A path planning method for a substation inspection robot, characterized by comprising the following steps: 1) constructing a road network constraint model according to a map for robot movement; 2) constructing a temperature measurement point inspection pose constraint model in consideration of actual constraints of the pose of a holder for installation of a camera and a measured visual distance of the camera when the robot measures the temperature of a target in combination with temperature measurement points; 3) determining a robot stop point set according to the robot movement road network and the temperature measurement point inspection pose constraint model; 4) constructing an inspection robot path planning model with a goal of minimizing time to complete inspection, and specifically, min C, s 1, s 2,..., s K ƒ G T s 0 = λK + l C ν, wherein λ represents a constant of time consumed by the robot to perform temperature measurement during each stop, λK represents time required by performing K stops for temperature measurement, lC v represents time required for continuous movement of the robot on a path, v is an average movement speed of the robot, and l C represents a total path length; G represents a robot movement road network, T represents a set of all temperature measurement points, s 0 represents a position of a charging room, C represents an inspection path of the robot in the road network, s k represents a position where the robot performs temperature measurement during k th stop, k =1,2,..., K; and 5) solving the inspection robot path planning model to output an inspection path and position of each stop point corresponding to a globally optimal solution, and a set of temperature measurement points corresponding to each stop point, wherein the inspection robot path planning model is used as a path planning solution for the substation inspection robot to perform temperature measurement tasks. 1) constructing a road network constraint model according to a map for robot movement; 2) constructing a temperature measurement point inspection pose constraint model in consideration of actual constraints of the pose of a holder for installation of a camera and a measured visual distance of the camera when the robot measures the temperature of a target in combination with temperature measurement points; 3) determining a robot stop point set according to the robot movement road network and the temperature measurement point inspection pose constraint model; 4) constructing an inspection robot path planning model with a goal of minimizing time to complete inspection, and specifically, min C, s 1, s 2,..., s K ƒ G T s 0 = λK + l C ν, wherein λ represents a constant of time consumed by the robot to perform temperature measurement during each stop, λK represents time required by performing K stops for temperature measurement, lC v represents time required for continuous movement of the robot on a path, v is an average movement speed of the robot, and l C represents a total path length; G represents a robot movement road network, T represents a set of all temperature measurement points, s 0 represents a position of a charging room, C represents an inspection path of the robot in the road network, s k represents a position where the robot performs temperature measurement during k th stop, k =1,2,..., K; and wherein λ represents a constant of time consumed by the robot to perform temperature measurement during each stop, λK represents time required by performing K stops for temperature measurement, lC v represents time required for continuous movement of the robot on a path, v is an average movement speed of the robot, and l C represents a total path length; G represents a robot movement road network, T represents a set of all temperature measurement points, s 0 represents a position of a charging room, C represents an inspection path of the robot in the road network, s k represents a position where the robot performs temperature measurement during k th stop, k =1,2,..., K; and 5) solving the inspection robot path planning model to output an inspection path and position of each stop point corresponding to a globally optimal solution, and a set of temperature measurement points corresponding to each stop point, wherein the inspection robot path planning model is used as a path planning solution for the substation inspection robot to perform temperature measurement tasks.