・ロボット技術を活用した農作業の自動化・効率化システムの開発(PDF/501KB)

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 ᖹᡂ  ᖺᗘࠊᖹᡂ  ᖺᗘ ᢏ⾡ࢩ࣮ࢬ๰⏕◊✲஦ᴗ㸦ࣉࣟࢪ࢙ࢡࢺࢫࢸ࣮ࢪ㸧  㟁Ꮚ᝟ሗᢏ⾡㒊 ᶵ⬟⾲㠃ᢏ⾡㒊 ⣲ᙧᮦᢏ⾡㒊 

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䝻䝪䝑䝖ᢏ⾡䜢ά⏝䛧䛯㎰సᴗ䛾⮬ື໬䞉ຠ⋡໬䝅䝇䝔䝮䛾㛤Ⓨ

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_{ࠊᇼ⏣ ᫀᏹ}

_{ࠊᅬ⏣ ဴஓ}

_{ࠊ༓⏣ 㯇㄃}

_{ࠊ㧗ᶫ ᙉ}

   ⏕⏘ᖺ㱋ேཱྀࡢῶᑡ࡟క࠺ᢸ࠸ᡭ୙㊊ゎᾘࡢࡓࡵ࡟ࣟ࣎ࢵࢺᢏ⾡ࡸ ,R7 ࡟ࡼࡿ⏕ ⏘ᛶࡢᨵၿࡀᵝࠎ࡞ศ㔝࡛ồࡵࡽࢀ࡚࠸ࡿࠋ㎰ᯘỈ⏘┬࡛ࡣࢫ࣐࣮ࢺ㎰ᴗࢆᥦゝࡋࠊ ㎰ᶵල࣓࣮࣮࢝ࡣࣟ࣎ࢵࢺ㎰ᶵ࡟㛵ࡍࡿᢏ⾡㛤Ⓨࢆ᥎㐍ࡋ࡚࠸ࡿࠋࡲࡓࠊᒾᡭ┴࡛ ࡣ㎰ᴗ᣺⯆⟇࡜ࡋ࡚ࢱ࣐ࢿࢠࡢ⫱ⱑᢏ⾡㛤Ⓨ࣭኱つᶍ໬࣭㧗཰┈໬࡬ࡢྲྀࡾ⤌ࡳࡀ 㐍ࡵࡽࢀ࡚࠸ࡿࠋᮏ◊✲࡛ࡣࠊࣁ࢘ࢫෆ࡛ࡢ⫱ⱑᕤ⛬࡟ࢫ࣏ࢵࢺࢆᙜ࡚ࠊࢱ࣐ࢿࢠ ࡢቑ⏘࡟ྥࡅ࡚ࣟ࣎ࢵࢺᢏ⾡ࢆά⏝ࡋࡓ⿦⨨ࡢ㛤Ⓨࢆ⾜ࡗࡓࠋ ࣮࣮࢟࣡ࢻ㸸ࣟ࣎ࢵࢺᢏ⾡ࠊ᧛✀ࠊ⫱ⱑࠊࢱ࣐ࢿࢠ

High-efficiency automation system for agriculture using robot technology

YOSHIHIDE Hakozaki, MASAHIRO Hotta, TETSUYA Sonoda,

YOSHITAKA Chida, and KYO Takahashi

To solve the problem of labor shortage due to the decreasing production-age population in Japan, productivity improvement using robot technology and the Internet of Things has been gaining great demand in various fields. Accordingly, the Ministry of Agriculture, Forestry and Fisheries of Japan has proposed development of smart agriculture, and agricultural machinery manufacturers have been developing robot technology for agricultural machinery. Furthermore, in Iwate Prefecture, as part of the agriculture promotion plan, the scale and profit of onion cultivation are being increased by developing the seedling raising technology. In this study, the authors focus on the seedling raising process adopted in house and further develop a robot-technology-based device that can increase the scale of onion production. key words : Robot technology, Seedling, Raising seedlings, Onion

