .  FIG. 28  shows cleaning head  124  at two positions: position P 1  at an upper end of surface segment  328 , and position P 2  at a lower end of surface segment  328 . 
     The cleaning path along segment  328  may include a single pass across segment length  336 , or several passes across segment length  336 . Further, the cleaning path may have a continuous direction from start to finish (e.g. up or down) or may include one or more direction reversals between the start and finish to provide a scrubbing effect for greater cleaning efficiency. For example, controller  140  may, in accordance with the cleaning program, direct cleaning head  124  to reverse direction (e.g. between rotating cleaning head  124  upwardly and downwardly) at one or several intermediate positions between the upper and lower ends of segment  328  to provide the scrubbing effect. 
     After cleaning a surface segment  328 , controller  140  may, in accordance with the cleaning program direct actuator(s)  136  ( FIG. 5 ) to rotate cleaning head  124  into contact with another vertically aligned segment  328 . For example, controller  140  may direct yaw actuator  136   1  ( FIG. 5 ) to rotate cleaning head  124  about yaw axis  144   1  (e.g. by more than 0 and less than 30 degrees) into contact with another vertically aligned segment  328 , and clean the segment  328  as described above. This may repeat until all of the vertically aligned segments  328  within a revolution have been cleaned. For example, this may repeat until cleaning head  124  has rotated about yaw axis  144   1  by 360 degrees or more. Depending on the shape of basin inside surfaces  108 , this may repeat until cleaning head has rotated about yaw axis  144   1  by less than 360 (e.g. has rotated about yaw axis  144   1  by 90 to 270 degrees). 
     Referring to  FIG. 18 , in the context of a basin, such as toilet bowl  112 , robotic cleaning apparatus  100  may be operable to clean a rim  340  that borders the basin opening  132 . Rim  340  may form part of one or more segments  328  that are cleaned as part of a cleaning program executed by controller  140 . In the illustrated example, rim  340  is included in segment  328   3 . Turning to  FIG. 19 , cleaning head  124  may be configured to clean multiple faces of rim  340  simultaneously. As shown, when cleaning head  124  is moved into contact with rim  340 , contact-type cleaning members  192  may make brushing contact with both rim inner surface  344  and rim upper surface  348 . For example, cleaning head  124  may include a contact-type cleaning member  192   1  oriented to act on surfaces radially outwardly of the cleaning member  192   1  (e.g. bristles), and a contact-type cleaning member  192   2  oriented to act on surfaces below the cleaning member  192   2  (e.g. cleaning pad). In the illustrated example, cleaning member  192   2  has a lower cleaning surface  352  positioned above at least some of cleaning member  192   1  (i.e. above some bristles) so that lower cleaning surface  352  can engage rim upper surface  348  simultaneously as cleaning member  192   1  engages rim inner surface  344 . 
     Reference is now made to  FIG. 20 . In the context of cleaning a toilet  104 , robotic cleaning apparatus  100  may be operable to clean a toilet seat  356 . For example, toilet seat  356  may form part of one or more segments  328  that are cleaned as part of a cleaning program executed by controller  140 . As with cleaning other segments  328 , cleaning toilet seat  356  may include controller  140  directing actuator(s)  136  ( FIG. 5 ) to move cleaning head  124  into contact with the segment  328   4  that includes toilet seat  356 , and to move cleaning head  124  along a cleaning path encompassing the segment  328   4  while maintaining contact between cleaning head  124  and the segment  328   4 . 
     In some embodiments, cleaning head  124  may be configured to clean multiple faces of toilet seat  356  simultaneously. As shown, when cleaning head  124  is moved into contact with toilet seat  356 , contact-type cleaning members  192  may make brushing contact with seat lower surface  360 , seat inner surface  364 , and seat upper surface  368 . For example, referring additionally to  FIG. 11 , cleaning head  124  may include a contact-type cleaning member  192   1  oriented to act on surfaces radially outwardly of the cleaning member  192   1  (e.g. bristles), a contact-type cleaning member  192   2  oriented to act on surfaces above the cleaning member  192   2  (e.g. cleaning pad), and a contact-type cleaning member  192   3  oriented to act on surfaces below the cleaning member  192   3  (e.g. cleaning pad,). In the illustrated example, cleaning member  192   2  has an upper cleaning surface  372  positioned below at least some of cleaning member  192   1  (i.e. below some bristles), and cleaning member  192   3  has a lower cleaning surface  376  positioned above and spaced apart from cleaning member  192   2 , so that upper cleaning surface  372  can engage seat lower surface  360 , simultaneously as cleaning member  192   1  engages seat inner surface  364 , and lower cleaning surface  376  engages seat upper surface  368 . 
