The invention provides a ground-adaptive differential-drive floating wheel system which comprises a front wheel set and a rear wheel set. The front wheel set comprises a front fork-shaped support, a horizontal floating rod is connected in the front fork-shaped frame through a pivot shaft, and universal wheels are respectively mounted under two ends of the horizontal floating rod; the rear wheel set is formed by two sets of longitudinal floating wheels perpendicular to the horizontal floating rod, each longitudinal floating wheel comprises a rear fork-shaped support and longitudinal floating rods arranged in the rear fork-shaped support, driving wheels are mounted at front ends of the longitudinal floating rods, universal wheels are mounted at rear ends of the longitudinal floating rods, inner sides of the longitudinal floating wheels are opposite, and the longitudinal floating wheels are connected in a manner that a horizontal shaft penetrates the rear fork-shaped supports and the longitudinal floating rods, the inner side of each longitudinal floating rod is provided with a drive motor, and the drive motors are connected with the driving wheels in a driving manner. The ground-adaptive differential-drive floating wheel system has the advantages of being simple and easy to use, convenient in disassembly and the like; the ground-adaptive differential-drive floating wheel system is simple in structure, low in cost, applicable to automatic guided vehicles of various operation conditions, not high in requirement of flatness of the ground and the like.