The invention discloses a survey, search and rescue robot with the functions of simultaneous localization and map building. The survey, search and rescue robot is applied to the field of map building of a tunnel, terrain exploration and the like after a disaster and comprises an obstacle crossing chassis, a vehicle body platform, a three-dimensional scanning module, a master control unit, a vehicle body shell and a driving module. A bionic suspension structure driven by six wheels is adopted for the obstacle crossing chassis, and a vehicle body has passive self-adaptability on different kinds of terrain. The three-dimensional scanning module comprises a three-dimensional scanning robot, a laser scanning radar, an infrared temperature sensor, a laser inertial sensor and a fixed support. The survey, search and rescue robot can explore the ambient environment autonomously in the marching process and establish a three-dimensional topographic map in real time, and meanwhile whether life bodies possibly exist or not is detected; the real-time three-dimensional topographic map and possible life body search and rescue positions can be fed back to operators; the operators are helped to fast and accurately know the site conditions so that the rescuing work can be carried out as soon as possible, and meanwhile unnecessary casualties and labor losses of exploration and search and rescue staff are reduced.