     Referring to  FIGS. 9-10 , in some embodiments, one or both of cleaning members  192   2  and  192   3  may be movably connected to cleaning head base  404 . For example, one or both of cleaning members  192   2  and  192   3  may be pivotably rotatable relative to the other. This may allow cleaning members  192   2  and  192   3  to accommodate differently sized and shaped toilet seats between them. In the illustrated embodiment, cleaning member  192   3  is rotatable relative to cleaning member  192   3  about a pivot axis  396 . As shown, pivot axis  396  may be transverse (e.g. substantially perpendicular) to extension axis  144   3 . Cleaning member  192   3  may be connected to cleaning head base  404  in any manner that allows cleaning member  192   3  to rotate about pivot axis  396 . For example, cleaning member  192   3  may be connected to cleaning head base  404  by a hinge  408  as shown. 
     Referring to  FIG. 20 , robotic cleaning apparatus  100  may support toilet seat  356  in a tilted position (e.g. 3 to 45 degrees from horizontal) so that toilet seat front end  380  is raised from rim front end  384 . This may provide cleaning head  124  with better clearance to engage seat lower surface  360 . As shown, robotic cleaning apparatus  100  may include a seat support  388  that engages seat lower surface  360  to hold toilet seat  356  in the tilted position. In use, a user may raise toilet seat  356 , attach robotic cleaning apparatus  100 , and then lower toilet seat onto seat support  388  before providing a user instruction to controller  140  to execute a cleaning program. 
     Still referring to  FIG. 20 , robotic cleaning apparatus  100  may include a tilt sensor  392  communicatively coupled to controller  140 . Tilt sensor  392  may include any one or more sensory devices that can provide controller  140  with information to infer (e.g. determine) an angular orientation of toilet seat  356 . For example, tilt sensor  392  may include a rotary encoder  397  as shown, an accelerometer, and/or a proximity sensor  394  ( FIG. 4 , e.g. infrared rangefinder). With the angular orientation of toilet seat  356 , controller  140  can determine a cleaning path that encompasses the segment  328   4  including the toilet seat  356 . In the illustrated example, moving cleaning head  124  along a length of segment  328   4  may include activating both of yaw and pitch actuators  136   1  and  136   2  ( FIG. 5 ) to maintain alignment between cleaning head  124  and the tilted toilet seat  356 , and activating extension actuator  136   3  ( FIG. 5 ) to maintain contact with the toilet seat  356 . 
     In the illustrated example, toilet seat support  388  includes a pedal  398  rotatably connected to tilt sensor  392 . In use, pedal  398  rotates about a horizontal axis to accommodate the angular seat lower surface  360 . Tilt sensor  392  may detect the angular orientation of pedal  398 , and communicate sensory information corresponding to the angular orientation to controller  140 . 
     Reference is now made to  FIG. 38 , which shows robotic cleaning apparatus  100  with the cleaning head  124  of  FIGS. 34-36  cleaning toilet seat  356 . As shown, upper cleaning pad  192   2  may make physical cleaning contact with toilet seat lower surface  360 . In some embodiments, cleaning head  124  may be used to clean only the seat lower surface  360 , as shown. After cleaning seat lower surface  360 , upper cleaning pad  192   2  may be removed, disposed, and replaced with a new cleaning pad  192   2  as described above in connection with  FIG. 37 . 
     Reference is now made to  FIG. 21 . In some embodiments, robotic cleaning apparatus  100  maps a cleaning path for a segment  328  ( FIG. 16 ) before cleaning the segment  328 . Mapping a cleaning path may include moving cleaning head  124  into contact with the segment  328  (substantially as described above in connection with cleaning segment  328 ), recording head position information in memory  292 , moving the cleaning head one increment along the segment length  336 , adjusting contact between the cleaning head and the segment  328  (e.g. to fall within a predetermined range of contact value, such as force values), recording head position information in memory  292 , and repeating until the entire segment length  336  has been traversed.  FIG. 21  shows cleaning head  124  in two incremental positions Q 1  and Q 2  along segment length  336 . There can be any distance between incremental positions. For example, the distance between incremental positions may be between 0 and 20 degrees exclusive. 
     The head position information recorded at each increment along the segment length  336  may include information indicative of the relative position of cleaning head  124 . For example, the head position information may include cleaning head co-ordinates, or position values for actuator(s)  136  ( FIG. 5 ). Collectively, the recorded head position information may form the basis of the cleaning path for that segment  328 . For example, controller  140  may store the recorded head position information as a cleaning path, or determine (and optionally store in memory  292 ) a cleaning path based on the recorded head position information. 
