The invention discloses a building health state detection system and a detection method thereof, and the system comprises a self-driven detection device which comprises a self-driven detection shell, a first camera, a virtual positioning module, a telescopic sucker mechanism, a telescopic cutting mechanism, a telescopic arm body, a traction rope body and a gradienter; a wall body detection device which comprises a horizontal detection mechanism, a telescopic mechanism, vibration equipment and an abutting layer; a ground detection device which comprises a detection bin, a positioning robot, a knocking mechanism, recording equipment, a first laser transmitter and a first laser receiver; a control unit which is respectively connected with the driving detection device, the wall body detection device and the ground detection device and is used for judging the hollowing problem of the house tiles by knocking the division positioning points of the house tiles; the structure level problem of the self-built wall of the house is detected by knocking the self-built wall of the house, so that the potential safety hazard of ceramic tiles of the self-built wall is reduced.