Point cloud data of mountain power corridor space can be used to assist in path planning, reduce the probability of the drone flight accidents and effectively improve the efficiency and accuracy of the inspection with drones. In the process of path planning, the effectiveness of flight measurement and flight efficiency need to be taken into account. However, there is no effective way to solve this problem. In order to improve the effectiveness of flight measurement and flight efficiency, a path planning method combining sensor measurement characteristics was proposed, which was based on the maximum distance and angle of laser measurement, with flight efficiency and inspection target position as the constraints. The trajectory of flight was obtained by solving the planning equation, so as to ensure the safety and efficiency of the drone mountain environmental inspection. The experimental results show that the planning optimization effect is 7.58%, 11.18% and 13.33%, respectively, with consideration of the maximum measured distance d and measuring angle θ evaluated by the combined laser sensor of Velodyne VLP-16,RS-LiDAR-16 and HDL-32E. Therefore, the validity and correctness of the path planning method of laser scanning in mountain areas were verified.