     After the cleaning path for a segment  328  has been mapped, controller  140  may execute a cleaning program, which includes moving cleaning head along the mapped cleaning path in contact with the segment  328 . Because the cleaning path is predetermined, it may not be required for controller  140  to repeatedly determine the extension of cleaning head  124  based on sensory readings of contact sensor  332 . As a result, the movement speed may be increased which may promote greater cleaning efficiency. 
     Where surfaces  108  include a plurality of segments  328 , controller  140  may execute a cleaning program to clean a segment  328  after mapping a cleaning path for that segment  328  and before mapping a cleaning path for a subsequent segment. Alternatively, controller  140  may map cleaning paths for two or more (or all) segments  328 , before executing a cleaning program to clean the mapped segments  328  in sequence. 
     In some embodiments, the cleaning path is remapped prior to cleaning a segment  328  even if a cleaning path for that segment  328  has been mapped on a different occasion. This may reduce memory requirements, and also the complexity of cleaning multiple different dirty objects  104 . In other embodiments, the cleaning path(s) mapped in connection with a previous occasion may be stored for use with future occasions. This may allow robotic cleaning apparatus  100  to reclean the same dirty object  104  on future occasions without having to remap the cleaning path(s). As a result, robotic cleaning apparatus  100  may benefit from faster movement speed (and therefore reduced cleaning time and improved cleaning efficiency), without having to take time to remap the cleaning path(s). 
     Still referring to  FIG. 21 , in some embodiments robotic cleaning apparatus  100  can store cleaning path(s) associated with a plurality of different dirty objects  104  simultaneously. For example, robotic cleaning apparatus  100  may store cleaning path(s) in memory  292 , which have been mapped against several toilets  104  within a building (e.g. home or office). Before, during, or after mapping a cleaning path, a user may issue user instructions (e.g. using user interface members  304 , or an external device) to controller  140  to associate the cleaning path with (i.e. store in memory  292  in association with) a particular dirty object (e.g. the dirty object to which robotic cleaning apparatus  100  is mounted). Similarly, before executing a cleaning program on a pre-mapped dirty object  104 , a user may issue a user instructions to controller  140  to use cleaning path(s) associated with a particular dirty object (e.g. the dirty object to which robotic cleaning apparatus  100  is mounted). For example, the user may use user interface members  304  or an external device, to select the dirty object to clean. 
     Reference is now made to  FIG. 27 , which shows a schematic illustration of cleaning head  124  and an obstacle  492  for clarity of illustration. In some embodiments, robotic cleaning apparatus  100  may be configured to navigate around obstacles  492  which cleaning head  124  may encounter. This may mitigate damage to robotic cleaning apparatus  100  (e.g. burning out actuators in an effort to move through the obstacle) and/or damage or injury to the obstacle  492  (e.g. a user&#39;s hand or other foreign object). Controller  140  may store in memory  292  an obstacle navigation routine (also referred to as an obstacle negotiation routine) that is executed to detect and navigate around an obstacle. 
     Referring to  FIGS. 5 and 27 , controller  140  may detect an obstacle in any manner. In some embodiments, controller  140  may determine there has been an impact with an obstacle  492  based on positional feedback from an actuator  136  (e.g. actuator  136   1  or  136   2 ), which indicates that cleaning head  124  has significantly slowed or stopped moving despite control signals from controller  140  to the actuator  136  directing the actuator  136  to continue moving. In response to detecting an obstacle  492 , controller  140  may direct the obstructed actuator  136  to stop or momentarily reverse, then direct actuator  136   3  to retract cleaning head  124  by a pre-determined distance (e.g. 10 mm), before again instructing the obstructed actuator  136  to resume moving in the forward direction. If upon resuming, the obstacle  492  is once again encountered (e.g. because of insufficient retraction to clear the obstacle), the stop/reverse, retract, and resume routine is again repeated. Once the obstacle  492  is cleared, controller  140  may resume the original cleaning or calibration program including extending cleaning head  124  outwardly to maintain contact with surfaces of the dirty object. 
     While the above description provides examples of the embodiments, it will be appreciated that some features and/or functions of the described embodiments are susceptible to modification without departing from the spirit and principles of operation of the described embodiments. Accordingly, what has been described above has been intended to be illustrative of the invention and non-limiting and it will be understood by persons skilled in the art that other variants and modifications may be made without departing from the scope of the invention as defined in the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples, but should be given the broadest interpretation consistent with the description as a whole. 
