I have my gaucho bed in the Campster
set up as a three-quarter bed (sideways) for me plus two 24 inch long seats (one on either side.) I don't take it down (major headache to remove everything especially as I put two plywood boards under the foam to strengthen and level the bed.
So vacuuming under the bed presents an issue, which I solved very neatly.
That's my Roomba vacuum cleaner. It isn't going to get the embedded mud (that will take carpet cleaning the next time I have my steam cleaner out.) But it is good on dog hair and better yet, goes all the way back under the bed (where sometimes dogs sleep) to pick it up.