The invention relates to a multi-sensor system for an inspection robot and an inspection method. The multi-sensor system is characterized in that a sensor system acquires the current state of the inspection robot and external environmental information and sends the acquired current state and external environmental information to a ground base station; and after receiving the current state of the inspection robot and the external environmental information, which are sent by the sensor system, the ground base station sends a control command to the inspection robot. The problem that comprehensive and accurate environmental information of a power transmission line are very difficult to acquire in the driving process of the inspection robot is solved, and autonomous line catching and dynamic centroid adjustment in the obstacle crossing process of the inspection robot are guaranteed.