Self-moving and self-steering floor cleaning device and floor cleaning system

The invention relates to a self-traveling and self-steering floor cleaning device, comprising a traveling mechanism (20) for moving on a floor surface (16), at least one cleaning device (24) for cleaning the floor surface (16), a control device (22) and a sensor device (38), the control device (22) is designed and set up to position and/or navigate the floor cleaning device (10) in the surroundings in dependence on at least one signal of the sensor device (38), the sensor device (38) comprising a first distance measuring unit (58) and a second distance measuring unit (78) on a front side (42) of the floor cleaning device (10) with respect to an advancing direction (40) of the floor cleaning device, the first ranging unit is designed as a stereo camera system (60) or comprises such a stereo camera system, and the second ranging unit is designed as a scanning unit (80) with structured light or comprises such a scanning unit, the viewing areas (76, 86) of the first ranging unit (58) and the second ranging unit (