The transmission tower climbing robot runs up and down along the tower tri-steel skeleton， and is supposed to stay in the required position firmly, transporting and installing the safety cable at the appropriate tower end for provision of the basic life safety guarantee for the operator during climbing and operating in maintenance.This paper puts forward and designs a set of robot and intelligent control with the hardware system of homing and pseudo-target excluding algorithms. In Euclidean n dimension space with the real number, definitions and constructions of the robot climbing state sequence number set are down with the norm sequence number set of the two adjacent rotary center distance of the handles on the same side of the skeleton, machine vision, and W-type sensor layout of discrete -continuous integration, efficiently homing the real goals and reliably identifying the pseudo target. According to the three point support -one point fetching, design of flexible appendage logical sequence were built up, not only guarantee the biomimetic gecko type climbing, and ensure the reliable grip of the robot hand with respect to to help handle,Together with the hardware design, the robot can work safely and reliably and transport the safety cable to the tower end. Because of the non-uniformity of the arrangement of the handle along the skeleton, the most critical problem to be solved in the climbing process is the robot's searching and reliable grasping.