ᮾᛴᘓタᢏ⾡◊✲ᡤሗ No.40
東急建設技術研究所報 No.40

U.D.C 681.183, 519.336
681.183,519.336
U.D.C57
ࢆᛂ⏝ࡋࡓᘓタᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ㛤Ⓨ㸦ࡑࡢ㸰㸧

RT を応用した建設廃棄物選別システムの開発（その２）㸫ᆶ┤ከ㛵⠇ᆺࣟ࣎ࢵࢺࢆ౑⏝ࡋࡓᘓタᗫᲠ≀ࡢ㑅ู⢭ᗘ᳨ド㸫
−垂直多関節型ロボットを使用した建設廃棄物の選別精度検証−㸨୰ᮧ ⪽㸨 ஭ୖ ＊኱㍜㸨  ᰗཎ ዲᏕ＊

聡＊

中村井上大輔柳原好孝

せ ⣙㸸  ゎయ⌧ሙ࡛ࡣ㸪㌣యࢆ㔜ᶵ࡟ࡼࡗ࡚◚○ࡍࡿ㝿࡟Ⓨ⏕ࡍࡿ኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࠿ࡽ㕲➽ࡸ࢔࣑ࣝࢧࢵࢩ࡞࡝ࡢ㔠ᒓࡃࡎ㸪ᮌࡃࡎ㸪ࣉࣛࢫࢳࢵࢡᗫᮦ࡞࡝ࢆྍ⬟࡞㝈ࡾ㔜ᶵࡸேࡢᡭ࡟ࡼࡾศ㞳࣭ศูࡋ࡞ࡀࡽసᴗࢆ⾜ࡗ࡚࠸ࡿࠋࡋ࠿ࡋ㸪ゎయసᴗࡢ
ᛶ㉁ୖࡸࡴࢆᚓࡎከ✀ከᵝࡢᗫᲠ≀ࡀΰࡌࡾྜ࠺஦ࡀ࠶ࡾ㸪኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࡟௚ࡢᗫᲠ≀ࡀΰධࡋࡓࡶࡢ㸦௨ୗ㸪ΰྜᗫᲠ≀㸧ࢆ㑅ูࡍࡿ࡟ࡣከࡃࡢ᫬㛫࡜㈝⏝ࡀᚲせ࡛࠶ࡿࠋຍ࠼࡚㸪㑅ูసᴗࡣ⢊ሻࡸ㦁㡢ࡀⓎ⏕ࡍࡿຎᝏ࡞⎔ቃ࡛⾜ࢃࢀࡿࡔࡅ࡛࡞ࡃ㸪㔜ᶵࡸ኱ᆺ㌴୧ࡢ࿘ᅖ࡛⾜ࢃࢀࡿ஦ࡶከࡃ㸪㔜ᶵ࡜ࡢ᥋ゐࡸᣳࡲࢀ࡞࡝ࡢ⅏ᐖⓎ⏕ࡢせᅉ࡟ࡶ࡞ࡗ࡚࠸ࡿࠋࡲࡓ㸪࢔ࢫ࣋ࢫࢺ࡞࡝ࡢ᭷ᐖ≀㉁ࢆྵࡴᗫᲠ≀ࢆ㑅ูࡍࡿሙྜ࡟ࡣ㸪సᴗဨࡀ᭷ᐖ≀㉁࡟᭚㟢ࡍࡿᜍࢀࡸ㸪኱Ẽ࡬ࡢ㣕ᩓ㸪ࣜࢧ࢖ࢡࣝရ࡬ࡢΰධ࡞࡝ࡢၥ㢟ࡀ᫂ࡽ࠿࡟࡞ࡗ࡚ࡁ࡚࠸ࡿࠋ   ᮏ✏࡛ࡣ㸪ゎయᕤ஦࡟࠾ࡅࡿ㑅ูసᴗࡢຠ⋡໬ࡸᗫᲠ≀ฎ⌮ࢥࢫࢺࡢ๐ῶ㸪㑅ูసᴗࡸ᭷ᐖ≀㉁ฎ⌮ࡢᏳ඲ᛶྥୖ࡞࡝ࢆ┠ⓗ࡜ࡋ࡚㛤ⓎࡋࡓᘓタᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ඲యᴫせࢆ♧ࡍ࡜࡜ࡶ࡟㸪ᐇ㝿ࡢゎయ⌧ሙ࠿ࡽ᥇ྲྀࡋࡓᘓタᗫᲠ≀ࢆ⏝࠸࡚⾜ࡗࡓ㑅ู⢭ᗘ᳨ドᐇ㦂⤖ᯝ࡟ࡘ࠸࡚㏙࡭ࡿࠋࡉࡽ࡟㸪ࡇࡢࢩࢫࢸ࣒ࡀⓎ⏕ࡍࡿ㦁㡢㸪᣺ື࡞࡝࿘㎶⎔ቃ࡟୚࠼ࡿᙳ㡪࡟ࡘ࠸࡚ィࢆ⾜ࡗࡓ⤖ᯝࡸ㸪㑅ู⢭ᗘࡢྥୖ࡟ࡘ࠸᳨࡚ウࡋࡓෆᐜ࡟ࡘ࠸࡚㏙࡭ࡿࠋ㺕㺎㺺㺎㺢㺼㸸  ゎయᕤ஦㸪ᘓタ⣔ᗫᲠ≀㸪㑅ู㸪RT㸦Robot Technology㸧┠ ḟ㸸  ࡣࡌࡵ࡟                      㑅ู⢭ᗘྥୖ࡟ᑐࡍࡿ᳨ウ     ᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢᴫせ             ⎔ቃィ     ᗫᲠ≀ศูᶵᵓࡢᛶ⬟᳨ドᐇ㦂           ࠾ࢃࡾ࡟     ᗫᲠ≀ࢧࣥࣉࣝࢆ౑⏝ࡋࡓ㑅ู⢭ᗘ᳨ドᐇ㦂      ࡣࡌࡵ࡟ࡸ㸪㑅ู⢭ᗘྥୖ࡟ࡘ࠸᳨࡚ウࡋࡓෆᐜࢆ㏙࡭ࡿࠋ

