Aiming at the problem of coverage path planning of bridge laser scanning inspection, a general model of large-scale bridge inspection coverage path planning based on point cloud slices is proposed in this work, which provides a new idea for bridge coverage path planning by multi-UAV systems. First, we add supplementary viewpoints to the point cloud slice modeling method to solve the problem of incomplete coverage of the point cloud slice model, then we convert the convex hull set and supplementary viewpoints into three-dimensional arc sets, and we use arcs as the minimum optimization object to solve the problem of huge search space for large-scale building traversal. Second, we combine the SC-CBBA (split and combine-consensus based bundle algorithm) and CRSOM (clustering characteristic of cluster growing ring self-organizing map) algorithm to realize the assignment of multi-UAV tasks and check the arc sequence planning of inspection path. Finally, simulations verify that this method can effectively solve the problem of bridge coverage path planning.