Inspection robot positioning method and device based on flexible direct-current converter station valve hall

The invention provides an inspection robot positioning method and device based on a flexible direct-current converter station valve hall. The method comprises the following steps: determining M targetnodes S(n) with unique labels passed on a shortest inspection route; taking the first position as an inspection starting point of the inspection robot, obtaining a first coordinate corresponding to the first position and a first reading corresponding to the odometer in the current state, calculating the distance between each target node S (n) in the M target nodes S (n) and the first position, and determining the distance as a first distance; controlling the inspection robot to inspect from the first position according to the shortest inspection route; positioning the current position on an electronic map according to a laser radar scanner, and calculating a difference value between a second reading of the odometer at the current position and the first reading, determining the differencevalue as a second distance