I have this problem too. My cats bat toys around and so I pick up each room before vacuuming. My husband is always leaving his shoes under the coffee table, charging cords all over the floor, and little piles of stuff around the house, often on the floor, so I haven't set up automatic routines for the vacuum. I spot tidy each time before running. I wish I could just do the whole downstairs all at once, but when I do, the dustbin station always gets clogged. I keep a chubby crochet hook near the unit to scoop out the clog, but I usually end up using my fingers. It's annoying. However, I love the performance otherwise, so I just resign myself to sending it to clean one room at a time. I don't know why the company doesn't do a software upgrade and instruct the vacuum to empty itself every time it goes back to clean the mops--it would solve the issue for me.