Cliff sensor
to detect steps and cliffs

Edge sensor
to keep the distance along the wall constant

LDS laser radar
for laser SLAM positioning

Gyroscope
to sense the travelling direction of the machine

Main unit collision sensor
to sense obstacles in front of the machine

Accelerometer
to sense the status of the machine (out of trap, crossing obstacles)

Odometer
to compute the distance covered by the robot vacuum

Dustbin sensor

Hall effect trigger
to sense dustbin being installed and uninstalled

Water tank sensor

Hall effect trigger
to sense water tank being installed and uninstalled

IR recharge sensor
to sense IR signals from docking station and locate it