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ᒾᡭ┴ᕤᴗᢏ⾡ࢭࣥࢱ࣮◊✲ሗ࿌ ➨  ྕ㸦㸧   ᚑ᮶ࡢ⮬ື᧛✀ᶵࡣࠊᶵᲔ⿦⨨࡛ᢅ࠸ࡸࡍ࠸ࡼ࠺࡟ࡍ ࡿࡓࡵ࡟ࠊᅗ  ࡟♧ࡍࡼ࠺࡞୙ᐃᙧ࡞ࢱ࣐ࢿࢠࡢ✀Ꮚࢆ ୸⢏≧࡟ᡂᙧࡋࡓࢥ࣮ࢺ✀Ꮚࢆ฼⏝ࡍࡿᚲせࡀ࠶ࡿࠋࢥ ࣮ࢺ✀Ꮚࡣ〄✀Ꮚ࡟ẚ࡭ᑑ࿨ࡀ▷ࡃࠊ㧗౯࡛࠶ࡿࠋࡲࡓࠊ ࢭࣝࢺࣞ࢖࡟ࡣ㎰Ỉ┬つ᱁ࡶ࠶ࡿࡀᑓ⏝ࡢࢭࣝࢺࣞ࢖ࢆ ฼⏝ࡋ࡞ࡅࢀࡤ࡞ࡽࡎࠊ⏕⏘ࢥࢫࢺࡢపῶ࡟ㄢ㢟ࡀ࠶ࡿࠋ ᆒ୍࡞ⱑࢆ⫱࡚ࡿࡓࡵ࡟ࡣᇵᅵࡢ㔞ࡶᆒ୍࡟ࡍࡿᚲ せࡀ࠶ࡿࡀࠊᇵᅵࢆࢭࣝࢺࣞ࢖ୖ᪉࠿ࡽⴠୗ౪⤥ࡍࡿࡓ ࡵᇵᅵࡢ㔞ࡣ୙ᆒ୍࡛࠶ࡿࠋ ࡑࡇ࡛ᮏ◊✲࡛ࡣࠊᏳ౯࡞〄✀Ꮚࡸ㎰Ỉ┬つ᱁ࡢỗ⏝ ࢭࣝࢺࣞ࢖ࢆ฼⏝ࡋࠊᇵᅵࡢᐃ㔞౪⤥ࢆྍ⬟࡜ࡍࡿ᧛✀ ࣟ࣎ࢵࢺࢆヨస㛤Ⓨࡋࡓࠋ    〄✀Ꮚ       ࢥ࣮ࢺ✀Ꮚ ᅗ  ✀Ꮚ㸦ࢱ࣐ࢿࢠ㸧ࡢࢱ࢖ࣉ   ᧛✀ᶵ⬟ ✀Ꮚࣆࢵࢡ࢔ࢵࣉ⏝ࡢᯈࢆࢫࣛ࢖ࢻࡉࡏ୙ᩚᙧ✀Ꮚ ࡸᡥᖹ✀Ꮚ࡞࡝〄✀Ꮚࢆᦙ㏦ࡋ࡞ࡀࡽᚲせ࡞ಶᩘࢆಶู ࡟ྲྀࡾฟࡍᡭἲ࡛࠶ࡿࠋᅗ  ࡟♧ࡍࡼ࠺࡟ࠊࣆࢵࢡ࢔ࢵ   ᅗ  〄✀Ꮚࡢࣆࢵࢡ࢔ࢵࣉཎ⌮    ᅗ  ᧛✀ᶵ⬟ヨసᶵ ࣉ⏝ࡢᯈࡣ✀Ꮚࢆಖᣢࡍࡿࡓࡵࡢ❑ࡳࢆタࡅࡓ≉ᚩ࠶ࡿ ᙧ≧ࢆࡋ࡚࠾ࡾࠊ✀Ꮚࢆಖᣢࡋࠊᚲせಶᩘศࡢࡳྲྀࡾฟ ࡍࡇ࡜ࡀྍ⬟࡛࠶ࡿࠋᅗ  ࡟ヨసࡋࡓ᧛✀ᶵ⬟ヨసᶵࢆ ♧ࡍࠋ   ᇵᅵ౪⤥ᶵ⬟ ᇵᅵࡢᐃ㔞౪⤥ࡢࡓࡵࠊᅗ  ࡟♧ࡍࡼ࠺࡟ỗ⏝ࢭࣝࢺ ࣞ࢖ࡢࢭࣝࢧ࢖ࢬ࡟ᑐᛂࡍࡿࣉࣞࢫ෬ලࢆ⏝࠸ࡿࠋᇵᅵ ౪⤥ࡣࠊᇵᅵ౪⤥࣍ࢵࣃ࣮ࡼࡾࣉࣞࢫ෬ල࡟ᇵᅵࡀ౪⤥ ࡉࢀࠊᇵᅵࡣࣉࣞࢫ෬ල࡟ࡼࡾᅽ⦰ࡋᆺ⥾ࡵࡉࢀࣆࢫࢺ ࣥࡀୖୗࡍࡿࡇ࡜࡛ࢭࣝࢺࣞ࢖࡟㙠ᅽࡉࢀ࡞ࡀࡽ౪⤥ࡉ ࢀࡿࠋࣉࣞࢫ࡟ࡼࡿᆺ⥾ࡵ࠿ࡽࣆࢫࢺࣥ࡟ࡼࡿ౪⤥ࡢὶ ࢀࢆᅗ  ࡟♧ࡍࠋ   ᅗ  ᇵᅵࣉࣞࢫ෬ල    ᅗ  ᇵᅵ౪⤥᪉ἲ   ₤Ỉᶵ⬟  ࢭࣝࢺࣞ࢖࡬ࡢ᧛✀ᚋࡢ₤Ỉ࡛ࡣࠊὶỈ࡟ࡼࡿ✀Ꮚࡢ ࢭࣝእ࡬ࡢ᤼ฟࢆ㜵ࡄࡓࡵᄇ㟝࡟ࡼࡾ⾜࠺ࠋᅗ  ࡟₤Ỉ ⿦⨨ヨసᶵࢆ♧ࡍࠋ  䝢䝇䝖䞁 䝥䝺䝇෬ල㻌 䝥䝺䝇෬ල 

