Complex gas environment inspection system and method based on inspection robot

The invention belongs to the technical field of inspection robots, and discloses a complex gas environment inspection system and method based on an inspection robot, and the method comprises the following steps: building a multi-target path planning model and a single-target path planning model; establishing a grid map; acquiring inspection task information; if the electric quantity of the current inspection robot is insufficient, adding the position of the charging pile into inspection task information as a preferential inspection destination; if only one inspection destination exists in the inspection task information, path planning is carried out based on a grid map and a single-target path planning model; if more than one inspection destination exists in the inspection task information, performing path planning based on a grid map and a multi-target path planning model; and the current inspection robot performs inspection according to the optimal single/multi-target path, and collects environment gas data