Abstract: A cleaning apparatus is configured to be moved over a surface area to be cleaned. The cleaning apparatus includes at least one wiping cloth carrier with a carrier element which is configured to receive a wiping cloth on a surface of the carrier element facing the surface area to be cleaned during operation of the cleaning apparatus. The cleaning apparatus also includes at least one drive which is configured to rotate the carrier element about an axis of rotation, so that during the operation of the cleaning apparatus the surface of the carrier element with the wiping cloth disposed thereon is rotatably moved over the surface area to be cleaned. The carrier element is elastically deformable in the radial direction in relation to the axis of rotation.

Abstract: A control unit determines position information of the position of a bumper which is movably mounted on a cleaning apparatus. The control unit captures image data, by way of a camera of the cleaning apparatus, relative to one or more reference points which are fixedly connected to the bumper, and to determine the position information concerning the position of the bumper on a basis of the image data.

Abstract: A method for controlling a mobile, self-propelled appliance, in particular a floor cleaning appliance such as a robot vacuum cleaner and/or a sweeper and mopping robot so as to mop up an accumulation of liquid, includes driving on a floor surface intended for cleaning in a direction of travel in a forward movement of the appliance and cleaning the floor surface by using a dry cleaning module and/or a wet cleaning module of the appliance. The accumulation of liquid is detected in the direction of travel in front of the appliance in a moist area. The forward movement in front of the moist area is terminated and the appliance is rotated about substantially 180°. Driving on the moist area in a reversing movement in the direction of travel of the appliance and mopping up the accumulation of liquid using the wet cleaning module is carried out.