JP2020144023A - Road surface measurement device, method for measuring road surface, and road surface measurement system - Google Patents

Abstract

To increase the accuracy of measurement in measuring the state of a road surface.SOLUTION: The road surface measurement system includes: a camera 200 for imaging the state of a road surface while the system is moving on the road surface; an illumination device 300 for illuminating an imaging region imaged by the camera 200; and a controller 600 for controlling the illuminance of an image taken in the imaging region so that the illuminance will be uniform. The structure allows acquisition of the optimum image when the state of a road surface is measured while the device is moving.SELECTED DRAWING: Figure 2

Description

The present invention relates to a road surface measuring device, a road surface measuring method, and a road surface measuring system.

Conventionally, for example, in Patent Document 1 below, by irradiating pattern irradiation light, it becomes easy to grasp the boundary between the road and the side road shoulder and the outer wall, and the shape of the road in front such as a curved road and a T-junction. It is stated that.

Japanese Unexamined Patent Publication No. 2012-183863

However, when it is attempted to obtain detailed information on the surface of the road surface and estimate characteristics related to the road surface condition (for example, friction coefficient) with high accuracy, the technique of irradiating the pattern irradiation light described in the above patent document is used. , It is difficult to judge the road surface condition in detail. In particular, with the technique described in the above patent document, it is difficult to make the brightness of the photographing region uniform.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is a new and improved road surface measurement capable of improving the measurement accuracy when measuring the road surface condition. It is an object of the present invention to provide an apparatus, a road surface measurement method, and a road surface measurement system.

In order to solve the above problems, according to a certain viewpoint of the present invention, a road surface measuring device, which is a camera that captures a road surface condition while moving on a road surface, and a lighting device that illuminates a photographing area photographed by the camera. The movement of the other light source that determines the movement of the drive unit that drives the road surface measuring device, the drive control unit that controls the drive by the drive unit, and the other light source that is different from the lighting device detected in the photographing region. Provided is a road surface measuring device including a determination unit, wherein the drive control unit controls the drive according to a determination result by the determination unit.

Further, it may further include a control device that controls at least one of the camera and the lighting device to make the brightness of the image captured in the photographing region uniform.

The control device may uniformly control the brightness of the image by controlling the amount of light for each region of the light irradiation range of the lighting device.

Further, the control device may control the lighting device so as to increase the brightness of the dark region with reference to the brightness of the bright region in the photographing region.

Further, the camera includes an optical element capable of controlling the brightness for each region of the photographing region, and the lighting device uniformly controls the brightness of the image by controlling the optical element for each region. It may be a thing.

Further, the control device may control the optical element so as to reduce the brightness of the bright region with reference to the brightness of the dark region in the photographing region.

Further, the camera may start the shooting when the brightness becomes uniform.

Further, the drive control unit may control the drive depending on whether or not the other light source is a device that measures the road surface condition at the same time as the own device.

Further, when the other light source is a device that measures the road surface condition at the same time as the own machine, the drive control unit controls the drive according to the possibility of collision between the own machine and the other light source. Is also good.
Further, the drive may be controlled according to the angle formed by the speed vectors of the own machine and the other light source and the possibility of collision.

Further, in order to solve the above problems, according to another viewpoint of the present invention, a camera that captures the road surface condition while moving on the road surface, a lighting device that illuminates the photographing area photographed by the camera, and the camera. A road surface measuring device is provided, which comprises a control device for controlling at least one of the lighting devices to make the brightness of an image captured in the photographing region uniform.
Further, in order to solve the above-mentioned problems, according to another viewpoint of the present invention, a shooting step of shooting the road surface state with a camera while moving on the road surface and a shooting area shot by the camera are illuminated by an illumination device. It includes a lighting step, a determination step for determining the movement of another light source different from the illumination device detected in the photographing area, and a drive control step for controlling the drive according to the determination result by the determination step. , Road surface measurement methods are provided.

