Tummy time: floor vs. Bed

Ok so my dd6mo is always doing tummy time. On my bed, her bed, the couches, the sofa, on top of me... etc. But I've always heard "put baby on the floor" but EVERY SINGLE TIME I DO, SHE FALLS ASLEEP! What exactly are the benefits for on-the-floor tummy time? Details and specifics are welcome and appreciated

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