as illustrated in fig8 which illustrates a structural schematic view of the self locking mechanism mounted on the moving mechanism the self locking mechanism comprises a first self locking unit 501 and a second self locking unit 502 which are arranged in the plane walking unit the first self locking unit 501 is arranged between the first driving motor 4001 and the first driving wheel 401 and is used for realizing self locking of the first driving wheel 401 and the second self locking unit 502 is arranged between the second driving motor 4002 and the second driving wheel 402 and is used for realizing self locking of the second driving wheel 402 the first self locking unit 501 comprises a worm gear and a worm a power output shaft of the first driving motor 4001 is connected with the worm the worm is connected with the worm gear the worm gear and the first driving wheel 401 are coaxially connected the first driving motor 4001 is controlled to work by using the central controller 2 the power output shaft of the first driving motor 4001 drives the worm to rotate the worm drives the worm gear to rotate and the worm gear drives the first driving wheel 401 to rotate and when the first driving motor 4001 stops working since the worm can drive the worm gear only and the worm gear cannot drive the worm the first driving wheel 401 stops rotating once the first driving motor 4001 stops working such that the self locking of the first driving wheel 401 is realized the second self locking unit 502 comprises a worm gear and a worm a power output shaft of the second.