㏆ᖺ㸪㒔ᕷ㒊࡟࠾ࡅࡿ෌㛤Ⓨ஦ᴗࡢቑຍࡸ㧗ᗘ⤒῭ᡂ㛗ᮇ࡟ᘓ࡚ࡽࢀࡓᘓ≀ࡢ᭦᪂᫬ᮇ࡞࡝ࡢ⌮⏤࠿ࡽゎయᕤ஦ࡀቑຍࡋ࡚࠸ࡿ 1㸧ࠋゎయ⌧ሙ࡛ࡣ㸪㌣యࢆ㔜ᶵ࡟ࡼࡗ࡚◚○ࡍࡿ㝿࡟Ⓨ⏕ࡍࡿ኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࠿ࡽ㕲➽ࡸ࢔࣑ࣝࢧࢵࢩ࡞࡝ࡢ㔠ᒓࡃࡎ㸪ᮌࡃࡎ㸪ࣉࣛࢫࢳࢵࢡᗫᮦ࡞࡝ࢆྍ⬟࡞㝈ࡾ㔜ᶵࡸேࡢᡭ࡟ࡼࡾศ㞳࣭ศูࡋ࡞ࡀࡽసᴗࢆ⾜ࡗ࡚࠸ࡿࠋࡋ࠿ࡋ㸪సᴗࡢᛶ㉁ୖࡸࡴࢆᚓࡎከ✀ከᵝࡢᗫᲠ≀ࡀΰࡌࡾྜ࠺஦ࡀ࠶ࡿࠋ኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࡟௚ࡢᗫᲠ≀ࡀΰධࡋࡓࡶࡢࢆ㑅ูࡍࡿࡓࡵ࡟ࡣከࡃࡢ᫬㛫࡜ປຊࢆᚲせ࡜ࡍࡿࡓࡵ୙ἲᢞᲠࡢせᅉ࡟ࡶ࡞ࡗ࡚࠸ࡿࠋࡲࡓ㸪㔜ᶵ࡜ࡢ᥋ゐࡸᣳࡲࢀ࡞࡝ࡢࣜࢫࢡࡀ࠶ࡾసᴗ⪅ࡢᏳ඲㠃ᅗ㸯 ᗫᲠ≀㑅ูࢩࢫࢸ࣒࡟ࡶㄢ㢟ࡀ࠶ࡿࠋ➹⪅ࡽࡣゎయసᴗࡢຠ⋡໬㸪Ᏻ඲ᛶྥୖ㸪ᗫᲠ≀ࣜ ᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢᴫせࢧ࢖ࢡࣝ⋡ࡢྥୖࢆ┠ⓗ࡜ࡋ࡚㸪ᗫᲠ≀ࡢ⏬ീ࠿ࡽᮦ㉁ุᐃࢆ⾜࠸㸪ᚓࡽࢀࡓุᐃ⤖ᯝࢆᇶ࡟⮬ື㑅ูࡍࡿ㛤ⓎࡋࡓᗫᲠ≀㑅ูࢩࢫࢸ࣒࡛ࡣ㸪ከ✀ከᵝ࡞ᗫᲠᘓタᗫᲠ≀㑅ูࢩࢫࢸ࣒㸦௨ୗ㸪ᗫᲠ≀㑅ูࢩࢫࢸ࣒㸪≀࡟ᑐᛂࡍࡿࡓࡵᆶ┤ከ㛵⠇ᆺࣟ࣎ࢵࢺ㸦௨ୗ㸪㑅ูᅗ㸯)ࡢ㛤Ⓨࢆ⾜ࡗ࡚࠸ࡿࠋࣟ࣎ࢵࢺ㸧ࢆ౑⏝ࡋ࡚ရ┠ẖ࡟㑅ูࢆ⾜࠺ࠋࡋ࠿ࡋ㸪ᮏ✏࡛ࡣ㸪㛤ⓎࡋࡓᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ඲యᴫせゎయ⌧ሙ࡛Ⓨ⏕ࡍࡿᗫᲠ≀ࢆຠ⋡ⓗ࡟㑅ูࡍࡿࡓࡵ࡟ࢆ♧ࡍ࡜࡜ࡶ࡟㸪ᐇ㝿ࡢゎయ⌧ሙ࠿ࡽ᥇ྲྀࡋࡓᗫᲠ≀ࡣ㸪ရ┠ẖ࡟㑅ูࡍࡿ๓࡟ᗫᲠ≀ࡢ኱༙ࢆ༨ࡵࡿࢥࣥࢆ⏝࠸࡚⾜ࡗࡓᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ㑅ู⢭ᗘ᳨ドᐇࢡ࣮ࣜࢺሢ࡜㸪ΰධࡋࡓ௚ࡢᗫᲠ≀࡬኱ࡲ࠿࡟ศูࡍ㦂⤖ᯝ࡟ࡘ࠸࡚㏙࡭ࡿࠋࡉࡽ࡟㸪ᐇ⏝໬࡟ྥࡅࡓྲྀ⤌ࡿᚲせࡀ࠶ࡿࠋࡑࡇ࡛㸪㑅ูࣟ࣎ࢵࢺ࡟ࡼࡿసᴗࡢ๓

ࡳ࡜ࡋ࡚ᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡀ࿘㎶⎔ቃ࡟୚࠼ࡿᙳ㡪ᕤ⛬࡜ࡋ࡚㸪☢ຊ㑅ูᶵࡸ࣮ࣟࣝࢫࢡ࣮ࣜࣥ࡞࡝ࡢ᪤

* 技術研究所 メカトロ Gᢏ⾡◊✲ᡤ࣓࢝ࢺࣟ *7373

東急建設技術研究所報 No.40

ᅗ㸰 ᗫᲠ≀㑅ูࢩࢫࢸ࣒ᴫせᏑ㑅ูᶵჾ࡟ࡼࡿศูࢆ⾜࠺ࢩࢫࢸ࣒ᵓᡂ࡜ࡋࡓ(ᅗ㸰)ࠋ
ᗫᲠ≀㑅ูࢩࢫࢸ࣒ୖ㒊ࡢᗫᲠ≀࣍ࢵࣃ࠿ࡽᢞධࡉᅗ㸱 ᘓタᗫᲠ≀ฎ⌮ࣇ࣮ࣟࢀࡓΰྜᗫᲠ≀ࡣ㸪☢ຊ㑅ูᶵࢆ㏻㐣ࡋ࡚㕲➽࡞࡝ࡢ㔠ᒓࢆྲྀࡾ㝖࠸ࡓᚋ㸪ഴᩳࢆࡘࡅ࡚タ⨨ࡉࢀࡓ࣮ࣟࣝ
ࢫࢡ࣮ࣜࣥ࡟ࡼࡗ࡚኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࡜㸪ΰධࡋࡓ௚ࡢᗫᲠ≀࡟኱ࡲ࠿࡟ศูࡉࢀࡿࠋ㐺ᗘ࡟ഴᩳࢆࡘ
ࡅࡓ࣮ࣟࣝࢫࢡ࣮ࣜࣥࢆ౑⏝ࡍࡿ஦࡛ẚ㍑ⓗ㉁㔞ࡀ኱ࡁࡃ㸪㌿ࡀࡾࡸࡍ࠸ᙧ≧ࡢࢥࣥࢡ࣮ࣜࢺሢࡣᗫᲠ≀㑅ูࢩࢫࢸ࣒➃㒊࠿ࡽ᤼ฟࡉࢀ㸪㉁㔞ࡀᑠࡉ࡞ᮌᮦࡸࣉࣛࢫࢳࢵࢡ࡞࡝ࡣᅇ㌿ࡍࡿ࣮ࣟࣛ࡟ࡼࡾ࣮ࣟࣝࢫࢡࣜ
࣮ࣥࡢୖ➃㒊࡟⛣㏦ࡉࢀ㑅ู⏝ࢥࣥ࣋࢔࡟᤼ฟࡉࢀࡿ㸦ᅗ㸱㸧ࠋࡇࡢ๓ᕤ⛬ࢆ⾜࠺஦࡟ࡼࡾ㕲࡞࡝ࡢẚ㍑ⓗ㉁ᅗ㸲 ࣟ࣎ࢵࢺࣅࢪࣙࣥࡢ࣓࢝ࣛ㔞ࡀ኱ࡁࡃࣟ࣎ࢵࢺ࡟ࡼࡿ㑅ูࡢᨭ㞀࡜࡞ࡿᗫᲠ≀ࢆ☜ᐇ࡟ྲྀࡾ㝖ࡁ㸪ゎయ⌧ሙ࠿ࡽⓎ⏕ࡍࡿᗫᲠ≀ࡢ୰࡛᭱ࡶ㔞ࡀከ࠸ࢥࣥࢡ࣮ࣜࢺሢࢆຠ⋡ⓗ࡟ศู࡛ࡁ㸪ࣟ࣎ࢵࢺ࡟ࡼࡿ㑅ูసᴗࡢ⢭ᗘྥୖࡀᮇᚅ࡛ࡁࡿࠋ௒ᅇ〇సࡋࡓᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ௙ᵝࢆ⾲ 1 ࡟♧ࡍࠋ࣮ࣟࣝࢫࢡ࣮ࣜࣥ࡟ࡼࡗ࡚ᢳฟࡉࢀࡓᗫᲠ≀ࡣ࣮ࣟࣝ≧ࡢࣈࣛࢩࢆ౑⏝ࡋ࡚㔜࡞ࡾࡀ↓࠸≧ែ࡛㑅ู⏝࣋ࣝࢺࢥࣥ࣋࢔࡟୪࡭ࡽࢀ㸪㑅ูࢥࣥ࣋࢔ࡢୖ㒊࡟タ⨨ࡋࡓࣟ࣎ࢵࢺࣅࢪࣙࣥࡢ࣓࢝ࣛ(ᅗ㸲)࡛᧜ᙳࡉࢀࡿࠋྲྀᚓࡋ ᅗ㸳 㑅ูࣟ࣎ࢵࢺࡓᗫᲠ≀ࡢ⏬ീ࠿ࡽᑐ㇟≀ࡢⰍ㸪ᙧ≧㸪⾲㠃㉁ឤࡢ᝟
ሗࢆྲྀᚓࡋ㸪ᗫᲠ≀ᮦ㉁ࡢุᐃ࡜㔜ᚰ఩⨨ࡢ᥎ᐃࢆ⾜ ࣟ࣎ࢵࢺࣅࢪࣙࣥ࠺ࠋᚓࡽࢀࡓุᐃ⤖ᯝ࡜఩⨨᝟ሗࢆᇶ࡟㸰ྎࡢ㑅ูࣟゎయ⌧ሙ࡛Ⓨ⏕ࡍࡿᘓタᗫᲠ≀ࡣ㸪ᙧ≧ࡸ኱ࡁࡉࡀ

