This　paper　analyzes　the　operating　environment　and　actual　use　requirements　of　the　photovoltaic　glass　curtain　wall　cavity　in　high-rise　buildings,　designs　a　cross-frame　motion　mechanism　that　combines　the　obstacle-crossing　lifting　and　adsorption　modules　into　an　obstacle-crossing　adsorption　device　and　integrates　the　motion　mechanism　of　the　robot　into　one.　In　terms　of　the　design　of　the　robot＇s　control　system,　all　working　conditions　of　the　robot　are　defined　according　to　the　motion　state　of　the　robot　in　the　cleaning　test　of　photovoltaic　curtain　wall　cavities　and　combined　with　indicators　such　as　coverage　and　cleaning　speed　of　the　photovoltaic　cleaning　test　of　photovoltaic　curtain　wall　cavities,　a　set　of　automatic　control　system　suitable　for　cross-frame　wall-climbing　robots.　In　the　experimental　section,　we　tested　and　analyzed　the　robot＇s　motion　performance,　obstacle-crossing　ability,　and　control　system,　proving　the　rationality　of　the　robot　structure　and　control　system.　©　2024　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.