Further, in order to solve the above problems, according to another viewpoint of the present invention, a camera that captures the road surface condition while moving on the road surface, a lighting device that illuminates the photographing area photographed by the camera, and the camera. A road surface measuring device and a plurality of the road surface measuring devices including a control device for controlling at least one of the lighting devices and uniformly controlling the brightness of an image captured in the photographing region, and a plurality of the road surface measuring devices on the road surface. A road surface measuring system is provided that includes a control device that shares position information of the plurality of road surface measuring devices among the plurality of road surface measuring devices in order to act.

According to the present invention, it is possible to improve the measurement accuracy when measuring the road surface condition during movement.

It is a schematic diagram which shows the structure of the system which concerns on one Embodiment of this invention. It is a schematic diagram which shows the structure of a moving body. , Is a schematic view showing an example of the appearance of a moving body. It is a flowchart which shows the whole measurement flow. It is a flowchart which shows the process of light amount control of step S28 of FIG. 4 in detail. It is a flowchart which shows the process of the drive control of step S30 of FIG. 4 in detail. It is a flowchart which shows the process of the drive control of step S30 of FIG. 4 in detail. It is a flowchart which shows the process of the drive control of step S30 of FIG. 4 in detail. It is a flowchart which shows the process of the measurement control of step S32 of FIG. 4 in detail. It is a schematic diagram which shows the structure of the camera as the measuring apparatus which concerns on this embodiment.

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

FIG. 1 is a schematic diagram showing a configuration of a system 5000 according to an embodiment of the present invention. As shown in FIG. 1, this system includes a plurality of mobile bodies (road surface measuring devices) 1000, a control device 2000, a GNSS base station 3000, and a light wave rangefinder 4000. For example, the plurality of moving bodies 1000 run in parallel on the road surface and measure the road surface condition. The control device 2000 is a device that manages the movement routes and position information of the plurality of moving bodies 1000 and controls the plurality of moving bodies 1000. In particular, the control device 2000 shares the position information of the plurality of moving bodies 1000 so that the moving bodies 1000 do not collide with each other. The GNSS base station 3000 is a GNSS (Global Navigation Satellite System) that is used when the position detection device 950 of each mobile body 1000 performs position detection and provides accurate coordinate information and time information to each mobile body 1000. It is a base station. The light wave range finder 4000 is a device that detects the position of each moving body 1000 by light wave range finder in order to correct the position detection error of each moving body 1000 by GNSS.

FIG. 2 is a schematic view showing the configuration of the moving body 1000. As shown in FIG. 2, the moving body 1000 includes a measuring device 200, a lighting device 300, a monitor camera 400, a control device 600, a driving unit 700, a communication device 800, a battery 900, and a position detecting device 950.

FIG. 3 is a schematic view showing an example of the appearance of the moving body 1000. The moving body 1000 shown in FIG. 3 travels on the ground unmanned, for example, and measures the ground. As shown in FIG. 3, the moving body 1000 includes a front wheel 100, a rear wheel 120, a measuring device 200, a lighting device 300, and a monitor camera 400.

The front wheels 100 and the rear wheels 120 come into contact with the ground, and a driving force is applied to drive the moving body 1000. Further, the front wheels 100 are steered by the steering mechanism to change the traveling direction of the moving body 1000. The configuration for moving the moving body 1000 such as the front wheels 100 and the rear wheels 120 is an example, and other configurations may be adopted. For example, the moving body 1000 may be composed of a flying body such as a drone, and in that case, the structure for moving the moving body 1000 corresponds to a propeller, wings, or the like.

The measuring device 200 is directed to the ground (road surface) on which the moving body 1000 travels, and measures the road surface condition while the moving body 1000 is traveling. The road surface condition includes fine unevenness information on the asphalt / concrete surface, various white line information, texture by color image, coordinates in GNSS, and the like. The measuring device 200 includes a camera, a laser scanner, a radar, and the like. When the measuring device 200 is composed of a camera, the camera preferably captures a color image of the road surface. Further, the camera may be composed of a stereo camera. By configuring the camera from a stereo camera, when a foreign object is recognized, the distance from the parallax of the left and right images to the foreign object can be obtained.

