The invention discloses a multifunctional wiping robot capable of crossing gaps. The multifunctional wiping robot comprises a body shell, a vacuum generation device, an air pressure sensor, a moving collider, a wireless signal obstacle detection system, left and right driving wheel assemblies, a control system, a power supply system and wiping cloth. The vacuum generation device, the air pressure sensor, the moving collider, the wireless signal obstacle detection system, the left and right driving wheel assemblies, the control system and the power supply system are arranged in the body shell, and the wiping cloth is arranged at the bottom of the body shell. When the robot works on an inclined interface, the wiping cloth, the vacuum generation device and a base of the body shell form a negative-pressure cavity, the air pressure detector detects pressure variation value conditions of the negative-pressure cavity to feed back to the control system, whether the multifunctional wiping robot passes through a gap or is in a suspended state is judged, and then subsequent action commands are sent out. When the robot works on a flat interface, the vacuum generation device and the air pressure sensor both stop working, and obstacles and suspension are judged by the moving collider and the wireless signal obstacle detection system. The multifunctional wiping robot has advantages that crossing of gaps of connected interfaces is realized, and a cleaning function of the robot is expanded to a range including all inclined hard smooth interfaces requiring adsorption and free of retaining side connection and flat operation interfaces free of adsorption.