The invention provides an identification method and an identification device for a high-voltage line obstacle. The method comprises the following steps of: combining line structure information, and determining the type and location of the obstacle based on the geometric primitive characteristics of the obstacle. The identification device comprises an identification module and an identification unit, wherein the identification module comprises a camera for shooting an inspection image with the sky as a background in real time; and the identification unit combines the line structure information,and determines the type and the position of the obstacle according to the geometric primitive characteristics of the obstacle The invention further provides an inspection robot, and the robot is provided with the identification device. According to the identification method and the identification device for the high-voltage line obstacle and the inspection robot, the camera is used for obtainingan image, and then the type of the obstacle is accurately judged according to the geometric shape characteristics of the obstacle.