Cleaning the insulation coverings of high voltage power transmission is effective to prevent the flashover accident. This paper designed a climbing robot as carrier platform which composed of spiral wheel and covering. The control system consists of Single Chip Microcomputer (SCM), stepping motor and ultrasonic distance-measuring sensors. Based on switching threshold theories, a compound fuzzy-PID controller was studied. Then the mathematical model of automatic system was simulated by Simulink Toolbox of Matlab. Finally, data of carrier experiments based on closed loop control validated the effectiveness of the controller.