The lighting device 300 illuminates the road surface by shining light on the road surface. Preferably, the illuminating device 300 is composed of an array type light source. The array type light source is configured by arranging LEDs, laser light sources, and the like in an array, and the amount of light can be changed for each light irradiation region.

The monitor camera 400 captures the measurement range of the measuring device 200 and detects the brightness in the image area. The lighting device 300 including an array type light source is controlled based on the brightness of the image captured by the monitor camera 400.

The drive unit 700 is composed of a motor that generates a driving force, a motor that steers, and the like, drives the front wheels 100 and the rear wheels 120, and steers the front wheels 100. The drive unit 700 is controlled by the drive control unit 640 of the control device 600. The battery 900 supplies electric power to the motor of the drive unit 700.

The control device 600 includes an image processing unit 610, a light amount control unit 620, another light source motion determination unit 630, a drive control unit 640, and a drive planning unit 650. Each component of the control device 600 can be composed of a central processing unit such as a CPU and a program for operating the central processing unit. The image processing unit 610 performs image processing of the image taken by the camera of the measuring device 200 and the image taken by the monitor camera 400. The light amount control unit 620 controls the light amount of the lighting device 300. In particular, when the lighting device 300 is composed of an array type light source, the light amount control unit 620 controls the array type light source so that the amount of light becomes uniform in the photographing screen. Further, the light amount control unit 620 controls so that the light amount becomes uniform in the shooting screen by controlling the transmittance of the filter 220 (see FIG. 8) described later when the measuring device 200 is composed of a camera. I do.

Specifically, when the light amount control unit 620 controls the array type light source, the brightness of the dark region is based on the brightness of the bright region of the image taken by the camera of the measuring device 200 or the image taken by the monitor camera 400. By controlling the array light source so as to increase the brightness, the brightness is made uniform over the entire area in the image. Further, when controlling the transmittance of the filter 220, the light amount control unit 620 controls the filter 220 so as to reduce the brightness of the bright region with reference to the brightness of the dark region of the image captured by the camera of the measuring device 200. ..

The other light source movement determination unit 630 determines the movement of the other light source based on the relative movement of the light in the image when the light of the other light source is included in the image captured by the monitor camera 400. The drive control unit 640 controls the drive of the moving body 1000 by controlling the drive unit 700. The drive planning unit 650 formulates a drive plan for the moving body 1000.

In the system of the present embodiment configured as described above, the moving body 1000 travels on the road surface and photographs the road surface with the measuring device 200 to acquire detailed information on the surface of the road surface and store it in the database. .. The acquired information can be used for various purposes such as estimation of friction coefficient and creation of a three-dimensional map.

In order for the measuring device 200 to measure the road surface in detail, it is desirable to keep the road surface in an optimum state suitable for measurement. In particular, when the measuring device 200 is composed of a camera, it is preferable that the brightness is uniform over the entire image region in order to prevent erroneous detection. In particular, in order to acquire a texture based on a color image of a road surface condition such as fine unevenness information from an image, it is ideal that the brightness of the entire shooting angle of view becomes uniform during camera shooting.

In particular, in the present embodiment, in order to acquire detailed information on the surface of the road surface, the road surface is photographed so that a sufficient resolution can be obtained even in a minute region of, for example, 1 mm square. At this time, if the amount of light changes in the shooting screen, it is not possible to obtain a desired resolution in the entire shooting screen.

Therefore, in the present embodiment, the lighting device 300 is configured by an array type light source so that the amount of light can be adjusted for each region in the photographing screen. Then, the array type light source is controlled so that the amount of light becomes uniform in the shooting screen. As for the control of the amount of light, it is difficult to keep the brightness within the angle of view constant because the surrounding conditions always change with the movement of the moving body 1000, so active control is performed at predetermined intervals.

