A cleaning apparatus for cleaning floors, comprising a main body including: • a housing delimited at least partially by an outer wall, • a fluid inlet for receiving a fluid flow from outside the housing, • at least one means, disposed in the housing, for acting on the fluid flow received through the fluid inlet; the cleaning apparatus further comprising: • a first stationary wheel hub and a second stationary wheel hub which are rigidly connected to the main body and which are disposed on either side of the main body, the main body and the first and second stationary wheel hubs (18, 19) defining an assembly of globally spherical shape, and • a first main wheel and a second main wheel which are annular and which respectively rotate around the first and second stationary wheel hubs (18, 19), the first and second stationary wheel hubs (18, 19) extending from the main body respectively beyond the first and second main wheels (13, 14), characterized in that the first and second main wheels (13, 14) are of the omnidirectional type, the first main wheel comprising a plurality of first rotating rollers distributed over the periphery of the first main wheel and forming a first tread of the first main wheel, the first rotating rollers of the first main wheel being freely rotatable and having axes of rotation not parallel to the axis of rotation of the first main wheel, and the second main wheel comprising a plurality of second rotating rollers distributed over the periphery of the second main wheel and forming a second tread of the second main wheel, the second rotating rollers of the second main wheel being freely rotatable and having axes of rotation not parallel to the axis of rotation of the second main wheel. • a housing delimited at least partially by an outer wall, • a fluid inlet for receiving a fluid flow from outside the housing, • at least one means, disposed in the housing, for acting on the fluid flow received through the fluid inlet; the cleaning apparatus further comprising: • a first stationary wheel hub and a second stationary wheel hub which are rigidly connected to the main body and which are disposed on either side of the main body, the main body and the first and second stationary wheel hubs (18, 19) defining an assembly of globally spherical shape, and • a first main wheel and a second main wheel which are annular and which respectively rotate around the first and second stationary wheel hubs (18, 19), the first and second stationary wheel hubs (18, 19) extending from the main body respectively beyond the first and second main wheels (13, 14), • a first stationary wheel hub and a second stationary wheel hub which are rigidly connected to the main body and which are disposed on either side of the main body, the main body and the first and second stationary wheel hubs (18, 19) defining an assembly of globally spherical shape, and • a first main wheel and a second main wheel which are annular and which respectively rotate around the first and second stationary wheel hubs (18, 19), the first and second stationary wheel hubs (18, 19) extending from the main body respectively beyond the first and second main wheels (13, 14), characterized in that the first and second main wheels (13, 14) are of the omnidirectional type, the first main wheel comprising a plurality of first rotating rollers distributed over the periphery of the first main wheel and forming a first tread of the first main wheel, the first rotating rollers of the first main wheel being freely rotatable and having axes of rotation not parallel to the axis of rotation of the first main wheel, and the second main wheel comprising a plurality of second rotating rollers distributed over the periphery of the second main wheel and forming a second tread of the second main wheel, the second rotating rollers of the second main wheel being freely rotatable and having axes of rotation not parallel to the axis of rotation of the second main wheel.