࣎ࢵࢺ(ᅗ㸳)ࢆືసࡉࡏ࡚㸪࣋ࣝࢺࢥࣥ࣋࢔ୖࡢΰᅾࡍ

ከᵝ࡛࠶ࡿ(ᅗ㸴)ࡓࡵ᧜ᙳ⠊ᅖࢆ㉸࠼ࡿྍ⬟ᛶࡀ࠶ࡿࠋࡿᗫᲠ≀ࢆရ┠ẖࡢᅇ཰࣎ࢵࢡࢫ࡟㑅ูࡍࡿࠋࡑࡢࡓࡵ㸪4 ྎࡢ࢚ࣜ࢔࣓࢝ࣛࢆ᧜ᙳ⠊ᅖࡀ୍㒊㔜࡞࣮ࣟࣝࢫࢡ࣮ࣜࣥ࡟ࡼࡗ࡚ศูࡉࢀࡎ࡟ṧࡗࡓࢥࣥࡿࡼ࠺࡟㓄⨨ࡋ㸪⏬ീ᝟ሗࢆ⿵᏶ࡉࡏ㸪㑅ูࢥࣥ࣋࢔ࢡ࣮ࣜࢺሢࡀࣟ࣎ࢵࢺࣅࢪࣙࣥ࡟ࡼࡗ࡚ࢥࣥࢡ࣮ࣜࢺୖࡢᗫᲠ≀ࢆ୍ᐃ㛫㝸࡛᧜ᙳࡍࡿࠋྲྀᚓࡋࡓ⏬ീࡣᮦሢ࡜ุᐃࡉࢀࡓሙྜࡣ㸪㑅ูࣟ࣎ࢵࢺࢆ౑⏝ࡏࡎ࡟㑅㉁ุᐃ⏝ PC ࡟㏦ࡽࢀ㸪ᮦ㉁ุᐃฎ⌮ࢆ⾜࠸㸪ᚓࡽࢀูࢥࣥ࣋࢔ࡢ➃㒊࠿ࡽ᤼ฟࡉࢀࡿࠋ

ࡓᮦ㉁ุᐃ⤖ᯝࡣ㔜ᚰ఩⨨ᗙᶆ࡞࡝࡜ඹ࡟㑅ูࣟ࣎ࢵࢺࡢ㌶㐨ィ⏬࡟౑⏝ࡍࡿࠋᗫᲠ≀ุᐃ⏝ࣟ࣎ࢵࢺࣅࢪ⾲  㑅ูࢩࢫࢸ࣒௙ᵝᮏయᑍἲ㻌 㻔㼙㼙㻕㻌
ᮏయ㉁㔞㻌 㻔㼗㼓㻕㻌㻸㻌㻤㻘㻡㻜㻜㽢㻰㻌㻞㻘㻟㻡㻜㽢㻴㻌㻞㻘㻣㻜㻜㻌㻝㻞㻘㻡㻜㻜㻌ࣙࣥࡣ࣓࢝ࣛ⏬ീࡔࡅ࡛ᗫᲠ≀ࡢᮦ㉁ุᐃࢆ⾜࠺ࡓࡵ㸪㑅ูရ┠㻌㻌䝁䞁䜽䝸䞊䝖ሢ㻘㻌 㕲䛟䛪㻘㻌 ᮌ䛟䛪㻘㻌 㔠ᒓ䛟䛪䠄䜰䝹䝭䛺䛹䠅㻘㻌 ᗫ䝥䝷䝇䝏䝑䜽㻘㻌 䛭䛾௚㻌

㠃㉁ឤࡢྛࣃ࣓࣮ࣛࢱ࡟ࡼࡾุᐃࡉࢀࡓ⤖ᯝ࠾ࡼࡧ᮲㑅ูྍ⬟ᑍἲ㻌 㻔㼙㼙㻕㻌ฎ⌮㏿ᗘ㻔㼙㻟㻛㼔㻕㻌㻠㻜㻌䇵㻌㻟㻜㻜㻌㻝㻌䇵㻌㻟㻌࣋࢖ࢬ⌮ㄽ࡟ᇶ࡙ࡁ஦㇟࡟⊂❧ᛶࡢ࠶ࡿⰍ㸪ᙧ≧㸪⾲௳௜ࡁ☜⋡ࢆ⤫ྜࡋ㸪᭱⤊ⓗ࡞ᮦ㉁ࢆ᥎ᐃࡍࡿุᐃᡭ
ἲࢆ᥇⏝ࡍࡿࡇ࡜ุ࡛ᐃ⢭ᗘࡢྥୖࢆᅗࡗ࡚࠸ࡿ 2㸧3㸧
4㸧ࠋ74

東急建設技術研究所報 No.40

 ᅗ㸴 ゎయ⌧ሙ࡛Ⓨ⏕ࡍࡿᘓタᗫᲠ≀ ∎≧ࣁࣥࢻ

 㑅ูࣟ࣎ࢵࢺ

ཷືࢫࣛ࢖ࢲ㑅ูࢥࣥ࣋࢔ୖ࡟୪ࢇࡔࢥࣥࢡ࣮ࣜࢺሢ௨እࡢᗫᲠ≀ࡣ㸪㑅ูࣟ࣎ࢵࢺ࡟ࡼࡾရ┠ẖ࡟⏝ពࡉࢀࡓᅇ཰࣎

ࢵࢡࢫ࡟ᥙࡁฟࡉࢀࡿࠋ ྎࡢ㑅ูࣟ࣎ࢵࢺࢆసᴗ࢚ࣜ ᗫᲠ≀ศูᶵᵓࡢᛶ⬟᳨ドᐇ㦂ᅗ㸶 㑅ูࣟ࣎ࢵࢺ⏝࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ࢔ࡢ୍㒊ࡀ㔜࡞ࡿࡼ࠺࡟㑅ูࢥࣥ࣋࢔ࡢ୧ഃ㠃࡟㓄⨨㑅ูࣟ࣎ࢵࢺࡢ๓ᕤ⛬࡛኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࡜௚ࡋ㸪సᴗࢆඃඛࡍࡿࣟ࣎ࢵࢺࢆタᐃࡋࡓᖸ΅㜵Ṇ࢚ࣜࡢᗫᲠ≀ࢆศูࡉࡏࡿศูᶵᵓࡣ㸪㑅ูࣟ࣎ࢵࢺࡢ㑅࢔ࢆタࡅࡿᙧ࡛㑅ูࣟ࣎ࢵࢺࡢసᴗ࢚ࣜ࢔ࢆ༊ศࡋࡓࠋู⢭ᗘྥୖࡸ㈇ᢸ㍍ῶࢆ┠ⓗ࡜ࡋ࡚ᑟධࡋ࡚࠸ࡿࠋࡇ㑅ูࢥࣥ࣋࢔ୖ࡟୪ࢇࡔ」ᩘࡢᗫᲠ≀ࡢ㑅ู㡰఩ࢆࡢᶵᵓࡢࢥࣥࢡ࣮ࣜࢺሢ࡜㸪ΰධࡋࡓ௚ࡢᗫᲠ≀࡬኱Ỵᐃࡍࡿࣃ࣓࣮ࣛࢱ࡜ࡋ࡚ᗫᲠ≀ࡢရ┠㸪ᅇ཰࣎ࢵࢡࡲ࠿࡟ศูࡍࡿᛶ⬟᳨ドࢆᐇ᪋ࡋࡓࠋ