ࣟ࣎ࢵࢺᢏ⾡ࢆά⏝ࡋࡓ㎰సᴗࡢ⮬ື໬࣭ຠ⋡໬ࢩࢫࢸ࣒ࡢ㛤Ⓨ    ᅗ  ₤Ỉ⿦⨨ヨసᶵ    ᅗ  ྛᕤ⛬ࡢసᴗ༢఩   ᅗ  ⮬ື᧛✀ࣟ࣎ࢵࢺヨసᶵ  ヨసࡋࡓ᧛✀ࣟ࣎ࢵࢺ  ᚑ᮶ࡢ⮬ື᧛✀ᶵࡣࠊࢥࣥ࣋࢔ୖࡢࢭࣝࢺࣞ࢖ࢆ೵Ṇ ࡉࡏࡿࡇ࡜࡞ࡃὶࡋ࡞ࡀࡽᇵᅵ౪⤥ࠊ᧛✀ࠊ₤Ỉࡢᕤ⛬ ࢆ⾜ࡗ࡚࠸ࡿࠋྛసᴗࡀࢺࣞ࢖༢఩࡛⾜ࡗ࡚࠸ࡿࡓࡵࠊ ⿦⨨඲య࡜ࡋ࡚ࡢࢧ࢖ࢬࡀ኱ࡁࡃ࡞ࡗ࡚࠸ࡿࠋࡑࡇ࡛ࠊ ᅗ  ࡟♧ࡍࡼ࠺࡟ࢭࣝࢺࣞ࢖ࢆࢭࣝࣆࢵࢳ༢఩࡛㛫Ḟື సࡉࡏྛᕤ⛬ࡢసᴗࢆࢥࣥ࣋࢔ࡢ೵Ṇ᫬࡟⾜࠺ࡇ࡜࡛⿦ ⨨඲యࡢࢧ࢖ࢬࢆᑠᆺ໬ࡍࡿࡇ࡜࡜ࡋࡓࠋᮏ◊✲࡛ヨస ࡋࡓ⮬ື᧛✀ࣟ࣎ࢵࢺࢆᅗ  ࡟♧ࡍࠋ   ⮬ື㉮⾜ࣟ࣎ࢵࢺࡢᢏ⾡㛤Ⓨ  ㉮⾜ࣟ࣎ࢵࢺࡢᴫせ ㎰స≀ࡢ᱂ᇵ࡛᭱ࡶ㔜せ࡜ࡉࢀࡿ⫱ⱑᕤ⛬࡟࠾࠸࡚ࠊ ⏕⏘ᛶྥୖࡢⅭࡢ⮬ື໬࡜Ᏻᐃࡋࡓရ㉁ࡢ⫱ⱑࡢⅭ࡟Ẽ  ࣭‵ᗘ࣭᪥↷㔞➼ࡢ⟶⌮࡟ ,R7 ࢆά⏝ࡍࡿࡇ࡜ࡀᮃࡲ ࢀ࡚࠸ࡿࠋࡲࡓࠊ㐲㝸ᆅ࡟࠾࠸࡚⏕⫱≧ἣࢆ☜ㄆࡍࡿ᪉ ἲ࡜ࡋ࡚࣓࢝ࣛࢆ⏝࠸ࡓᐃⅬほ ࡶ࠶ࡿࡀᗈゅ⏬ീ࡜࡞ ࡿࡓࡵⱑࡢ┤㏆ࡢ≧ἣࢆ☜ㄆࡍࡿࡇ࡜ࡣᅔ㞴࡛࠶ࡿࠋ⏬ ീ࡟ࡼࡿⱑࡢ≧ἣ☜ㄆࢆⓗ☜࡟⾜࠺࡟ࡣࠊⱑࡢ㏆ഐ࡛ࡢ ᧜ᙳࡀᚲせ࡜࡞ࡿࠋࡑࡢࡓࡵࠊ㐲㝸᧯స࡟ࡼࡾ㉮⾜ࣟ࣎ ࢵࢺࢆ௵ពࡢሙᡤ࡟⛣ືࡉࡏࡿᚲせࡀ࠶ࡿࠋ ࡑࡇ࡛ࠊᮏ◊✲࡛ࡣࠊ⫱ⱑᕤ⛬࡛ࡢᕠᅇᆺ㉮⾜ࣟ࣎ࢵ ࢺࡢᇶᮏືస࡟ᚲせ࡞ࠊ㉮⾜ไᚚࠊ㞀ᐖ≀᳨▱ࠊ⮬ᕫ఩ ⨨᥎ᐃࠊ⎔ቃࢭࣥࢩࣥࢢࡢᇶᮏᶵ⬟ࢆᐇ⌧ࡍࡿࣛ࢖ࣈࣛ ࣜࡢᵓ⠏ࢆ⾜ࡗࡓࠋ   ᇶᮏືసࣛ࢖ࣈࣛࣜ ᮏ◊✲࡛ࡣࠊᅗ  ࡟♧ࡍ࢜࢝ࢸࢵࢡᰴᘧ఍♫〇ࡢ㉮⾜ ࣟ࣎ࢵࢺ 0(&52%27 ࡟ࡼࡾືస☜ㄆࡍࡿࡇ࡜࡜ࡋࡓࠋ㉮⾜ ࣟ࣎ࢵࢺࡣࠊᕥྑ஧㍯ࡀ⊂❧ࡋ࡚㥑ືࡍࡿࡶࡢ࡛࠶ࡾ୧ ㍯ࡢ୰ᚰࢆ㍈࡟ࡑࡢሙ࡛᪕ᅇࡍࡿ㉸ಙᆅ᪕ᅇࡀྍ⬟࡛࠶ ࡿࠋࡑࡢࡓࡵࠊ⊃࠸ሙᡤ࡛ࡢ᪉ྥ㌿᥮ࡀྍ⬟࡛ࠊ⫱ⱑࣁ ࢘ࢫෆࡢ㉮⾜࡟ࡣ᭷ຠ࡞ࣟ࣎ࢵࢺ࡛࠶ࡿࠋᅗ  ࡟ࣁ࣮ࢻ ࢙࢘࢔ࡢᵓᡂࢆ♧ࡍࠋ   ᅗ  ㉮⾜ࣟ࣎ࢵࢺ 

