The invention provides a full-coverage path planning method of a mobile robot. The full-coverage path planning method is a novel coverage algorithm by solving the problems of optimizing of coverage division and path planning in the process; the pre-acknowledging of map space environment is not required; the areas are divided in the coverage process, and the process is an incremental type coverageprocess; the coverage is dynamically divided, and the obstacles which dynamically appear can be selected and planned in real time, so as to complete double tasks of coverage and obstacle avoidance. The full-coverage path planning method is not only suitable for map environments using topology environment rules, but also suitable for the environment spaces in the complicated areas; compared with the cow tillage division algorithm, more advantages are realized.