     Items 
     Item 1: A method of robotically cleaning an inner surface of a toilet, the method comprising: 
     for each of one or more segments of the inner surface:
         mapping a cleaning path of the segment of the inner surface, wherein mapping the cleaning path comprises (i) moving the cleaning head into contact with a plurality of locations along a length of the segment, and (ii) recording head position information for each of the plurality of locations; and       

     cleaning the segment of the inner surface by moving the cleaning head along the cleaning path in contact with the segment. 
     Item 2: The method of claim  1 , wherein cleaning the segment comprises: 
     repeatedly moving the cleaning head along the cleaning path to brush the length of the segment. 
     Item 3: The method of claim  1 , wherein moving the cleaning head into contact with a plurality of locations comprises, for each location: 
     moving the cleaning head radially outwards until the cleaning head exerts a force on the inner surface that is within a predetermined range of force values. 
     Item 4: The method of claim  1 , wherein moving the cleaning head into contact with a plurality of locations comprises, for each location: 
     a) moving the cleaning head radially outwards until the cleaning head exerts a force on the inner surface, and 
     b) rotating the cleaning head about a yaw axis by a predetermined offset angle relative to the basin to a subsequent location. 
     Item 5: The method of claim  4 , wherein moving the cleaning head into contact with a plurality of locations further comprises, for each location: 
     c) repeating steps (a) and (b) until the cleaning head has rotated about the yaw axis by a predetermined total angle of at least 180 degrees. 
     Item 6: The method of claim  5 , wherein the predetermined offset angle is greater than 0 degrees and less than 20 degrees. 
     Item 7: The method of claim  1 , wherein cleaning the segment comprises: 
     spraying cleaning fluid from the cleaning head onto the inner surface. 
     Item 8: The method of claim  1 , wherein: 
     the one or more segments includes a plurality of segments. 
     Item 9: The method of claim  8 , wherein the plurality of segments includes at least a first segment and a second segment, and the method further comprises: 
     after cleaning the first segment, rotating the cleaning head about a pitch axis to align the cleaning head with the second segment. 
     Item 10: The method of claim  1 , wherein: 
     the head position information comprises indications of yaw, pitch, and radial positions of the cleaning head. 
     Item 11: The method of claim  1 , wherein: 
     said moving the cleaning head comprises sending control signals from a controller to one or more actuators that act to move the cleaning head. 
     Item 12: The method of claim  1 , further comprising: 
     determining a pitch angle of a toilet seat; 
     mapping a cleaning path for the toilet seat; and 
     cleaning the toilet seat by moving the cleaning head along the cleaning path in contact with the toilet seat. 
     Item 13: The method of claim  1 , wherein: 
     cleaning the segment of the inner surface comprises scrubbing the segment with bristles of the cleaning head. 
     Item 14: The method of claim  1 , wherein cleaning the segment of the inner surface comprises: 
     radially extending the cleaning head into contact with the first segment of the inner surface; and 
     rotating the cleaning head about a first axis while modulating a radial extension of the cleaning head to maintain brushing contact of the cleaning head along the length of the segment. 
     Item 15: A method of robotically cleaning an inner surface of a toilet, the method comprising: 
     for each of one or more segments of the inner surface:
         mapping the segment of the inner surface, wherein said mapping comprises (i) moving the cleaning head into contact with a plurality of locations along a length of the segment, and (ii) recording head position information for each of the plurality of locations; and       

     cleaning the segment of the inner surface by moving the cleaning head in brushing contact with the segment. 
     Item 16: The method of claim  15 , wherein cleaning the segment comprises: 
     repeatedly brushing the length of the segment with the cleaning head. 
     Item 17: The method of claim  15 , wherein moving the cleaning head into contact with a plurality of locations comprises, for each location: 
     moving the cleaning head radially outwards until the cleaning head exerts a force on the inner surface that is within a predetermined range of force values. 
     Item 18: The method of claim  15 , wherein moving the cleaning head into contact with a plurality of locations comprises, for each location: 
     a) moving the cleaning head radially outwards until the cleaning head exerts a force on the inner surface, and 
     b) rotating the cleaning head about a yaw axis by a predetermined offset angle relative to the basin. 
     Item 19: The method of claim  15 , further comprising: 
     mapping a surface of the toilet seat; and 
     cleaning the toilet seat by moving the cleaning head along the mapped surface in contact with the toilet seat. 
     Item 20: The method of claim  15 , wherein cleaning the segment of the inner surface comprises: 
     radially extending the cleaning head into contact with the first segment of the inner surface; and 
     rotating the cleaning head about a first axis while modulating a radial extension of the cleaning head to maintain brushing contact of the cleaning head along the length of the segment.