The invention relates to the field of moving robots, and particularly relates to a moving robot with height-difference-self-adapting wheels. The moving robot comprises the wheels, telescopic arms, driving sources, a horizon sensor, inertial sensors and a control center, wherein the moving robot also comprises a weighting adjusting unit and a telescopic arm action control unit; the weighting adjusting unit is connected with the inertial sensors; and the weighting adjusting unit is used for gradually changing the weighted value of inertial information to further carry out adjustment. Through designing the moving robot with the height-difference-self-adapting wheels, the telescopic accuracy of telescopic rods is improved through the inertial sensors; the stability of the moving robot is improved; and the turnover is prevented.