Further, since the measuring device 200 measures minute unevenness information on the road surface, the measurable range of one moving body 1000 is limited, but a plurality of moving bodies 1000 are allowed to run in parallel on the road. The entire road surface can be measured with. On the other hand, when a plurality of moving bodies 1000 are run in parallel for measurement, the moving bodies may come into contact with each other or collide with each other.

Therefore, the drive control unit 640 of the control device 600 controls the drive unit 700 based on the determination result of the movement of the other light source by the movement determination unit 630 of the other light source, thereby avoiding the collision with the other light source and moving the moving body. Move 1000.

Hereinafter, the processing performed by the system of the present embodiment will be described with reference to the flowcharts of FIGS. 4 to 7. The flowcharts of FIGS. 4 to 7 show processing mainly performed in the control device 600 at predetermined control cycles.

FIG. 4 shows the entire measurement flow. First, in steps S10, S12, and S14, the preconditions for measurement are input to the control device 600. That is, in step S10, the measurement area is input, in step S12, the size of the moving body 1000 and the speed at the time of measurement are input, and in step S14, the number of moving bodies 1000 to be measured is input.

In the next step S16, the movement path Veo (PASS) at the time of measurement is determined. In the next step S18, the minimum approach distance L_min [m] is determined from the size and speed of the moving body 1000. In the next step S20, the target brightness L_t [cd / m ² ] at the time of measurement is determined.

In the next step S22, a measurement start command is issued. In the next step S24, the movement is performed along the route determined in step S16. In the next step S26, it is determined whether or not the movement in the measurement area is completed, and if the movement in the measurement area is not completed, the process proceeds to step S28 to control the amount of light of the lighting device 300. Further, in step S30, the movement of the moving body 1000 is controlled by the drive unit 700 in parallel with the light amount control.

In the next step S32, the measurement of the road surface by the measuring device 200 is controlled. After step S32, the process returns to step S24, and the subsequent processing is repeated. Then, in step S26, if the movement within the measurement area is completed, the process ends.

As described above, in the measurement flow of FIG. 4, when the measurement start command is issued, the light amount control of the lighting device 300 and the drive control by the drive unit 700 are performed while the moving body 1000 moves along the movement path. Measurement control is performed by the measuring device 200. Hereinafter, each of the light intensity control, the drive control, and the measurement control will be described in detail with reference to FIGS. 5, 6A to 6C, and FIG. 7.

FIG. 5 is a flowchart showing in detail the process of controlling the amount of light in step S28 of FIG. The processing of FIG. 5 is mainly performed by the light amount control unit 620. In FIG. 5, a case where the lighting device 300 is an array type light source will be described as an example.

Further, in FIG. 5, an example of controlling the amount of light of the array type light source based on the image taken by the monitor camera 400 will be described. However, when the measuring device 200 is composed of a camera, the camera of the measuring device 200 takes a picture. It is also possible to control the array type light source based on the generated image. In this case, the monitor camera 400 may not be provided.

Further, although FIG. 5 describes an example of controlling the light amount of the array type light source, in the light amount control, the transmittance of the filter 220 built in the camera of the measuring device 200 may be controlled.

First, in steps S40 and S42, information that is a prerequisite for light intensity control is input. That is, in step S40, the target luminance L_t at the time of measurement is input, and in step S42, the image captured by the monitor camera 400 is input.

In the next step S44, the image captured by the camera 400 is divided into small areas, and the variation in brightness in each area is acquired. In the next step S46, the difference between the target luminance L_t and the measured luminance Vec (L_m) obtained as a result of the measurement of each region is calculated. In the next step S48, among the array-type light sources constituting the lighting device 300, the light source corresponding to the region of the image having less than the target brightness L_t is controlled.

In the next step S50, it is determined whether or not there is variation in brightness for each region in the image, and if there is no variation in brightness, the process proceeds to step S52. In step S52, the brightness of the image and the additional light amount of the array type light source at the time of light amount control in step S48 are stored. After step S53, the process proceeds to step S54, and the measuring device 200 is allowed to take a still image. After step S54, the process ends. As described above, according to the process of FIG. 5, the brightness of the shooting area can be kept uniform even when the periodic brightness fluctuates due to the weather or the like, or when the brightness in the shooting area fluctuates due to another light source. It will be possible.

6A to 6C are flowcharts showing in detail the drive control process of step S30 of FIG. The processing of FIGS. 6A to 6C is mainly performed by the drive control unit 640. First, in steps S60, S62, S64, and S66, information that is a prerequisite for drive control is input. That is, in step S60, the history of light amount control is input, in step S62, the image of the camera 400 is input, in step S64, the position information of the other moving body 1000 is input from the control device 2000, and in step S66, the other moving body is input. 1000 movement routes are input.

In the next step S70, it is estimated whether or not there is a light emitting source other than the own unit in the image area captured by the monitor camera 400. Specifically, in step S70, the history of light amount control by the light amount control flow of FIG. 5 and the input image of the camera 400 are compared, and the input image of the camera 400 does not match the control history of the lighting device 300 of the own device. If so, it is presumed that the light source is in the area of the image that does not match.

In the next step S72, it is determined whether or not there is another light emitting source based on the estimation result of step S70, and if there is another light emitting source, the process proceeds to step S74. In step S74, the relative velocity vector of the other light source is calculated. The relative velocity vector of the other light source can be obtained by pausing the own machine and comparing the movement vector of the light source in the image with the speed vector of the own machine before the stop. Further, the relative velocity vector of the other light source can be obtained by obtaining the movement vector of the other light source in the image without stopping the own machine. On the other hand, if it is determined in step S72 that there is no other light emitting source, the process proceeds to step S100.

After step S74, the process proceeds to step S76. In step S76, it is determined whether or not the other light source moves based on the relative velocity vector of the other light source and the movement vector of the own machine, and if it moves, the process proceeds to step S78. In step S78, the position information of each moving body 1000 obtained from the control device 2000 is referred to.

On the other hand, if the other light source does not move in step S76, the process proceeds to step S77. In step S77, it is determined that the other light source is a non-movable light source such as a street lamp. The non-moving light source shall include the sun and the moon. After step S77, the process proceeds to step S79, and the lighting device 300 is controlled so that the illuminance within the measurement range becomes uniform without modifying the traveling path of the own machine.

Further, after step S78, the process proceeds to step S80. In step S80, it is determined whether or not there is another moving body 1000 in the vicinity of the own machine, and if there is another moving body 1000, the process proceeds to step S82. In step S82, the distance to the other light source is estimated based on the position information of the own machine and the position information of the other moving body 1000 obtained from the control device 2000.

In the next step S84, it is determined whether or not the distance to the other light source is within the predetermined minimum approach distance L_min [m], and if the distance to the other light source is within the minimum approach distance L_min [m], Proceed to step S86.

In step S86, a determination is made based on the velocity vector V_flag of the moving other light source, and four processes of steps S92 to S96 are performed according to the determination result.

First, when the angle formed by the velocity vectors of the own machine and the other light source is large and there is no possibility of collision with the moving body of the other light source when the own machine is stopped (condition a), the process proceeds to step S90. In step S90, the own machine is temporarily stopped until the other light source moves from the path of the own machine.

If the angle formed by the velocity vectors of the own machine and the other light source is small and there is a possibility of collision with a moving body of the other light source when the own machine is stopped (condition b), the process proceeds to step S92. In step S92, the route of the own machine is corrected according to a predetermined rule. Flight rules (aircraft traffic rules) can be used as predetermined rules.

