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 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 , the first and second stationary wheel hubs extending from the main body respectively beyond the first and second main wheels , characterized in that the first and second main wheels 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 (A13) 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 (A14) 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 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 , the first and second stationary wheel hubs extending from the main body respectively beyond the first and second main wheels , • 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 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 , the first and second stationary wheel hubs extending from the main body respectively beyond the first and second main wheels , characterized in that the first and second main wheels 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 (A13) 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 (A14) of the second main wheel . <EOS>