The invention relates to a rapid visual detection device for a bridge and a system and method thereof. The rapid visual detection device comprises a camera module, a mobile base, a camera guide rail,a rotating shaft and a mechanical arm. The camera module is installed in the camera guide rail, and the camera guide rail is installed at the end of the mechanical arm through the rotating shaft at the bottom; the camera module comprises a monitoring camera, a measuring camera and a detecting camera, and the measuring camera is installed in the camera guide rail through a lifter at the bottom. Bycontrol over the position of the mobile camera module of a mobile assembly, a disease image is obtained; based on an image processing technology, disease information needed for bridge detection is intensified and highlighted at the angle of view of a computer so as to be recognized by the device, the recognition result can provide two-dimensional pixel information and three-dimensional entity datain the image and is stored in the computer, and therefore the bridge is automatically detected visually and rapidly with high precision at a low cost.