ࢫࡲ࡛ࡢ㊥㞳㸪ᤲᘬ⤒㊰㊥㞳ࢆồࡵ㸪ձ㑅ูࢥࣥ࣋࢔ ᛶ⬟᳨ドᐇ㦂࡛ࡣ㸪⌧ሙࡢᗫᲠ≀ࡢ≧ែ࡟㏆࡙ࡅࡿഃ㠃࡟㏆࠸ᗫᲠ≀㸪ղᅇ཰࣎ࢵࢡࢫࡲ࡛ࡢᤲᘬ㊥㞳ࡀࡓࡵ⣙  ੑࡢࢥࣥࢡ࣮ࣜࢺሢ㸦 ಶ㸧ࡢ୰࡟㸪ᙧ≧㸪▷࠸ᗫᲠ≀㸪ճᤲᘬ᫬ࡢᖸ΅ࢆ⪃៖ࡋ࡚ẚ㍑ⓗᑠࡉ࠸኱ࡁࡉࡢ␗࡞ࡿࢥࣥࢡ࣮ࣜࢺሢ௨እࡢ㸳ရ┠ࡢࢧࣥࣉᗫᲠ≀㸪ࡢ㡯┠㡰࡛㑅ู㡰఩ࢆỴᐃࡋ㸪㑅ูࣉࣛࣥࡢࣝ㸦㕲ࡃࡎ㸪࢔࣑ࣝࢽ࣒࢘㸪ᮌࡃࡎ㸪ᗫࣉࣛࢫࢳࢵࢡ㸪⟇ᐃࢆ⾜࠺ ᅗ㸵 ࠋ㑅ูࣟ࣎ࢵࢺࡀືసࡍࡿ㝿ࡣ㸪ᗫࢫ࣮ࣞࢺ࣮࣎ࢻ㸧ྛ  ಶࢆΰࡐྜࢃࡏ ᅗ㸷 㸪ᢞධ࣍Რ≀㑅ูࢆ☜ᐇ࡟⾜࠺ࡓࡵ㑅ูࢥࣥ࣋࢔ࢆ୍ᐃ㛫㝸࡛ࢵࣃ࡟ධࢀࡿࠋ㑅ูࢥࣥ࣋࢔ࡲ࡛ࡢฎ⌮ࣇ࣮ࣟ࡟ࡼࡗ೵Ṇࡉࡏ㸪㑅ู᏶஢ᚋ࡟㑅ูࢥࣥ࣋࢔ࢆ෌㉳ືࡉࡏࡿ࡚࣮ࣟࣝࢫࢡ࣮ࣜࣥࡢୖ➃࠾ࡼࡧୗ➃࠿ࡽ᤼ฟࡉࢀࡓ㛫Ḟ㐠㌿࡜ࡋࡓࠋࢧࣥࣉࣝᩘ࡜☢ຊ㑅ูᶵ࠿ࡽ᤼ฟࡉࢀࡓࢧࣥࣉࣝᩘࢆィᗫᲠ≀ࢆ㑅ูࡍࡿࡓࡵࡢ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ࡜ࡋ࡚ᢕࡋࡓࠋᐇ㦂ࡣྠ᮲௳࡛㸱ᅇᐇ᪋ࡋ㸪ศู⢭ᗘࢆồᣢࡸ྾╔࡞࡝ࡢᶵ⬟ࡀ⪃࠼ࡽࢀࡿࡀ㸪ᑐ㇟࡜ࡍࡿᗫᲠࡵࡓࠋ≀ࡢ኱ࡁࡉࡸᙧ≧ࡀከ✀ከᵝ࡛࠶ࡿࡓࡵ☜ᐇ࡟ᢕᣢࡸ ศูᶵᵓࡢᛶ⬟᳨ドᐇ㦂ࢆ⾜ࡗࡓ⤖ᯝ࡜ࡋ࡚㸪☢ຊ྾╔ࡍࡿࡇ࡜ࡀ㞴ࡋ࠸ࠋࡑࡇ࡛㸪ᗫᲠ≀㑅ูࢩࢫࢸ࣒㑅ูᶵ࡜࣮ࣟࣝࢫࢡ࣮ࣜࣥࡢୖ➃㸪ୗ➃࠿ࡽ᤼ฟࡉࢀࡢࣟ࣎ࢵࢺ࢔࣮࣒ඛ➃࡟ࡣᗫᲠ≀ࢆ࣋ࣝࢺࢥࣥ࣋࢔ୖࡓࢧࣥࣉࣝᩘࡢရ┠ࡈ࡜ࡢ㞟ィࢆ⾲㸰࡟♧ࡍࠋ㞟ィ⤖࠿ࡽᅇ཰࣎ࢵࢡࢫ࡟࣊ࣛ࡟ࡼࡗ࡚ᥙࡁⴠ࡜ࡍࠕᤲᘬࠖᯝ࠿ࡽồࡵࡓရ┠ࡈ࡜ࡢศู⋡ࢆᅗ㸯㸮࡟♧ࡍࠋ࡜㸪≀యࢆ᏶඲࡟ᢕᣢࡏࡎ࡟㸰ᮏࡢ∎≧ࣁࣥࢻ࡜ཷືࢫࣛ࢖ࢲ࡛ᢲࡉ࠼ࡘࡅ࡚ᤲᘬືసࢆ⿵ຓࡍࡿࡓࡵ࡟౑⏝ࡍࡿࠕಖᣢࠖࡢ୧ᶵ⬟ࢆ᭷ࡍࡿ࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ ᅗ㸶 ࡀྲྀࡾ௜ࡅࡽࢀ㸪ᮦ㉁ุᐃࡉࢀࡓᗫᲠ≀ࡢရ┠࡜ᙧ≧࡟ࡼࡗ࡚ᤲᘬࡶࡋࡃࡣᤲᘬ࡜ಖᣢࢆ⤌ࡳྜࡏࡓ㑅ูືసࢆ㑅ᢥࡍࡿࠋ ᅗ㸷 ΰྜࡋࡓᗫᲠ≀ࢧࣥࣉࣝ⾲㸰 ရ┠ࡈ࡜ࡢ᤼ฟࢧࣥࣉࣝᩘ
㻌䝁䞁䜽䝸䞊䝖ሢ㻌

75䜰䝹䝭䝙ᗫ䝥䝷䜴䝮㻌䝇䝏䝑䜽㻌ᮌ䛟䛪䝇䝺䞊䝖䝪䞊䝗㻌ᢞධᩘ㻠㻡㻜㻌㻥㻜㻌㻥㻜㻌㻥㻜㻌㻥㻜㻌㻥㻜㻌☢㑅ᶵ㻜㻌㻝㻞㻝㻌㻟㻞㻥㻌㻣㻥㻌㻝㻜㻌㻝㻌㻜㻌㻥㻜㻌㻜㻌㻝㻌㻤㻣㻌㻞㻌㻜㻌㻤㻤㻌㻞㻌㻜㻌㻤㻥㻌
㻝㻌

㻾㻿 ୖ➃
㻾㻿 ୗ➃

 ᅗ㸵 ࣟ࣎ࢵࢺࡢ㑅ู࢚ࣜ࢔࡜㌶㐨ィ⏬౛㕲䛟䛪㻌

東急建設技術研究所報 No.40

100

┠ᶆ㻥㻡䠂

90
80
┠ᶆ㻣㻜䠂

ศู⋡[pcs%]

70
60
50
40
30
20

 ᅗ㸯㸯 㑅ูࣟ࣎ࢵࢺ࡟ࡼࡿᗫᲠ≀㑅ู

100
㔠ᒓ䛟䛪

㕲䛟䛪

ᗫ䝥䝷䝇䝏䝑䜽
ᮌ䛟䛪ᗫᲠ≀ရ┠䛭䛾௚䝁䞁䜽䝸䞊䝖ሢ

98.9

100
91.1
90

 ᅗ㸯㸮 ศูᶵᵓࡢศู⋡8070
㑅ู⢭ᗘ[pcs%]

