Mobile underground space surveying and mapping device

The utility model discloses a mobile underground space surveying and mapping device, and belongs to the field of surveying and mapping devices. Comprising an unmanned aerial vehicle body, and a surveying instrument is installed on the unmanned aerial vehicle body; a supporting piece is installed at the bottom of the unmanned aerial vehicle body, a mounting frame is installed at the bottom end of the supporting piece, and advancing wheels are installed on the mounting frame; supporting arms are horizontally fixed to the two side walls of the unmanned aerial vehicle body, end plates are arranged at the ends of the supporting arms, a supporting frame is fixed to the faces, away from the supporting arms, of the end plates, a rotating frame is rotationally installed on the supporting frame, a plurality of supporting arms are arranged on the rotating frame, and the supporting arms are distributed in the radial direction. And a guide wheel is rotationally mounted on each support arm. The mobile underground space sur