In a cleaning device 10, a dustpan portion 23 is supported to a frame 15 so as to freely oscillate independently from a scraping up body 16 in a vertical direction, and a dust receiving portion 23C of the dustpan portion 23 is supported so as to be disconnected from the frame 15. The surface sensing device is moved relative to a surface by driving at least one of the coordinate positioning apparatus and probe head in at least one axis to scan the surface. The operational framework can be, for example, an Access Network Discovery and Selection Function framework.