19.1 Basic Information

Obstacle Avoidance Settings Instructions:

• There are three sections on the APP where you can set the obstacle avoidance mode: Zone, Channel and Perimeter, and users can select either Smart or Collision-only for each of them respectively.
• Meanwhile, the obstacle avoidance mode is divided into custom settings and global settings at two levels: if the obstacle avoidance mode is configured in the custom settings, the obstacle avoidance mode of this Zone will be used preferentially, and the global settings will not take effect.

19.2 Phenomenon

1. The lawn mower directly hits an obstacle during the mowing process without decelerating or detouring in advance.
2. The user has set the Smart mode, but the machine still collides with obstacles
3. The same obstacle can be avoided within the Zone, but cannot be avoided at the boundary / passage.
4. Its obstacle avoidance performance is inconsistent: sometimes it can avoid obstacles in the same area, while other times it crashes into them.

19.3 Possible Reasons

1. Reason for setting:

   • Along boundaries and channels, obstacle avoidance is mainly designed for four types of objects: people, vehicles, animals, and objects taller than 0.5 meters. Low obstacles may not always be detected, so we recommend clearing them from these areas beforehand.
   • Custom settings override global settings: if a user selects Smart in the global settings, but the custom settings for a specific Zone are set to Collision-only, the custom settings will take effect.

    

   Global Settings - Obstacle Avoidance Settings within Zone  |  Global Settings - Boundary & Channel Obstacle Avoidance Settings

2. Scenario Restrictions (Non-Fault)
   • Boundaries and channels only avoid four types of objects: people, vehicles, animals, and objects taller than 0.5 meters. Low obstacles are not included in the avoidance scope.
3. Poor perception conditions
   • The camera is dirty, covered with water mist, or blocked by grass clippings
   • Strong backlight and insufficient light at night
   • The color of the obstacle is close to that of the lawn / the surrounding environment, so its visual features are not prominent.
4. Perception or planning and control software issues
   • The camera has detected an obstacle, but the planning system has not implemented obstacle avoidance (a planning and control issue)
   • The camera fails to recognize obstacles (perception issue)
5. RTK positioning drift
   • Poor positioning accuracy causes the machine to deviate from the intended path and drive into areas that should have been avoided.

19.4 Troubleshooting Steps

If the obstacle avoidance function causes damage to the customer's property or injury to pets/people, please stop using the machine immediately and contact Lymow Support at the same time!

1. Confirm obstacle avoidance settings
   • Confirm the obstacle avoidance mode settings for Zone, Channel/Path, and Perimeter in the APP
   • Confirm whether there is any custom setting that overrides the global settings
   • Confirm whether the area where the collision occurred is configured with Smart or Collision-only
2. Identify Obstacles and Scenarios
   • What is the obstacle (person / vehicle / animal / object) and what is its appoximate height
   • Location: Whether it occurs within the Zone, at the boundary, or at a passage
   • Size: Whether the obstacle is lower than 0.5 meters (the fact that boundaries/passages do not avoid low objects is a design behavior, not a fault)
3. Check the status of the camera
   • Check whether the camera lens is blocked by dirt, water mist or grass clippings, and ask the user to clean the camera before trying again
4. Confirm the RTK status
   • Whether RTK was in Fixed solution state and the positioning accuracy was normal at the time of collision
   • Provide a screenshot of the RTK Diagnostic page
5. Is it possible to reproduce and upload the logs under the premise of ensuring safety?
   • After confirming that the obstacle avoidance setting is set to Smart, the camera is clean, and the obstacle falls into the category that should be avoided, the obstacle avoidance failure still occurs.
   • Please upload the log when an issue is found, and the log shall cover the time period during which the obstacle avoidance failure occurred, which will help us analyze the problem.

19.5 Solutions

If the issue persists after following the steps above, please contact Lymow Support Center at support@lymow.com with the following information:

• Order ID/Purchase Invoice
• Device serial number (SN)
• Troubleshooting results (with photos)
• Time the issue occurred

We will follow up as soon as possible and provide a solution.