ᒾᡭ┴ᕤᴗᢏ⾡ࢭࣥࢱ࣮◊✲ሗ࿌ ➨  ྕ㸦㸧   ࣟ ࣎ ࢵ ࢺ ࡟ ࡣ ࢩ ࣥ ࢢ ࣝ ࣎ ࣮ ࢻ ࢥ ࣥ ࣆ ࣗ ࣮ ࢱ ࡢ 5DVSEHUU\3L ࢆᦚ㍕ࡋࠊ㉮⾜ไᚚࠊࢭࣥࢧධฟຊࡢᣦ ௧࡟฼⏝ࡋࡓࠋ5DVSEHUU\3L ࡜ྛ✀ࢭࣥࢧࡣ ,& 㸦,QWHU,QWHJUDWHG&LUFXLW㸧ࡸ 63,㸦6HULDO3HULSKHUDO ,QWHUIDFH㸧ࡢࢩࣜ࢔ࣝ㏻ಙ࡟ࡼࡾධฟຊࡀ⾜ࢃࢀ࡚࠾ࡾࠊ ㏻ಙ㒊ศࢆࣛ࢖ࣈࣛࣜ໬ࡍࡿࡇ࡜࡛ྛ✀ࢭࣥࢧࡢࢹ࣮ࢱ ྲྀࡾ㎸ࡳࢆᐜ᫆࡟ࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡿࠋ ࡲࡓࠊ↓⥺ /$1 ࢆ୰⥅ჾ࡜ࡋ࡚ :L)L ࡟ࡼࡾ 5DVSEHUU\ 3L ࡜ࣃࢯࢥࣥ㛫ࡢ㏻ಙࢆ⾜࠸㐲㝸᧯సࡸࢭࣥࢧࢹ࣮ࢱ ࡢ㞟✚ࢆ⾜࠺ࡇ࡜࡜ࡋࡓࠋ:L)L ㏻ಙ㒊ศࢆࣛ࢖ࣈࣛࣜ ໬ࡍࡿࡇ࡜࡛ࣃࢯࢥࣥ࠿ࡽࡢ㉮⾜ᣦ௧ࡸࢭࣥࢧࢹ࣮ࢱࡢ ࣃࢯࢥࣥ࡬ࡢྲྀࡾ㎸ࡳࢆᐜ᫆࡟ྍ⬟࡜ࡋࡓࠋ   ᅗ  ࣁ࣮ࢻ࢙࢘࢔ᵓᡂ    㞀ᐖ≀᳨▱ ㉮⾜ࣟ࣎ࢵࢺࡢ㞀ᐖ≀᳨▱࡛ࡣගᏛᘧࡢ /LGDUOLJKW GHWHFWLRQDQGUDQJLQJࢆ࣓࢖ࣥ࡟㉸㡢Ἴࢭࣥࢧ➼ࢆే ⏝ࡋ࡚⾜ࢃࢀࡿࠋ/LGDU ࡣࠊ࣮ࣞࢨ࣮ගࢆᗈ⠊ᅖ࡟↷ᑕ ࡋ㧗⢭ᗘ࡟᳨ฟྍ⬟࡛࠶ࡿࡓࡵࠊ୙≉ᐃከᩘࡢேࡀ⾜ࡁ ஺࠺ሙᡤ࡛ࡣ᭷ຠ࡛࠶ࡿࡀࠊ㉸㡢Ἴࢭࣥࢧ࡟ẚ࡭㠀ᖖ࡟ 㧗౯࡛࠶ࡿࠋ ᮏ◊✲࡛ࡣࠊసᴗ⪅ࡶ㝈ᐃࡉࢀࡿ⫱ⱑࣁ࢘ࢫෆࢆ᝿ᐃ ࡋ࡚࠸ࡿࡇ࡜ࡼࡾᑐ㇟≀ࡢᮦ㉁ࡸⰍࡢᙳ㡪ࢆཷࡅ࡞࠸Ᏻ ౯࡞㉸㡢Ἴࢭࣥࢧࢆ࣓࢖ࣥ࡟᳨▱ࢆ⾜ࡗࡓࠋ㉸㡢Ἴࢭࣥ ࢧࡣ㏦ಙᶵ࡟ࡼࡾ㉸㡢Ἴࢆᑐ㇟≀࡟Ⓨಙࡋࠊ཯ᑕἼࢆཷ ಙᶵ࡛ཷಙࡍࡿࡇ࡜ࡼࡾᑐ㇟≀ࡢ᭷↓ࡸࠊ㊥㞳ࢆ᳨ฟࡍ ࡿࡶࡢ࡛࠶ࡿࠋ ᑐ㇟≀࡜ࡋ࡚㎰సᴗ࡛౑⏝ࡍࡿ┤ᚄ PP ࡢ㔪㔠࠿ࡽ ┤ᚄ PP ࡢ୸Წࡢ᳨▱ࡢྍྰ࡟ࡘ࠸࡚ᐇ㦂ࢆ⾜ࡗࡓ࡜ ࡇࢁࠊឤᗘㄪᩚྍ⬟࡞ࢭࣥࢧࢆ⏝࠸ࡿࡇ࡜࡛ᖜ PP ௨ୖ ࡢᰕ≧≀యࡢ᳨▱ࡀྍ⬟࡛࠶ࡿࡇ࡜ࡀศ࠿ࡗࡓࠋ཯ᑕἼ ࢆ฼⏝ࡍࡿࡓࡵᖹᯈ➼ࡀࢭࣥࢧ࡟ᑐࡋ࡚ᩳ᪉ྥ࡟Ꮡᅾࡍ ࡿሙྜ࡟ࡣ᳨ฟࡀ୙ྍ⬟࡞ሙྜࡀ࠶ࡿࠋࡇࡢⅬ࡟ࡘ࠸࡚ ࡣࠊࢭࣥࢧࢆ㤳᣺ࡾືసࡉࡏ᳨࡚ฟࡍࡿࡇ࡜࡟ࡋࡓࠋࡲ ࡓࠊ㉸㡢Ἴࢭࣥࢧ࠿ࡽⓎಙࡍࡿ㉸㡢Ἴ࡟ࡣᗈࡀࡾࡀ࠶ࡿ ࡓࡵ≀యྠኈࡢ㝽㛫ࡢ᳨ฟࡀᅔ㞴࡛࠶ࡿࠋ㝽㛫ࡢ᳨ฟࡣ ࣟ࣎ࢵࢺࡢ㞀ᐖ≀㛫ࡢ㏻㐣ࡢྍྰࡢุ᩿࡟ᚲせ࡞ࡇ࡜ࡼ ࡾ࣮ࣞࢨ࣮㊥㞳ィࢆే⏝ࡍࡿࡇ࡜࡟ࡋࡓࠋ   ㉸㡢Ἴࢭࣥࢧࢆ⏝࠸ࡓ⮬ᕫ఩⨨᥎ᐃ ⮬ᕫ఩⨨᥎ᐃࡣࠊ*36 ࡸࢱ࢖ࣖࡢᅇ㌿㔞ࢆྲྀᚓࡍࡿ࢚ ࣥࢥ࣮ࢲ➼ࢆే⏝ࡋ࡚⾜ࢃࢀ࡚࠸ࡿࠋ*36 ࡣᮌࡢ㝜ࡸᘓ ≀ࡢ㝜࡛ࡣ఩⨨᝟ሗࡀྲྀᚓ࡛ࡁ࡞࠸ሙྜࡶ࠶ࡿࠋࡑࡇ࡛ࠊ ᮏ◊✲࡛ࡣ㉸㡢Ἴࢭࣥࢧࢆ฼⏝ࡋࡓࣛࣥࢻ࣐࣮ࢡᡭἲ࡟ ࡼࡿ᥎ᐃࢆ⾜ࡗࡓࠋࡇࡢ᪉ἲࡣࠊ㉸㡢Ἴ㏦ಙᶵࢆࣛࣥࢻ ࣐࣮ࢡ࡜ࡋ࡚」ᩘタ⨨ࡋࠊ⮬ᕫ఩⨨᥎ᐃࡀᚲせ࡞ࣟ࣎ࢵ ࢺ࡟ࡣ㉸㡢Ἴཷಙᶵࢆᦚ㍕ࡍࡿࠋ ᅗ  ࡟ࣛࣥࢻ࣐࣮ࢡタ⨨౛ࢆ♧ࡍࠋࣛࣥࢻ࣐࣮ࢡࡣ ᥎ᐃࡀᚲせ࡞⠊ᅖෆ࡟㉸㡢Ἴࡀ㏦ಙࡉࢀࡿࡼ࠺࡟タ⨨ࡍ ࡿࠋࣛࣥࢻ࣐࣮ࢡࡢ఩⨨ᗙᶆࡀᅛᐃࡉࢀ࡚࠸ࡿࡢ࡛ཷಙ ᶵࢆ rᅇ㌿ࡉࡏࡿࡇ࡜࡟ࡼࡾࠊ ᅇ㌿࡟࠾ࡅࡿࣛࣥ ࢻ࣐࣮ࢡࡢ᪉ྥࡀゅᗘ࡜ࡋ࡚ྲྀᚓ࡛ࡁࠊᗙᶆィ⟬࡟ࡼࡾ ⮬ᕫ఩⨨ࡀ᥎ᐃࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡿࠋ௒ᅇࠊ⠊ᅖࢆ P ™P࡜ࡋ࡚ᇶ♏ᐇ㦂ࢆ⾜ࡗࡓ࡜ࡇࢁFP௨ෆ࡛ࡢ᥎ᐃ ࡀྍ⬟࡛࠶ࡿࡇ࡜ࡀศ࠿ࡗࡓࠋ   ᅗ  ࣛࣥࢻ࣐࣮ࢡタ⨨౛   ࠾ࢃࡾ࡟  ᮏ◊✲࡛ࡣࠊࣟ࣎ࢵࢺᢏ⾡ࢆά⏝ࡋࡓ㎰సᴗࡢ⮬ື ໬࣭ຠ⋡໬ࢩࢫࢸ࣒ࡢ㛤Ⓨ࡜ࡋ࡚ࠊ⮬ື᧛✀ࣟ࣎ࢵࢺཬ ࡧ⮬ື㉮⾜ࣟ࣎ࢵࢺࡢᢏ⾡㛤Ⓨࢆ⾜ࡗࡓࠋ⮬ື᧛✀ࣟ࣎ ࢵࢺࡢ㛤Ⓨ࡛ࡣࠊ〄✀Ꮚࡀ฼⏝ྍ⬟࡞᧛✀ࠊᇵᅵ౪⤥ࠊ ₤Ỉᶵ⬟ࢆ᭷ࡍࡿ⮬ື᧛✀ࣟ࣎ࢵࢺࢆヨసࡋࡓࠋ⮬ື㉮ ⾜ࣟ࣎ࢵࢺࡢ㛤Ⓨ࡛ࡣࠊᏳᐃ㉮⾜ࠊᏳ඲ᑐ⟇ࠊ⎔ቃࢭࣥ ࢩࣥࢢࡢᇶᮏᶵ⬟ࢆᐇ⌧ࡍࡿࣛ࢖ࣈࣛࣜࡢᵓ⠏ࢆ⾜ࡗࡓࠋ  ௒ᚋࠊ᧛✀ࣟ࣎ࢵࢺࡣ௻ᴗ࡜ࡢඹྠ◊✲࡛ၟရ໬ࢆ┠ ᣦࡋࠊ㉮⾜ࣟ࣎ࢵࢺࡣࡇࢀࡲ࡛ࡢᡂᯝࢆᇶ࡟᪂ࡓ࡟ࢼࣅ ࢤ࣮ࢩࣙࣥᢏ⾡࡟ࡘ࠸࡚◊✲㛤Ⓨࢆ㐍ࡵ࡚࠸ࡃࠋ  ᩥ  ⊩ ㎰ᯘỈ⏘┬㸸ࢫ࣐࣮ࢺ㎰ᴗࡢᐇ⌧࡟ྥࡅࡓྲྀ⤌࡜௒ᚋ ࡢᒎ㛤᪉ྥ࡟ࡘ࠸࡚ࠊ ㎰◊ᶵᵓ㸸ᮾ໭࣭໭㝣ᆅᇦ࡟࠾ࡅࡿࢱ࣐ࢿࢠࡢ᫓ࡲࡁ ᱂ᇵᢏ⾡ ᢏ⾡ゎㄝ⦅ࠊ