The invention provides a visual sense based power-grid transmission line tour inspection device, and belongs to the technical field of power equipment. The device comprises a first mounting rack, a second mounting rack, at least two first walking mechanism, at least two second walking mechanisms and a visual device, the first walking mechanism comprises first support rods and first walking wheels,the second walking mechanism comprises second support rods and second walking wheels, a first elastic reset member is connected between the first support rods and the first mount rack, and a second elastic reset member is connected between the second support rods and the second mounting rack. The visual sense based power-grid transmission line tour inspection device can pass obstacles automatically and safely, the labor intensity and danger coefficient of maintenance staff are reduced, the visual device collects information of the power transmission line, and the maintenance efficiency and accuracy are improved.