QUICK ANSWER
Emptying the bin is not enough — clean the optical sensor path.
iRobot specifically instructs owners to clean the full-bin sensors and all sensor ports when the j series still reports a full bin after it has been emptied.

INTERACTIVE DIAGNOSIS
Clear the false full-bin warning
STEP 1 OF 2
Have the robot sensors and all bin sensor ports been thoroughly cleaned?
Do not judge by the bin interior alone — inspect the optical ports closely.
Keep sensor openings dry
Remove the filter before washing the bin and let the bin dry fully. Do not spray liquid directly into the robot’s optical sensor openings.