ᅗ㸯㸮࡟♧ࡋࡓᛶ⬟᳨ドᐇ㦂ࡢ⤖ᯝ࠿ࡽ㸪ศูᶵᵓ࡟
ࡼࡾࢥࣥࢡ࣮ࣜࢺሢ௨እࡢᘓタᗫᲠ≀ࡢ 㸣ࡀศูࡉࢀ㸪㸣ࡢࢥࣥࢡ࣮ࣜࢺሢࡀ࣮ࣟࣝࢫࢡ࣮ࣜࣥࡢ

65.6

67.8

65.6

70.0

60

┠ᶆ್ 㻢㻜䠂5040ୗ➃࠿ࡽ᤼ฟࡉࢀࡿ஦ࢆ☜ㄆࡋࡓࠋࡋ࠿ࡋ㸪⾲㸰࡟♧30ࡋࡓ⤖ᯝ࠿ࡽ☢ຊ㑅ูᶵ࡟ࡼࡗ࡚඲࡚ࡢ㔠ᒓࡃࡎ㸦㕲

2010ࡃࡎ㸧ࡀྲྀࡾ㝖࠿ࢀࡎ㸪☢ᛶࡢ↓࠸ᗫࣉࣛࢫࢳࢵࢡࡶ0㔠ᒓ䛟䛪ᢳฟࡉࢀ࡚࠸ࡿ஦ࡀࢃ࠿ࡿࠋࡇࢀࡣ㸪ࢦ࣒࣮࢝ࢸࣥࡢ㕲䛟䛪ᗫ䝥䝷䝇䝏䝑䜽ᮌ䛟䛪䛭䛾௚䝁䞁䜽䝸䞊䝖ሢᗫᲠ≀ရ┠ຠᯝࡀ༑ศ࡟ᚓࡽࢀࡎ㸪ᢞධࡉࢀࡓࢧࣥࣉࣝࡀ㔜࡞ࡾ ᅗ㸯㸰 㑅ูࢩࢫࢸ࣒ࡢ㑅ู⢭ᗘྜࡗࡓ≧ែ࡛౪⤥㔞ㄪᩚࢥࣥ࣋࢔࡟ࡼࡗ࡚ᦙ㏦ࡉࢀ࡚
࠸ࡿࡓࡵࡔ࡜⪃࠼ࡽࢀࡿࠋࡲࡓ㸪ẚ㍑ⓗ㍍㔞࡞ᗫࣉࣛ౑⏝ࡋࡓࠋᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢฎ⌮㏿ᗘࡀ  ੑK ┦ࢫࢳࢵࢡࡸᮌࡃࡎ㸪ࢫ࣮ࣞࢺᮦࡣ㸪ࡑࡢከࡃࡀ࣮ࣟࣝᙜ࡟࡞ࡿࡼ࠺⣙  ศ㛫࡛ P ࡢᗫᲠ≀ࢧࣥࣉࣝࢆ࣍ࢫࢡ࣮ࣜࣥୖ➃࡟᤼ฟࡉࢀࡓࡀ㸪࣮ࣟࣝࢫࢡ࣮ࣜࣥࡢࢵࣃ࡟ᢞධࡋ㸪ศูᶵᵓ࠾ࡼࡧ㑅ูࣟ࣎ࢵࢺ࡟ࡼࡗ࡚ୗ➃࡬㌿ࡀࡾⴠࡕࡿ኱㔞ࡢࢥࣥࢡ࣮ࣜࢺሢ࡟ᕳࡁ㎸ࡲ㑅ูࡉࢀࡓᗫᲠ≀ࡢಶᩘࢆィࢀࡿᙧ࡛ୗ➃࡟᤼ฟࡉࢀࡿࡶࡢࡶ 㹼㸣ࡢ๭ྜ࡛Ⓨ⏕ࡓࠋࡇࡢ㝿㸪࣮ࣟࣝࢫࢡ࣮ࣜࣥୗ➃࡜㑅ูࢥࣥ࣋࢔➃ࡋ࡚࠸ࡿࠋ㒊࠿ࡽ᤼ฟࡉࢀࡓࢥࣥࢡ࣮ࣜࢺሢ௨እࡢᗫᲠ≀ࡣ㑅ูࡍࡿᐇ㦂ࢆ㸱ᅇᐇ᪋ࡋࢆኻᩋࡋࡓࡶࡢ࡜ࡋ࡚ᢅ࠺ࠋ㑅ูࣟ࣎ࢵࢺ࡟ࡼࡿᗫᲠ㛤ⓎࡍࡿᗫᲠ≀㑅ูࢩࢫࢸ࣒࡟ࡼࡿ㸳✀㢮ࡢᘓタᗫࢩࢫࢸ࣒ࡢ㑅ู⢭ᗘࢆᅗ㸯㸰࡟♧ࡍࠋᲠ≀㑅ู⢭ᗘ┠ᶆࡣ㸪㑅ูࣟ࣎ࢵࢺࡸࣟ࣎ࢵࢺࣅࢪࣙࣥࡢᛶ⬟ࢆ⪃៖ࡋ࡚ 㸣௨ୖ࡟タᐃࡋࡓࠋࡇࢀࡣ⮬ࡽ㑅ู⢭ᗘ⤖ᯝ࠿ࡽᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡣ㑅ู⢭ᗘ┠タᐃࡋࡓᗫᲠ≀ရ┠ࢆỴᐃࡍࡿࣟ࣎ࢵࢺࣅࢪࣙࣥ༢యᶆ࡛࠶ࡿ 㸣௨ୖࡢ⢭ᗘ࡛ᗫᲠ≀㑅ูࡀྍ⬟࡛࠶ࡿ஦ࡢุᐃ⢭ᗘ┠ᶆ࡜㸪ྛရ┠࡟ᅇ཰ࡍࡿ㑅ูࣟ࣎ࢵࢺ༢ࢆ☜ㄆࡋࡓࠋᗫᲠ≀㑅ูࢩࢫࢸ࣒࡟࠾࠸࡚㑅ูࣟ࣎ࢵయࡢ㑅ู⢭ᗘ┠ᶆࡀඹ࡟ 㸣௨ୖ࡛࠶ࡿ஦ࡀᇶ࡟࡞ࡗࢺ࡛㑅ูࡉࢀࡿ㔠ᒓࡃࡎ㸦࢔࣑ࣝࢽ࣒࢘㸧㸪ᗫࣉࣛࢫࢳ࡚࠸ࡿࠋᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ㑅ู⢭ᗘ┠ᶆ࠿ࡽศูࢵࢡ㸪ᮌࡃࡎ㸪ࡑࡢ௚ࡢᗫᲠ≀ࡢᖹᆒ㑅ู⢭ᗘࡣᶵᵓ༢యࡢศู⢭ᗘ┠ᶆࡣྛရ┠ 㸣௨ୖ ࢥࣥࢡࣜ㸣࡛࠶ࡗࡓࠋࡋ࠿ࡋ㸪㸱ᅇࡢᐇ㦂ࢹ࣮ࢱࢆᖹᆒࡋ࣮ࢺሢ 㸣௨ୖ࡟タᐃࡉࢀ࡚࠸ࡿࡀ☢ຊ㑅ูᶵࡸ࣮ࣟࡓ್ࡣ඲࡚ࡢရ┠࡛┠ᶆ್ࢆ㉸࠼࡚࠸ࡿࡀ㸪㔠ᒓࡃࡎࣝࢫࢡ࣮ࣜࣥࢆ౑⏝ࡋࡓᶵᵓ࡟ࡼࡾ┠ᶆࡀ㐩ᡂ࡛ࡁࡿࡸᗫࣉࣛࢫࢳࢵࢡ㸪ᮌࡃࡎࡣ㑅ู⢭ᗘ࡟ࡤࡽࡘࡁࡀ኱஦ࡀ☜ㄆࡉࢀࡓࠋࡁࡃ㸪┠ᶆ್ࢆ㉸࠼࡞࠸ሙྜࡀ࠶ࡗࡓࠋ ᗫᲠ≀ࢧࣥࣉࣝࢆ౑⏝ࡋࡓ㑅ู⢭ᗘ᳨ドᐇ㦂㑅ู⢭ᗘྥୖ࡟ᑐࡍࡿ᳨ウᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡀ┠ᶆ࡜ࡋࡓ㑅ู⢭ᗘ 㸣௨ୖ㑅ู⢭ᗘࢆ᳨ドࡍࡿࡓࡵ࡟⾜ࡗࡓᐇ㦂࡛ࡣᗫᲠ≀ᙧ࡛ᗫᲠ≀㑅ูࡀྍ⬟࡛࠶ࡿ஦ࢆ☜ㄆࡍࡿࡓࡵ㸪ศูᶵ≧ࡸ㓄⨨ࡀ」㞧࡛࠶ࡿࡓࡵࣁࣥࢻ࡟ࡼࡿᢕᣢࢆኻᩋࡋᵓࡢᛶ⬟᳨ドᐇ㦂࡛౑⏝ࡋࡓᗫᲠ≀ࢧࣥࣉࣝ࡟ࡼࡿࢩ☜ᐇ࡟ᗫᲠ≀ࢆᅇ཰࡛ࡁ࡞࠸஦㇟ࡸ㸪ࣟ࣎ࢵࢺࣅࢪࣙࢫࢸ࣒඲యࡢ㑅ู⢭ᗘ᳨ドࢆ⾜ࡗࡓࠋࡇࡢᐇ㦂࡛౑⏝ࣥࡢㄗุᐃ࡟ࡼࡾྲྀࡾ㐪࠼ࡿ஦㇟ࡀⓎ⏕ࡋࡓࠋࡲࡓ㸪ࡋࡓᗫᲠ≀ࢧࣥࣉࣝࡣ㸪௨๓࡟⾜ࡗࡓゎయ⌧ሙ࡟࠾ࡅ㑅ูࣟ࣎ࢵࢺ࡟ࡼࡗ࡚ᅇ཰࣎ࢵࢡࢫ࡬ᥙࡁฟࡉࢀࡿ㝿ࡿᗫᲠ≀᤼ฟ㔞ㄪᰝࡢ⤖ᯝ 1㸧 ࡟ྜࢃࡏࢥࣥࢡ࣮ࣜࢺ࡟㸪௚ࡢᗫᲠ≀࡜᥋ゐࡋ࡚ᗫᲠ≀ࡢ఩⨨ࡀ⛣ືࡋ࡚ࡋ㸣㸪௚ࡢᗫᲠ≀ 㸣ࡢ๭ྜ࡜࡞ࡿࡼ࠺࡟㸪P ࡢࢥࡲ࠺ࢣ࣮ࢫࡸ㸪ࣁࣥࢻࡀᗫᲠ≀࡟஌ࡾୖࡆ㑅ู࡛ࡁ࡞ࣥࢡ࣮ࣜࢺሢ࡟ᮌࡃࡎ㸪㕲ࡃࡎ㸦㕲➽࡞࡝㸧㸪㔠ᒓࡃࡎ࠸ࢣ࣮ࢫࡶ࠶ࡾ㸪㑅ู⢭ᗘ࡟ࡤࡽࡘࡁࡀ⏕ࡌࡿせᅉ࡜㸦࢔࣑ࣝࢧࢵࢩ࡞࡝㸧㸪ᗫࣉࣛࢫࢳࢵࢡ㸦ሷࣅ⟶࡞࡝㸧㸪࡞ࡗ࡚࠸ࡿ஦ࡀศ࠿ࡗࡓࠋࡇࢀࡽࡢ㑅ู⢭ᗘపୗࡢせࢫ࣮ࣞࢺ࣮࣎ࢻ㸦ࡑࡢ௚㸧ࢆྛ  ಶΰධࡉࡏࡓࡶࡢࢆ

