The invention discloses a robot full-coverage path planning method and device based on a raster map as well as equipment. Firstly, the whole environment map is divided into multiple simple adjacent subareas, then, each subarea is traversed, and the repetition rate is very low while the coverage rate is high. Besides, in the traversal process, the walking state is changed in real time according topositioning information and map barrier information, and the method has the advantages of being simple, flexible and easy to implement. In addition, when a robot is in a cleaning area, the main running direction of the robot directly affects the turn times of paths. The main direction of the areas is used as the main running direction of the robot for traversing the cleaning paths, so that the turn times of paths is greatly reduced, and the traversal efficiency is improved.