The present invention relates to a cleaning device for cleaning a surface, with a nozzle arrangement (10) comprising: —a brush (12) rotatable about a brush axis (14), said brush (12) being provided with brush elements (16) having tip portions (18) for contacting the surface to be cleaned (20) and picking up dirt particles (22) and/or liquid (24) from the surface (20) during the rotation of the brush (12), —a drive means for driving the brush (12) in rotation, —a bouncing element (32) comprising a bouncing surface (33) that is configured to let the dirt particles (22) and/or liquid (24), that are released from the brush (12) during rotation, rebound to the brush (12), said bouncing surface (33) being spaced apart from the brush (12) and extending substantially parallel to the brush axis (14), and —an adjustment means (35) for adjusting the position of the bouncing element (32) relative to the surface (20) depending on a direction of movement (40) of the device, wherein the adjustment means (35) is adapted to arrange the bouncing element (32) in a first position in which the bouncing element (32) has a first distance d1 to the surface (20), when the cleaning device is moved in a forward direction, in which the bouncing element (32) is, seen in the direction of movement of the device (40), located behind the brush (12), and to arrange the bouncing element (32) in a second position in which the bouncing element (32) has a second distance d2 to the surface, when the cleaning device is moved in an opposite backward direction, wherein d2 is greater than d1 and equal to d3*tan(α), d3 being the distance between the bouncing surface (33) and the position of the brush (12) where the tip portions (18) lose contact from the surface to be cleaned (20) during the rotation of the brush (12), and α being an angle that is equal to or smaller than 20°.