Further, when the angle formed by the velocity vectors of the own machine and the other light source is small and there is no possibility of collision with the moving body of the other light source when the own machine is stopped (condition c), the process proceeds to step S94. In step S94, the lighting device 300 is controlled so that the illuminance within the measurement range becomes uniform.

Further, when the angle formed by the velocity vectors of the own machine and the other light source is large and there is a possibility of collision with the moving body of the other light source when the own machine is stopped (condition d), the process proceeds to step S96. In step S96, the measurement is interrupted, and the moving body 1000, which is the own machine, is retracted to avoid the moving body 1000 of another light source. After step S96, the process proceeds to step S98, and after avoiding the moving body 1000 of another light source, the process returns to the original path.

After steps S90, S92, S94, and S98, the process proceeds to step S100. In step S100, it is determined in step S54 of FIG. 5 whether or not still image shooting is permitted, and if still image shooting is permitted, the drive control flow ends. On the other hand, if still image shooting is not permitted, the process returns to step S72 and the subsequent processes are repeated.

If there is no other moving body 1000 in the vicinity of the own machine in step S80, the process proceeds to step S102, and it is determined that the other light source is a mobile light source other than the moving body 1000 according to the present embodiment. In the next step S104, a determination is made based on the velocity vector V_flag of the moving light source, and three processes of steps S106 to S110 are performed according to the determination result.

First, when the speed of the other light source is high and there is no possibility of collision with the other light source when the own machine is stopped (condition e), the process proceeds to step S106. In step S106, the own machine is temporarily stopped until the other light source moves from the path of the own machine.

If the speed of the other light source is low and there is no possibility of collision with the other light source (condition f), the process proceeds to step S108. In step S108, the lighting device 300 is controlled so that the illuminance within the measurement range becomes uniform.

If there is a possibility of collision with another light source (condition g), the process proceeds to step S110. In step S110, the measurement is interrupted, and the moving body 1000, which is the own machine, is retracted to avoid the moving body of another light source. After step S110, the process proceeds to step S112, and after avoiding other light sources, the process returns to the original path. After step S112, the process proceeds to step S100.

FIG. 7 is a flowchart showing in detail the measurement control process in step S32 of FIG. First, in steps S120, S122, S124, and S126, information that is a prerequisite for measurement control is input. That is, in step S120, the measuring device 200 is designated, in step S122, the GNSS time is input, in step S124, the GNSS coordinates are input, and in step S126, the light wave distance measurement flag is input.

Next, in step S128, it is determined whether or not the measuring device 200 is a laser scanner and / or radar, and if the measuring device is a laser scanner and / or radar, the process proceeds to step S130. In step S130, when a measurement start command is issued, measurement is always performed. After step S130, the process ends.

On the other hand, in step S128, if the measuring device 200 is not a laser scanner and / or radar, the process proceeds to step S132. In this case, since the measuring device 200 is a camera, in step S132, a still image is taken with the permission of taking a still image in step S54 of FIG.

After step S132, the process proceeds to step S134 to determine whether or not the light wave distance measurement flag is on, and if the light wave distance measurement flag is on, the process proceeds to step S136. In step S136, the moving body 1000, which is the own machine, is temporarily stopped. In the next step S138, the position of the moving body 1000 is measured by a laser rangefinder. In the next step S140, the pause of the moving body 1000 is released. After step S140, the process ends.

FIG. 8 is a schematic view showing the configuration of a camera as the measuring device 200 according to the present embodiment. The camera shown in FIG. 8 is provided with a filter (optical element) 220 capable of adjusting the brightness of the imaging region of the image sensor 210 for each region on the subject side of the image sensor 210. As shown in FIG. 8, the filter 220 is installed at an arbitrary position such as immediately before the image sensor 210, in the optical system, or in front of the optical system. By controlling the transmittance of the filter 220 for each region, it is possible to uniformly control the brightness over the entire imaging region. Further, instead of the filter capable of active control, a transmission type or semi-transmission type mirror may be provided. By reducing the amount of light incident on the image sensor 210, a region in which the amount of light is reduced can be provided on the image sensor 210. Further, in order to uniformly control the brightness of the image captured in the imaging region, the image processing unit 610 may perform processing so as to darken the region that is too bright from the image information obtained by the image sensor 210.

