Aiming at the current disaster detection and rescue problems in underground mines, this paper proposed a six-swing arm crawler detection robot for complex ground environments. Firstly, the overall structure of the robot's structure was designed, especially for the mobile chassis, and the working condition parameters of the robot's typical operations were analyzed subsequently. Secondly, aiming at the problem of efficient motion control of the robot on complex ground, the driving scheme of the robot control system was designed creatively. Thirdly, the permanent magnet synchronous motor (PMSM) driven by the crawler on both sides has been mathematically modeled and the field oriented control (FOC) was researched in the robot motion drive system. Moreover, aiming at the shortcomings of traditional direct torque control system such as weak anti-interference performance and large flux pulsation, the speed loop control based on active-disturbance rejection control (ADRC) and the current loop control algorithm based on Proportional integral control (PI) controller were designed to improve the ability of motor disturbance suppression, fast speed and the sports performance. Finally, it was verified by a comparative test with the algorithm of the double PI loop. The test results shown that the motion response of the PMSM system of the robot by using the ADRC algorithm is more fast, without overshoot, and has stronger anti-interference ability, which can effectively improve both of the ability of the climbing obstacles, and the stable operational stability for the robot.