Vision is blocked. Please press ok ERROR

I have a Neato XV Signature and for a while noe I have to run around after it because it always stops in random spots around the house with a message saying: ‘My vision was Blocked. Please press ok (4062)’ . This was the error message I saw this time round. it keeps on changing, but the same message comes up.

Is this a program issues or a hardware issue? Is it worth fixing?