Cable trench automatic inspection device and inspection method

An automatic inspection device for a cable trench comprises a quadruped robot, and the quadruped robot is matched with a control system, a temperature and humidity detection sensor, a combustible gas detection sensor, a laser radar, a depth camera, an automatic navigation module, a wireless communication module, an upper computer, a partial discharge detection sensor and a thermal infrared imager. A routing inspection method of the automatic routing inspection device for the cable trench comprises the following steps: before routing inspection of the cable trench, map data constructed by fusing data acquired based on a laser radar and a depth camera is transmitted to a mapping node in an automatic navigation module of a control system; the method comprises the following steps of: firstly, planning a global path on the basis of a specific global map path planning algorithm of a control system, then performing composition on map data by using a Gmaping-SLAM (Simultaneous Localization and Mapping) algorithm, and