Inspection path planning method for climbing robot in tunnel

The invention belongs to the technical field of tunnel detection, and particularly relates to an inspection path planning method for a climbing robot in a tunnel. The inspection path planning method comprises the following steps that S1, according to the inspection path of the robot, the robot advances vertically upwards along the arch section of the tunnel from the joint of a vault on one side and the ground; S2, when the robot passes through the vault to reach the arch bottom on the opposite side, the robot turns and advances by a detection width distance in the extending direction of the tunnel, then advances vertically upwards along the arch section of the tunnel again, and passes through the vault to return to the arch bottom on the starting side; and S3, the step S1 and the step S2 are repeatedly executed till all the vaults are detected. The inspection path planning method has the advantages of scientific and reasonable path coverage, simple and feasible advancing strategies, high-inspection path preci