Tunnel diseases may bring safe dangers to the normal operation of the tunnel. In present research, the disease detection still has many disadvantages, such as low quality of image, low detection speed, and inaccurate positioning. Accordingly, a tunnel appearance detection system of detection vehicle is designed and developed. The system includes three subsystems: machine vision, high precision positioning, and intelligent synchronous control systems. The system can be both applied in disease detection in railway and highway tunnels. Considering the different theoretical crosssection size of railway and highway tunnels, different planar array camera image acquisition systems are designed. The experiment results show that the scheme proposed can identify the tunnel disease with a minimum width of 0.2 mm, thus providing scientific basis and reasonable guidance for tunnel maintenance.