In this paper, real-time image scanning system using linescan cameras is designed. The system is specially designed to diagnose and analyse the conditions of tunnels such as crack widths through the captured images. The system consists of two major parts, the image acquisition system and the image merging system. To save scanned image data into storage media in real-time, the image acquisition system has been designed with two different control and management modules. The control modules are in charge of controlling the hardware device and the management modules handle system resources so that the scanned images are safely saved to the magnetic storage devices. The system can be mounted to various kinds of vehicles. After taking images, the image merging system generates extended images by combining saved images. Several tests are conducted in laboratory as well as in the field. In the laboratory simulation, both systems are tested several times and upgraded. In the field-testing, the image acquisition system is mounted to a specially designed vehicle and images of the interior surface of the tunnel are captured. The system is successfully tested in a real tunnel with a vehicle at the speed of 20 km/h. The captured images of the tunnel condition including cracks are vivid enough for an expert to diagnose the state of the tunnel using images instead of seeing through his/her eyes.