The invention provides an obstacle recognition method and device, a storage medium and an inspection robot, and relates to the field of automatic inspection of power transmission lines. The obstacle recognition method comprises the following steps: receiving current image information; a power transmission line area in the current image information is extracted, and a power transmission line in thepower transmission line area comprises a nonlinear part and a linear part; removing the non-linear part, and obtaining a region of interest accommodating the obstacle; removing the background in theregion of interest by using a Gaussian filtering method, and performing binarization processing to obtain a connected region accommodating the straight line part of the power transmission line; and identifying the type of the obstacle according to the distribution condition of the power transmission lines in the connected region. According to the obstacle recognition method and device, the storagemedium and the inspection robot provided by the invention, the obstacle in the image can be accurately recognized on the basis of analyzing the depth image information, so that the obstacle is positioned more accurately, path planning of the inspection robot is facilitated, and the inspection quality is improved.