ᅉศᯒࢆ⾜ࡗࡓࠋ



76

東急建設技術研究所報 No.40

 㑅ูࣟ࣎ࢵࢺ
㑅ู⢭ᗘ᳨ドᐇ㦂࡟࠾ࡅࡿ㑅ูࣟ࣎ࢵࢺࡢືసグ㘓ࢆࡶ࡜࡟㸪㑅ู⢭ᗘపୗせᅉࡢศᯒࢆ⾜ࡗࡓ⤖ᯝ㸪୺࡞㑅ูኻᩋせᅉせᅉ࡜ࡋ࡚ḟࡢ㸵ࡘࢆᢳฟࡋࡓࠋణࡋ㸪ࡇࡇ࡛ࡣ㑅ูࣟ࣎ࢵࢺࡢືసࢆࡢࡳࢆ᳨ドࡍࡿࡓࡵ㸪ࣟ࣎ࢵࢺࣅࢪ
ࣙࣥ࡟ࡼࡿᮦ㉁ุᐃ⤖ᯝࡢ㛫㐪࠼ࡣせᅉ࡟ຍ࠼࡚࠸࡞
࠸ࠋձᕳ㎸ࡲࢀ㸸௚ࡢᑐ㇟≀ࡢ㑅ูືస࡟ࡼࡗ࡚㸪␗࡞ࡿ

㐓⬺

0.7

㞀ᐖ≀

0.9

䛪䜙䛥䜜

1.3

஌㉺䛘

1.3

ᢕᣢ㐓⬺

1.6

஌ୖ䛢

1.6

ᕳ㎸䜎䜜

ရ┠ࡢᅇ཰࣎ࢵࢡࢫ࡟ࡲ࡜ࡵ࡚ᅇ཰ࡉࢀࡓ

8.4

051015㑅ูኻᩋ⋡ [pcs%]

ղ஌ୖࡆ㸸࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡀᗫᲠ≀࡟஌ୖࡆᅇ཰࡛ ᅗ㸯㸱 㑅ูኻᩋせᅉࡈ࡜ࡢኻᩋ⋡

ࡁ࡞࠸
100

ճᢕᣢ㐓⬺㸸ᢕᣢ࡟ኻᩋࡋᤲᘬ᫬࡟ᑐ㇟≀ࡀᕥྑ࡟90.91

93.94

9080

մ஌㉺࠼㸸ᤲᘬ᫬࡟࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࡀഴࡁᗫᲠ≀ୖ

70

ุᐃ⢭ᗘ[pcs%]

㐓ࢀࡓࢆࣁࣥࢻࡀ㏻㐣ࡋࡓյࡎࡽࡉࢀ㸸௚ࡢᑐ㇟≀ࡢ㑅ูືస᫬࡟᥋ゐࡋ㸪ᗫᲠ83.87

89.66 93.10
89.66

78.79

⌧ᡭἲᩍᖌ䛺䛧(ISODATA)ᩍᖌ௜䛝74.19
67.74

64.52

61.29
58.06

60
50

43.75

40≀ࡢ఩⨨ࡸྥࡁࡀ⛣ືࡋࡓ30ն㞀ᐖ≀㸸⤒㊰ୖࡢ≀࡟ࣁࣥࢻࡢࢶ࣓ࡀ᥋ゐࡋ㸪ᢕᣢ

20

25.00
25.00

10࡟ኻᩋࡋࡓ

0䝁䞁䜽䝸䞊䝖ሢշ㐓⬺㸸┤⥺ᢲࡋᤲᘬືస୰࡟ᑐ㇟≀ࡀᕥྑ࡟㐓ࢀࡓᮌ䛟䛪䜰䝹䝭䝙䜴䝮

ᗫ䝥䝷䝇䝏䝑䜽

䝇䝺䞊䝖䝪䞊䝗

ᗫᲠ≀ရ┠ࡇࢀࡽ㸵ࡘࡢせᅉࡀ㉳ࡇࡗࡓᅇᩘࢆグ㘓ࡋ㸪ᢞධࡋ ᅗ㸯㸲 ࣋࢖ࢬᨵゞ࡟ࡼࡿ⢭ᗘ᳨ド⤖ᯝࡓಶᩘ࡛๭ࡗࡓ್ࢆ㑅ูኻᩋ⋡࡜ᐃ⩏ࡋ㸪ࡑࡢ⤖ᯝࢆᅗ㸯㸱࡟♧ࡍࠋ㑅ูࣟ࣎ࢵࢺࡢ㑅ูືసࢆ㉳ᅉ࡜ࡍࡿࢥࣥࢡ࣮ࣜࢺሢ࢔࣑ࣝࢽ࣒࢘㸪ᮌࡃࡎ㸪ᗫࣉࣛࢫࢳࢵ

㑅ูኻᩋࡣ 㸣ࡢ๭ྜ࡛Ⓨ⏕ࡋ㸪ࡑࡢ୰࡛ࡶࠕᕳࡁ

ࢡ㸪ࢫ࣮ࣞࢺ࣮࣎ࢻྛ  ಶࢆ᧜ᙳࡋࡓ⏬ീ࠿ࡽᮦ㉁ุ

㎸ࡲࢀࠖ࡟ࡼࡿ㑅ูኻᩋࡀ᭱ࡶ㧗࠸๭ྜ࡛㉳ࡇࡗ࡚࠸ᐃࢆ⾜ࡗࡓࠋձ ⏬ീ࠿ࡽྲྀᚓࡋࡓⰍ᝟ሗࢆᮦ㉁ุᐃ⤖ᯝࡢ࡞࠸ࡿࡇ࡜ࡀ☜ㄆࡉࢀࡓࠋ

ࠕᩍᖌ࡞ࡋࠖࢹ࣮ࢱ࡜ࡋ࡚ ,62'$7$ ἲ࡟ࡼࡾⰍཎ

Ⅼࢆಟṇ ࣟ࣎ࢵࢺࣅࢪࣙࣥղ Ⰽ㸪⾲㠃㉁ឤ㸪ᙧ≧࠿ࡽุᐃࡋࡓᮦ㉁ࢆࡶ࡜࡟

ᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ࣋࢖ࢬ⌮ㄽ࡟ࡼࡿᗫᲠ≀ᮦ㉁ࠕᩍᖌ௜ࡁࠖࢹ࣮ࢱ࡜ࡋ࡚ⰍཎⅬࢆಟṇุᐃ࡛ࡣ㸪஦๓☜❧ࢆゎయ⌧ሙ࠿ࡽ᤼ฟࡉࢀࡿᗫᲠ≀๭ྜࡸ㑅ู┠ᶆ࠿ࡽồࡵ࡚࠸ࡿࠋࡲࡓ㸪ྛุᐃࣃ࣓ࣛศᕸࢆᨵゞࡍࡿࡓࡵ࡟౑⏝ࡍࡿᏛ⩦ࢹ࣮ࢱࡣ㸪ุᐃ࣮ࢱ࡟࠾ࡅࡿᑬᗘࡣ㸪ᐇ㦂࠿ࡽồࡵࡓⰍᕪ㊥㞳ࡸ᫂ᗘࢆ⾜࠺ᗫᲠ≀࡜␗࡞ࡿࡀ㸪ྠࡌゎయ⌧ሙ࠿ࡽ᥇ྲྀࡋࡓᕪࡢศᩓ㸪࢔ࢫ࣌ࢡࢺẚ㸪㠃✚ẚ࡟ࡼࡗ࡚タᐃࡍࡿࠋᗫᲠ≀ࢆࣟ࣎ࢵࢺࣅࢪ࡛ࣙࣥ᧜ᙳࡋࡓ⏬ീ࠿ࡽᚓࡓࠋ

