Self-propelled and self-steering floor cleaning appliance

A self-propelled and self-steering floor cleaning appliance with at least one cleaning element for cleaning a floor surface, comprising a drive device having an undercarriage, a sensing part for sensing obstacles, at least one slidingly displaceable holding part for holding the sensing part on the floor cleaning appliance and at least one detection element for detecting a displacement of the at least one holding part and for providing a signal relating thereto, wherein the floor cleaning appliance comprises at least one accommodating part on which the at least one holding part is held so as to be slidingly displaceable in a first direction of displacement and in a second direction of displacement, which is aligned at an angle to the first direction of displacement, wherein the at least one detection element is actuatable by the at least one holding part upon displacement of the holding part in the first direction of displacement and in the second direction of displacement.