The present invention discloses a low-energy loss robot full coverage path planning method and system. The system comprises a robot, a ranging sensor, an encoder and an IMU. The method comprises: establishing an environment grid map by using an instant positioning and map construction algorithm; preprocessing a grid map, and adjusting a resolution and a reachable cleaning area of the grid map; defining the energy loss cost function of a mobile cleaning robot full coverage path, and calculating an optimal grid map segmentation direction by using a finite heuristic search algorithm; using the segmentation direction to perform area segmentation on the grid map through each vertex in the grid map; performing matching detection on the adjacent segmented areas, and combining the segmented areaswith a higher matching degree into a segmentation area; and determining a traversal direction according to the map segmentation direction, and sequentially traversing each segmentation area to plan afull coverage path. According to the technical scheme of the present invention, the concave polygon is segmented into convex polygons, so that planning an arch full coverage path can be facilitated, and the cleaning efficiency is greatly improved.