The invention discloses a special wheel-foot integrated hexapod robot based on OS wheels. The robot is composed of a robot body, a visual system, a positioning module, a control module, a comprehensive detection module, a power module and a storage module. The adopted OS type rotating wheel can greatly improve the obstacle crossing capacity of the robot, the robot body is divided into three sections, each of the three sections is connected to other sections through a spherical hinge, and the hinges are driven by three two-degree-of-freedom motors. The robot is more flexible due to the vehiclebody segmentation design and can be applied to various complex scenes. In addition, different sensors are arranged, so that the work of alarming, license plate recognition and the like can be effectively carried out. The robot comprehensively considers the advantages and disadvantages of a wheel type robot and a foot-shaped robot, has the capability of the foot-shaped robot to pass through different terrains, has a high moving speed, and has the advantages of being high in environmental adaptability, high in obstacle passing efficiency, high in land leveling speed, diverse in function, easy todisassemble and replace, low in maintenance cost, capable of being operated manually and the like.