{"id":11213,"date":"2026-04-09T22:36:38","date_gmt":"2026-04-09T14:36:38","guid":{"rendered":"https:\/\/www.archimetric.com\/ja\/state-machine-diagram-drone-control-logic-case-study\/"},"modified":"2026-04-09T22:36:38","modified_gmt":"2026-04-09T14:36:38","slug":"state-machine-diagram-drone-control-logic-case-study","status":"publish","type":"post","link":"https:\/\/www.archimetric.com\/ja\/state-machine-diagram-drone-control-logic-case-study\/","title":{"rendered":"\u30b9\u30c6\u30fc\u30c8\u30de\u30b7\u30f3\u56f3\u306e\u4e8b\u4f8b\u7814\u7a76\uff1a\u30c9\u30ed\u30fc\u30f3\u5236\u5fa1\u8ad6\u7406\u8a2d\u8a08\u306e\u5b9f\u4e16\u754c\u4f8b"},"content":{"rendered":"<p>\u7d44\u307f\u8fbc\u307f\u30b7\u30b9\u30c6\u30e0\u304a\u3088\u3073\u81ea\u5f8b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u5206\u91ce\u3067\u306f\u3001\u8907\u96d1\u306a\u632f\u308b\u821e\u3044\u3092\u7ba1\u7406\u3059\u308b\u306b\u306f\u5358\u7d14\u306a\u6761\u4ef6\u5206\u5c90\u6587\u4ee5\u4e0a\u306e\u3082\u306e\u304c\u5fc5\u8981\u3067\u3059\u3002\u660e\u78ba\u306b\u5b9a\u7fa9\u3055\u308c\u305f\u30b9\u30c6\u30fc\u30c8\u30de\u30b7\u30f3\u56f3\u306f\u3001\u30b7\u30b9\u30c6\u30e0\u306e\u52d5\u7684\u632f\u308b\u821e\u3044\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\u69cb\u9020\u7684\u306a\u30a2\u30d7\u30ed\u30fc\u30c1\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002\u3053\u306e\u30ac\u30a4\u30c9\u3067\u306f\u3001UML\u30b9\u30c6\u30fc\u30c8\u30de\u30b7\u30f3\u306e\u539f\u5247\u3092\u7528\u3044\u3066\u81ea\u5f8b\u30c9\u30ed\u30fc\u30f3\u306e\u5236\u5fa1\u8ad6\u7406\u306e\u8a2d\u8a08\u306b\u7126\u70b9\u3092\u5f53\u3066\u305f\u5305\u62ec\u7684\u306a\u4e8b\u4f8b\u7814\u7a76\u3092\u63d0\u793a\u3057\u307e\u3059\u3002\u72b6\u614b\u306e\u5b9a\u7fa9\u3001\u9077\u79fb\u306e\u7ba1\u7406\u3001\u30a4\u30d9\u30f3\u30c8\u306e\u51e6\u7406\u3001\u73fe\u5b9f\u4e16\u754c\u306e\u5236\u7d04\u4e0b\u3067\u3082\u5805\u7262\u306a\u52d5\u4f5c\u3092\u78ba\u4fdd\u3059\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u63a2\u6c42\u3057\u307e\u3059\u3002<\/p>\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter\"><img alt=\"Child's drawing style infographic illustrating a UML state machine diagram for autonomous drone control logic, showing 9 core states (IDLE, ARMED, TAKING_OFF, HOVERING, NAVIGATING, RETURNING_HOME, LANDING, EMERGENCY_LANDING, ERROR) connected by colorful crayon arrows with event triggers like ARM_COMMAND, BATTERY_LOW, and MOTOR_FAILURE, plus guard conditions and actions for embedded systems design education\" decoding=\"async\" src=\"https:\/\/www.archimetric.com\/wp-content\/uploads\/2026\/04\/drone-state-machine-diagram-infographic-childs-drawing.jpg\"\/><\/figure>\n<\/div>\n<h2>UML\u306b\u304a\u3051\u308b\u30b9\u30c6\u30fc\u30c8\u30de\u30b7\u30f3\u56f3\u306e\u7406\u89e3 \ud83d\udcd0<\/h2>\n<p>\u30b9\u30c6\u30fc\u30c8\u30de\u30b7\u30f3\u56f3\u306f\u3001UML 