Grinding equipment obstacle avoidance full-coverage path planning method, system and device and medium

The invention relates to a grinding equipment obstacle avoidance full-coverage path planning method, system and device and a medium. The path planning method comprises the following steps: establishing a coordinate system by taking an initial position of grinding equipment as an original point; presetting obstacle object information; an initial peripheral image is obtained, whether building boundary obstacles exist on the peripheral side of the grinding equipment or not is judged according to the initial peripheral image, and the initial grinding advancing direction is determined; in the grinding advancing process, a real-time peripheral image is obtained, whether an obstacle exists within the preset distance of the current grinding advancing direction of the grinding equipment or not is judged according to the real-time peripheral image, if yes, obstacle analysis is executed, and if not, grinding area judgment is executed, so that grinding advancing path adjustment selection is conducted; and the grinding ar