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Having long been a Kirby fan, I understand your feelings about the shampoo. I use Martha Gardiner's Country Homestead Eucalyptus Woolwash Liquid. It has cleaned old stains that even proffessional cleaners have been unable to shift.
One of the reasons for its great success is that it is a non-rinse product, therefore it doesn't leave any nasties behind. Just rub a little of the undiluted product into the stain first if it's a bad one and then use in the same quantities as your original Kirby product i.e. 3 capsful to each tank of warm water.
Another inexpensive option is to scrub stains with pressure-pack shaving foam. The best specific carpet cleaner I've ever found is Carpet Power. By the way its co-product, Shower Power is fantastic for removing lime and calcium from windows that have been sprayed with hard water from sprinklers and it works just as well - and safely - to remove similar white water marks from car duco. Just a tablespoon or so into a couple of inches of water in the bottom of an ordinary household bucket - slop a sponge into it and wipe off the marks. Rinse as usual and voila! Good luck!
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