As described above, according to the present embodiment, it is possible to uniformly control the brightness of the imaging region in the moving body 1000 provided with the measuring device 200 that captures the state of the road surface in detail. This makes it possible to obtain a fine road surface condition based on the image taken by the measuring device 200.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or modifications within the scope of the technical ideas described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

200 Measuring device 220 Filter 300 Lighting device 600 Control device 630 Other light source motion judgment unit 640 Drive control unit 700 Drive unit 1000 Moving object 5000 Road surface measurement system

Claims (13)

It is a road surface measuring device
A camera that captures the road surface condition while moving on the road surface,
A lighting device that illuminates the shooting area shot by the camera,
A drive unit that drives the road surface measuring device and
A drive control unit that controls the drive by the drive unit,
It is provided with another light source motion determination unit that determines the motion of another light source different from the lighting device detected in the photographing region.
The drive control unit is a road surface measuring device, characterized in that the drive is controlled according to a determination result by the determination unit. A control device that controls at least one of the camera and the lighting device to make the brightness of an image shot in the shooting area uniform.
The road surface measuring device according to claim 1, further comprising. The road surface according to claim 2, wherein the control device uniformly controls the brightness of the image by controlling the amount of light for each region of the light irradiation range of the lighting device. Measuring device. The road surface measuring device according to claim 2, wherein the control device controls the lighting device so as to increase the brightness of a dark region with reference to the brightness of a bright region in the photographing region. The camera includes an optical element capable of controlling the brightness for each region of the photographing region.
The road surface measuring device according to claim 2, wherein the control device uniformly controls the brightness of the image by controlling the optical element for each region. The road surface measuring device according to claim 5, wherein the control device controls the optical element so as to reduce the brightness of the bright region with reference to the brightness of the dark region in the photographing region. The road surface measuring device according to any one of claims 2 to 6, wherein the camera starts the photographing when the brightness becomes uniform. The drive control unit according to any one of claims 1 to 7, wherein the drive control unit controls the drive depending on whether or not the other light source is a device that measures the road surface condition at the same time as the own device. The road surface measuring device described. The drive control unit is characterized in that when the other light source is a device that measures the road surface condition at the same time as the own machine, the drive control unit controls the drive according to the possibility of collision between the own machine and the other light source. The road surface measuring device according to any one of claims 1 to 7. The road surface measuring device according to claim 9, wherein the drive control unit controls the drive according to the angle formed by the speed vectors of the own machine and the other light source and the possibility of collision. A camera that captures the road surface condition while moving on the road surface,
A lighting device that illuminates the shooting area shot by the camera,
A control device that controls at least one of the camera and the lighting device to make the brightness of an image shot in the shooting area uniform.
A road surface measuring device characterized by being provided with. Shooting steps to take a picture of the road surface condition while moving on the road surface,
A lighting step that illuminates the shooting area shot by the camera with a lighting device,
A determination step for determining the movement of another light source different from the lighting device detected in the photographing area, and
A drive control step that controls the drive according to the determination result of the determination step,
A road surface measurement method characterized by being provided with. A camera that captures the road surface condition while moving on the road surface, a lighting device that illuminates the photographing area photographed by the camera, and at least one of the camera and the lighting device are controlled to photograph in the photographing area. A road surface measuring device including a control device for uniformly controlling the brightness of an image, and
A control device for sharing the position information of the plurality of road surface measuring devices among the plurality of road surface measuring devices in order for the plurality of the road surface measuring devices to drive on the road surface.
A road surface measurement system characterized by being equipped with.

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