Aiming at the problems existing in disease detection of highway tunnels in mountainous areas, the project has developed an integrated detection vehicle suitable for rapid disease detection of highway tunnels through theoretical research, model tests, algorithm analysis, key equipment and technology research and development. Through the integration of linear CCD industrial cameras, infrared thermal imaging cameras and ground penetrating radar, synchronous integrated detection of tunnel cracks, leakage water and voids has been achieved, and a comprehensive assessment system for highway tunnel health status has been developed. The health level of the tunnel can be determined.<o></o>