The disclosure provides a mobile remote control auxiliary device and method of a geological radar antenna for underground space detection. The mobile remote control auxiliary device of the geologicalradar antenna for underground space detection a travelling mechanism; a chassis is arranged on the travelling mechanism; a bearing platform is arranged at the upper end of the chassis; the bearing platform and the chassis are connected through an adjusting mechanism, so that the vertical distance and the horizontal distance of the bearing platform relative to the chassis are adjustable; a slidingslot is arranged on the bearing platform; a radar antenna is slidably connected in the sliding slot; at least one end of the radar antenna is provided with an elastic member; the end of the bearing platform is provided with an infrared detecting device; an anti-drop block protection mechanism is arranged on the bearing platform; the anti-drop block protection mechanism is provided with at least one extension part; the extension part can form a shelter above the radar antenna and the infrared detecting device; the radar antenna, the adjustment mechanism, the infrared detecting device and the travelling mechanism are controlled by a controller; and the controller is wirelessly connected to a remote control.