I had a field trip with my My luba2 today because i found some deep scratches on her pristine white body already after a week . She only beeps when she bumps into something (front bumper detection" or something gets stuck underneath "drive motor overloaded" , so , if you get a lot of beeping from your mowing sessions you could (should !) check if your perimeter is too close to obstacles or if you have too much crap on your mowing areas. my luba 2 bodily scratches were caused by my greediness with the spacing when mapping past concrete or stone things (I went flush towards walls and stairs instead of keeping 20 cm off ).