 ⾲㠃㉁ឤ࡜ᙧ≧ࡢᑬᗘࡣࡑࢀࡒࢀࡢࣃ࣓࣮ࣛࢱ࡛ᚓ

Ⰽ࡟ࡼࡿᮦ㉁ุᐃ⤖ᯝࢆᅗ㸯㸲࡟♧ࡍࠋࡽࢀࡓࠕࡊࡽࡊࡽ࣭ࡘࡿࡘࡿࠖࡸࠕ㛗࠸࣭ᅄゅ࠸ࠖ࡞ᗫᲠ≀㑅ูࢩࢫࢸ࣒ືస᫬࡟ྲྀᚓࡋࡓᗫᲠ≀ࡢⰍ᝟࡝ࡢุᐃ⤖ᯝ࡟ᐇ㦂࡛ᚓࡽࢀࡓᐃᩘࢆタᐃࡋࡓࡶࡢ࡛

ሗ࡟ࡼࡗ࡚ᮦ㉁ุᐃ᫬ࡢⰍཎⅬࢆᨵゞࡋࡓሙྜ㸪Ⰽ᝟࠶ࡿࠋⰍࡢᑬᗘࡣᐇ㦂࡛ᚓࡽࢀࡓྛᮦ㉁ࡢⰍཎⅬ࡜ሗࢆࠕᩍᖌ࡞ࡋࠖࢹ࣮ࢱ࡜ࡋ࡚ᢅ࠺ ,62'$7$ ἲ࡛ࡣ࢔㑅ูᑐ㇟≀ࡢⰍᕪ㊥㞳࠿ࡽ๭ࡾᙜ࡚ࡽࢀࡿኚᩘ࡜ࡋ࡚࣑ࣝࢽ࣒࢘ࡢุᐃ⢭ᗘࡀ 㸣ྥୖࡋࡓࡶࡢࡢ㸪௚ࡢᗫ࠸ࡿࠋᗫᲠ≀ࡢ⾲㠃㉁ឤࡸᙧ≧ࡣᵓ㐀≀ࡢ✀㢮ࡸᩓỈᲠ≀࡟⢭ᗘྥୖࡣぢࡽࢀ࡞࠿ࡗࡓࠋࡋ࠿ࡋ㸪ᮦ㉁ุᐃ

࡞࡝ࡢసᴗ⎔ቃ࡟ࡼࡗ࡚኱ࡁࡃኚ໬ࡍࡿ஦ࡣ࡞࠸ࠋࡋ

⤖ᯝࢆࡶ࡜࡟ⰍཎⅬࢆᨵゞࡍࡿᡭἲ࡟࠾࠸࡚ࡣ㸪ࢫࣞ࠿ࡋ㸪ᗫᲠ≀ࡢⰍࡣ⤥Ỉ࡟ࡼࡿⰍࡢኚ໬ࡸ౑⏝ࡉࢀ࡚࣮ࢺ࣮࣎ࢻࡀ 㸣⢭ᗘపୗࡋࡓࡶࡢࡢ㸪㌺୪ࡳⰍ࡟ࡼࡿ࠸ࡿᘓᮦ࡞࡝࡟ࡼࡗ࡚ኚ໬ࡍࡿࠋ⌧ᅾࡢᗫᲠ≀㑅ูࢩᮦ㉁ุᐃ⢭ᗘࡀྥୖࡋࡓࠋࡇࢀࡣ㸪Ⰽࡔࡅ࡛࡞ࡃ⾲㠃ࢫࢸ࣒࡟࠾࠸࡚ࡶ⎔ቃࡢኚ໬ࡸゎయ⌧ሙࡢഴྥ࡟ࣟ࣎

㉁ឤࡸᙧ≧࡞࡝ࡢࢹ࣮ࢱࢆ⤫ྜࡍࡿ஦࡛㸪ᮦ㉁ุᐃࡢ

ࢵࢺࣅࢪࣙࣥࡀ㏣ᚑ࡛ࡁࡎุᐃ⢭ᗘࡀపୗࡍࡿࠋ⢭ᗘࡀ㧗ࡲࡿຠᯝࢆ㸪Ⰽ࡟ࡼࡿุᐃ࡟ࣇ࢕࣮ࢻࣂࢵࢡ
ࡋࡓ஦ࡀせᅉࡔ࡜⪃࠼ࡽࢀࡿࠋ

/ D E ⾲Ⰽ⣔࡟࠾ࡅࡿྛᗫᲠ≀Ⰽࡢศᕸ࠿ࡽᑬᗘኚᩘࢆỴᐃࡋ࡚࠸ࡿ⌧ᅾࡢᡭἲ࡟ᗫᲠ≀㑅ูࢩࢫࢸ࣒࡟ᢞධࡉࢀࡓᗫᲠ≀ࡢࢹ࣮ࢱ࡟ࡼࡗ࡚ศᕸࢆᨵゞࡍࡿ஦ ⎔ቃィᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡀ⌧ሙ࡛౑⏝ࡉࢀࡿሙྜ㸪ᩜᆅ࡛Ⰽ࡟ࡼࡿᮦ㉁ุᐃ⢭ᗘࡀྥୖྍ⬟࡛࠶ࡿ࠿ࡢᐇ㦂ࢆቃ⏺࠿ࡽ࡝ࡢ⛬ᗘࡢ㞳㝸㊥㞳ࢆྲྀࢀࡤ㦁㡢㸪᣺ືࡢつ⾜ࡗࡓࠋไ್ࢆ‶ࡓࡋ㸪౑⏝ྍ⬟࡜࡞ࡿࡢ࠿ࢆ☜ㄆࡍࡿࡓࡵ㸪ᐇ㦂࡛ࡣ⌧ᅾࡢᡭἲ࡟ຍ࠼௨ୗࡢ஧ࡘࡢ᪉ἲ࡟ࡼࡾ77東急建設技術研究所報 No.40

⾲㸱 ィᗫᲠ≀ࡢᢞධࡶྵࡵࡓ⌧≧ࡢᗫᲠ≀㑅ูࢩࢫࢸ࣒✌ാഛ⪃⾲㸱ࡢ㸱ࣃࢱ࣮࡛ࣥ⾜ࡗࡓࠋࣃࢱ࣮ࣥ$ࢥࣥࢡ࣮ࣜࢺ㸩௚ࡢᗫᲠ≀㦁㡢ࣞ࣋ࣝ㸪᣺ືࣞ࣋ࣝࡢࣃࢱ࣮ࣥ%

ࢥࣥࢡ࣮ࣜࢺࡢࡳࣃࢱ࣮ࣥ&ᬯ㦁㡢࣭ᬯ᣺ືᐃ㊥㞳
PPPᘧ  ࡼࡾồࡵࡓண

Ⅼࡢ᣺ືࣞ࣋ࣝࡣ㸪᣺ືⓎ⏕※ᐃࡋࡓࠋィࡣᐃ⤖ᯝ࠿ࡽࡑࢀࡒࢀࡢ

Ⓨ⏕※ࡢࣃ࣮࣡ࣞ࣋ࣝࢆ⟬ฟࡋ㸪ᐇ㝿࡟⌧ሙ࡟ᗫᲠ≀㑅ูࢩࢫࢸ࣒ࢆタ⨨ࡋࡓሙྜࡢᩜᆅቃ⏺࡟࠾ࡅࡿ㦁㡢ࣃࢱ࣮ࣥࣃࢱ࣮ࣥ

ᗫᲠ≀ᢞධ᮲௳᫬ࡢ㦁㡢ࣞ࣋ࣝ࠾ࡼࡧ᣺ືࣞ࣋ࣝࢆ

ィࡍࡿࠋ࡞࠾㸪ホ౯࡟ࡣ㦁㡢࠿ࡽ OP ࡢ㊥㞳࡛ࡶ᣺ືつไἲ࡟࠾ࡅࡿ≉ᐃᘓタసᴗࡢつไἲ㸪᣺ືつไἲ࡟ᇶ࡙ࡁ㸪㦁㡢ࣞ࣋ࣝࡣ / ್㸪᣺ᩜᆅቃ⏺ࡢつไ್௨ୗ࡛࠶ࡗࡓࠋࡇࡢࡇ࡜࠿ࡽᩜᆅቃ

