Aiming at the problems of low efficiency, poor automation and manual participation in the inspection process of power transmission lines, an intelligent inspection electro-optical system based on dynamic scanning planning is proposed. The system obtains the laser point cloud data of the electric tower in advance and performs offline optimization processing. Combined with the actual pose data information of the electro-optical system, the relative spatial distance is calculated in real time, and then the visible light camera and the infrared thermal imager are dynamically focused to ensure clear imaging. Based on the dynamic scanning planning algorithm, the electro-optical system controls the swing scanning of the fast steering mirror (FSM) of the electro-optical load to realize the scanning in the pitch direction and finish the complete acquisition of the information of the tower to be scanned. The actual vehicle test results of the intelligent inspection electro-optical system show that the imaging quality of the system is clear, which can realize the complete scanning of the target electric tower in the moving state, meet the requirements of the power line inspection and greatly improve the working efficiency of the inspection process.