In order to improve the efficiency of path planning in complex terrain and dangerous areas in military battlefield, a full-coverage path planning method based on spiral spanning tree is proposed. The multi-source sensor data fusion technology is used to define the impenetrable area of the explosive disposal environment and lock the continuous arch path block. According to the innovative adjacent regional connection criteria, the duplicate coverage rate is reduced under the premise of full coverage planning, and the planning efficiency and quality are improved. The experimental results show that the path planning coverage rate of EOD robot is 100%, the repeated coverage rate is 4% and 5.4% respectively, and the number of turns is 12 and 8, which reduces the invalid repeated path sections and has excellent performance in the field of EOD robot path planning. It has wide application potential.