ືࣞ࣋ࣝࡣ / ್࡛ホ౯ࢆ⾜ࡗࡓࠋ⏺┤㏆࡛ࡶၥ㢟࡞࠸࡜⪃࠼ࡽࢀࡿࡀ㸪௒ᅇィϸ㸬㦁㡢ࣞ࣋ࣝ࡟ࡘ࠸࡚ࡢホ౯┙㠃ࡣࢥࣥࢡ࣮ࣜࢺ࡛࠶ࡿࡓࡵ㸪ᐇ⌧ሙ࡛౑⏝ࡍࡿሙࣞ࣋ࣝ㸪᣺ືࣞ࣋ࣝࢆண㡢※࠿ࡽࡋࡓᆅྜࡣᆅ┙ῶ⾶ࢆ༑ศ࡟⪃៖ࡍࡿᚲせࡀ࠶ࡿࠋᐃ㊥㞳ࡀ P ࡢᆅⅬ࡟࠾ࡅࡿ / ್ࡣ G% ࡛࠶ࡗࡓࠋࡇࡢ್ࢆ 63/ ࡜ࡋ࡚㸪㦁㡢ࣞ࣋ࣝࡢண ࡲ࡜ࡵィ⟬ࡢᘧࡣ௨ୗࡢࡼ࠺࡟࡞ࡿࠋ

102 . 0  20 log r  8       (1)

㏆ᖺ㸪ቑຍഴྥ࡟࠶ࡿᘓ≀ࡀᐦ㞟ࡍࡿ㒔ᕷ㒊࡛ࡢゎࡓࡔࡋ 63/ཷ㡢Ⅼ࡛ࡢ㡢ᅽࣞ࣋ࣝ G% 㸪U㡢※࡜ཷయᕤ஦࡟ᑐᛂࡍࡿࡓࡵ࡟㸪᪤Ꮡᢏ⾡࡛࠶ࡿ☢ຊ㑅ูᶵ

SPLࡸ࣮ࣟࣝࢫࢡ࣮ࣜࣥ࡞࡝ࡢ㑅ูᶵჾ࡜⏘ᴗ⏝ࣟ࣎ࢵࢺ

㡢Ⅼࡢ㊥㞳 P 㸪࡛࠶ࡿࠋᘧ㸦㸧ࡼࡾ㦁㡢つไἲ࡟࠾ࡅࡿ≉ᐃᘓタసᴗࡢᩜᆅࢆ⤌ࡳྜࡏ㸪ᗫᲠ≀㑅ูࢩࢫࢸ࣒ࢆ㛤Ⓨࡋࡓࠋࣟ࣎ࢵቃ⏺ࡢつไ್ࢆ‶㊊ࡍࡿࡓࡵ࡟ᚲせ࡞㡢※࠿ࡽᩜᆅቃࢺ࢔࣮࣒ࢆ౑⏝ࡋࡓᗫᲠ≀㑅ูࢩࢫࢸ࣒࡟ࡼࡾ㸪ࡇࢀ⏺ࡲ࡛ࡢ㊥㞳 U ࡣ P ௨ୖ࡜࡞ࡿࠋࡲ࡛ேࡢᡭ࡛⾜ࡗ࡚ࡁࡓ㑅ูసᴗࢆ⮬ື໬࡛ࡁࡿࡓࡵ㸪Ϲ㸬᣺ືࣞ࣋ࣝ࡟ࡘ࠸࡚ࡢホ౯ゎయᕤ஦ࡔࡅ࡛࡞ࡃ୰㛫ฎ⌮᪋タ࡟࠾ࡅࡿసᴗࡢຠ⋡໬ࡸࢥࢫࢺ๐ῶࡀᮇᚅࡉࢀ࡚࠸ࡿࠋࡲࡓ㸪௒ᚋⓎ⏕ࡀᐃ㊥㞳ࡀ P ࡢᆅⅬ࡟࠾ࡅࡿ / ್ࡣ  G% ࡛࠶ࡗࡓࠋࡇࡢ್ࢆᇶ‽Ⅼ࡜ࡋ࡚㸪᣺ືࣞ࣋ࣝணணィ⟬ࡢᘧࡣ௨ୗࡢࡼ࠺࡟࡞ࡿࠋLvrࡉࢀ࡚࠸ࡿ㤳㒔ᅪ┤ୗᆺᆅ㟈ࡸᾏእ࡛ࡢὠἼ⿕ᐖ࡞࡝࡟ࡶ᭷⏝࡞ᇶ┙ᢏ⾡࡜࡞ࡿࡼ࠺ฎ⌮㏿ᗘࡸ㑅ู⢭ᗘࡢྥୖ࡟ࡼࡗ࡚᭦࡟ᐇ⏝ᛶࢆ㧗ࡵࡿᚲせࡀ࠶ࡿࠋ࡞

55 . 0  15 log r  8 . 68 D ( r  1)   (2)࠾㸪ᮏ◊✲㛤Ⓨࡣ㸪⎔ቃ┬⎔ቃ◊✲⥲ྜ᥎㐍㈝⿵ຓ஦

ࡓࡔࡋ /YUཷ㡢Ⅼ࡛ࡢ᣺ືࣞ࣋ࣝ G% 㸪U᣺ືⓎ⏕ᴗ࡟ࡼࡾᐇ᪋ࡋࡓࡶࡢ࡛࠶ࡿࠋ※࡜ཷ㡢Ⅼࡢ㊥㞳㸦P㸧㸪Șᆅ┙ῶ⾶ᐃᩘ࡛࠶ࡿࠋཧ⪃ᩥ⊩

1㸧୰ᮧ⪽, ᚋஂ༟ဢ㸪ᰗཎዲᏕ ௚ 2 ྡ㸪͆ᘓ≀ゎయ⌧ሙ࡟࠾ࡅࡿᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ㛤Ⓨ͇㸪➨ 26 ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍Ꮫ⾡ㅮ₇఍,2D2-01 , 2008.
2㸧୰ᮧ⪽㸪ᚋஂ༟ဢ㸪ᘓタ⣔⏘ᴗᗫᲠ≀㑅ูࡢせ⣲ᢏ⾡◊✲㸦ࡑࡢ㸰㸧㸪ᮾᛴᘓタᢏ⾡◊✲ᡤሗ No. 34㸪pp. 43-46㸪2009.
3㸧୰ᮧ⪽, ୖ㔝㝯㞝 ௚ 2 ྡ㸪͆ᘓタ⣔⏘ᴗᗫᲠ≀㑅ูࢩࢫࢸ࣒ࡢ⢭ᗘ᳨ド࡜ᐇ⏝໬࡟ྥࡅࡓㄢ㢟͇㸪➨ 29 ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍Ꮫ⾡ㅮ
₇఍, 1B3-2 , 2011.
4㸧Takuya Gokyuu, Satoru Nakamura and Takao Ueno, “Sorting system for Recycling of Construction Byproducts with Bayes’ Theorem-Based
Robot Vision ” , J. of Robotics and Mechatronics (JRM), Vol. 23, No. 6, pp. 1066-1072, 2011.

SORTING SYSTEM FOR RECYCLING OF CONSTRUCTION BYPRODUCTS
WITH ROBOT TECNOROGY㸦PART2㸧
S.Nakamura, D.Inoue, and Y.Yanagihara
In demolition sites, the construction byproducts are selected as much as possible from the construction wastes by mankind
or heavy machines. However, wide variety of the construction wastes are mixed which is not able to avoid because of thenature of the demolition work. Even requires lot of time and effort to selection work of the mixed waste by mankind, there isa problem to avoid risks for workers due to risk of accidental contact with the heavy machines, and exposure to hazardous
substances. The purpose of this project is development of the sorting system for construction byproducts .How efficiently
demolition work can be achieved is through automation with safety improvement, improvement of recycling rate of the waste
in the demolition work. The goal of this project is to use disaster waste sorting and intermediate treatment facilities
practically in demolition work, also improvement of the sorting speed in the future.

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