A floor cleaning device and method and system for determining a flat floor plan by a self-propelled floor cleaning appliance

A method for determining a flat floor plan by a self-propelled floor-cleaning appliance (10) having a drive unit, a control device and a navigation unit, comprising the steps of: - detecting area-related and line-related information in at least one travel of the floor cleaning appliance (10) by a flat, whereby the area-related information detected an explored in the drive surface (13) and / or as a drivable surface with the drive (14) include surface, wherein the line-related information comprise a lane (11, 11a-d) of the drive and / or as determined during the trip edge (15); - Determination of the apartment floor plan on the basis of both the area-related information, as well as the line-related information and - determining the position and size of door portions (16) based on the explored surface (13) and the lane (11, 11a-d), wherein an area only as a door portion (16), is considered when the two opposite wide sides of lane (11, 11a-d) is crossed and when it is limited to the non-crossed longitudinal sides of the paved surface (14).