2.0\u3067\u306f\u3057\u3070\u3057\u3070\u30b9\u30c6\u30fc\u30c8\u30c1\u30e3\u30fc\u30c8\u56f3\u3068\u547c\u3070\u308c\u308b\u3082\u306e\u3067\u3001\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u307e\u305f\u306f\u30b7\u30b9\u30c6\u30e0\u306e\u96e2\u6563\u7684\u306a\u72b6\u614b\u304a\u3088\u3073\u305d\u308c\u3089\u306e\u72b6\u614b\u9593\u306e\u9077\u79fb\u3092\u8868\u3057\u307e\u3059\u3002\u9759\u7684\u306a\u30af\u30e9\u30b9\u56f3\u3068\u306f\u7570\u306a\u308a\u3001\u3053\u306e\u30e2\u30c7\u30eb\u306f\u30b7\u30b9\u30c6\u30e0\u306e\u6642\u9593\u7684\u632f\u308b\u821e\u3044\u3092\u6349\u3048\u307e\u3059\u3002\u51fa\u529b\u304c\u73fe\u5728\u306e\u72b6\u614b\u3068\u5230\u7740\u3059\u308b\u30a4\u30d9\u30f3\u30c8\u306b\u4f9d\u5b58\u3059\u308b\u53cd\u5fdc\u578b\u30b7\u30b9\u30c6\u30e0\u306b\u304a\u3044\u3066\u7279\u306b\u6709\u7528\u3067\u3059\u3002<\/p>\n<p>\u4e3b\u306a\u69cb\u6210\u8981\u7d20\u306b\u306f\u4ee5\u4e0b\u304c\u542b\u307e\u308c\u307e\u3059\uff1a<\/p>\n<ul>\n<li><strong>\u72b6\u614b\uff1a<\/strong>\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u5bff\u547d\u4e2d\u306b\u3001\u3042\u308b\u6761\u4ef6\u3092\u6e80\u305f\u3059\u3001\u3042\u308b\u6d3b\u52d5\u3092\u5b9f\u884c\u3059\u308b\u3001\u307e\u305f\u306f\u3042\u308b\u30a4\u30d9\u30f3\u30c8\u3092\u5f85\u3064\u72b6\u614b\u3002<\/li>\n<li><strong>\u9077\u79fb\uff1a<\/strong>2\u3064\u306e\u72b6\u614b\u306e\u9593\u306e\u95a2\u4fc2\u3067\u3001\u7279\u5b9a\u306e\u30a4\u30d9\u30f3\u30c8\u304c\u767a\u751f\u3057\u3001\u7279\u5b9a\u306e\u6761\u4ef6\u304c\u6e80\u305f\u3055\u308c\u305f\u3068\u304d\u306b\u3001\u6700\u521d\u306e\u72b6\u614b\u306b\u3042\u308b\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u304c2\u756a\u76ee\u306e\u72b6\u614b\u306b\u79fb\u52d5\u3059\u308b\u3053\u3068\u3092\u793a\u3059\u3002<\/li>\n<li><strong>\u30a4\u30d9\u30f3\u30c8\uff1a<\/strong>\u9077\u79fb\u3092\u30c8\u30ea\u30ac\u30fc\u3059\u308b\u91cd\u8981\u306a\u51fa\u6765\u4e8b\u3001\u305f\u3068\u3048\u3070\u4fe1\u53f7\u306e\u53d7\u4fe1\u3001\u6642\u9593\u306e\u7d4c\u904e\u3001\u307e\u305f\u306f\u4f8b\u5916\u306a\u3069\u3002<\/li>\n<li><strong>\u30ac\u30fc\u30c9\u6761\u4ef6\uff1a<\/strong>\u9077\u79fb\u304c\u767a\u751f\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u771f\u3067\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u30d6\u30fc\u30eb\u5f0f\u3002<\/li>\n<li><strong>\u30a2\u30af\u30b7\u30e7\u30f3\uff1a<\/strong>\u72b6\u614b\u306b\u5165\u308b\u3053\u3068\u3001\u72b6\u614b\u304b\u3089\u51fa\u308b\u3053\u3068\u3001\u307e\u305f\u306f\u9077\u79fb\u4e2d\u306b\u5b9f\u884c\u3055\u308c\u308b\u8a08\u7b97\u307e\u305f\u306f\u6d3b\u52d5\u3002<\/li>\n<\/ul>\n<p>\u3053\u306e\u8868\u8a18\u6cd5\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u3001\u30a8\u30f3\u30b8\u30cb\u30a2\u306f\u30b3\u30fc\u30c9\u306e\u69cb\u6587\u306b\u8ff7\u3046\u3053\u3068\u306a\u304f\u5236\u5fa1\u30d5\u30ed\u30fc\u3092\u53ef\u8996\u5316\u3067\u304d\u307e\u3059\u3002\u5b9f\u88c5\u306e\u305f\u3081\u306e\u8a2d\u8a08\u56f3\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3001\u5b9f\u884c\u53ef\u80fd\u306a\u30b3\u30fc\u30c9\u30921\u884c\u3082\u66f8\u304f\u524d\u306b\u3001\u30b7\u30b9\u30c6\u30e0\u306e\u3059\u3079\u3066\u306e\u53ef\u80fd\u306a\u632f\u308b\u821e\u3044\u304c\u8003\u616e\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u4fdd\u8a3c\u3057\u307e\u3059\u3002<\/p>\n<h2>\u4e8b\u4f8b\u7814\u7a76\uff1a\u81ea\u5f8b\u914d\u9054\u30c9\u30ed\u30fc\u30f3 \ud83d\ude81<\/h2>\n<p>\u90fd\u5e02\u74b0\u5883\u306b\u304a\u3051\u308b\u6700\u7d42\u4e00\u30de\u30a4\u30eb\u306e\u8377\u7269\u914d\u9054\u3092\u76ee\u7684\u3068\u3057\u305f\u56db\u8ef8\u30c9\u30ed\u30fc\u30f3\u3092\u60f3\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u306e\u30b7\u30b9\u30c6\u30e0\u306f\u81ea\u5f8b\u7684\u306b\u52d5\u4f5c\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u7279\u5b9a\u306e\u91cd\u8981\u306a\u30a4\u30d9\u30f3\u30c8\u306b\u3064\u3044\u3066\u306f\u4eba\u9593\u306e\u76e3\u8996\u304c\u5fc5\u8981\u3067\u3059\u3002\u30c9\u30ed\u30fc\u30f3\u306b\u306fGPS\u3001\u30d0\u30c3\u30c6\u30ea\u30fc\u7ba1\u7406\u30b7\u30b9\u30c6\u30e0\u3001\u969c\u5bb3\u7269\u56de\u907f\u30bb\u30f3\u30b5\u30fc\u3001\u901a\u4fe1\u30e2\u30b8\u30e5\u30fc\u30eb\u304c\u642d\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u5236\u5fa1\u8ad6\u7406\u306f\u901a\u5e38\u306e\u904b\u7528\u3001\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u3001\u3055\u307e\u3056\u307e\u306a\u969c\u5bb3\u30e2\u30fc\u30c9\u3092\u51e6\u7406\u3057\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093\u3002<\/p>\n<p>\u8a2d\u8a08\u4e0a\u306e\u8ab2\u984c\u306f\u3001\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf\u304c\u4f4e\u3044\u72b6\u614b\u3067\u96e2\u9678\u3092\u8a66\u307f\u306a\u3044\u3053\u3068\u3001\u5e30\u9084\u305b\u305a\u306b\u901a\u4fe1\u3092\u5931\u308f\u306a\u3044\u3053\u3068\u3001\u7dca\u6025\u6642\u306b\u5b89\u5168\u306b\u7740\u9678\u3059\u308b\u3053\u3068\u3092\u4fdd\u8a3c\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u7dda\u5f62\u30b9\u30af\u30ea\u30d7\u30c8\u3067\u306f\u4fdd\u5b88\u304c\u96e3\u3057\u304f\u3001\u7af6\u5408\u72b6\u614b\u306e\u767a\u751f\u3057\u3084\u3059\u3044\u3067\u3059\u3002\u30b9\u30c6\u30fc\u30c8\u30de\u30b7\u30f3\u306f\u3001\u64cd\u4f5c\u306e\u660e\u78ba\u306a\u968e\u5c64\u69cb\u9020\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002<\/p>\n<h2>\u30b3\u30a2\u72b6\u614b\u306e\u5b9a\u7fa9 \u2699\ufe0f<\/h2>\n<p>\u8a2d\u8a08\u30d7\u30ed\u30bb\u30b9\u306e\u6700\u521d\u306e\u30b9\u30c6\u30c3\u30d7\u306f\u3001\u7570\u306a\u308b\u904b\u7528\u30e2\u30fc\u30c9\u3092\u7279\u5b9a\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u3053\u306e\u30c9\u30ed\u30fc\u30f3\u306e\u5834\u5408\u3001\u4ee5\u4e0b\u306e\u4e3b\u8981\u306a\u72b6\u614b\u3092\u5b9a\u7fa9\u3057\u307e\u3059\u3002\u5404\u72b6\u614b\u306f\u30df\u30c3\u30b7\u30e7\u30f3\u306e\u7279\u5b9a\u306e\u6bb5\u968e\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n<ul>\n<li><strong>IDLE\uff1a<\/strong>\u30c9\u30ed\u30fc\u30f3\u306f\u96fb\u6e90\u306f\u30aa\u30f3\u3067\u3059\u304c\u3001\u30a2\u30fc\u30e0\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u30df\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u306e\u547d\u4ee4\u3092\u5f85\u6a5f\u3057\u3066\u3044\u307e\u3059\u3002<\/li>\n<li><strong>ARMED\uff1a<\/strong>\u30e2\u30fc\u30bf\u30fc\u304c\u56de\u8ee2\u3057\u3066\u304a\u308a\u3001\u96e2\u9678\u6e96\u5099\u304c\u3067\u304d\u3066\u3044\u307e\u3059\u3002\u307e\u3060\u7a7a\u4e2d\u306b\u3042\u308a\u307e\u305b\u3093\u3002<\/li>\n<li><strong>TAKING_OFF\uff1a<\/strong>\u30c9\u30ed\u30fc\u30f3\u306f\u5730\u4e0a\u304b\u3089\u5b89\u5b9a\u3057\u305f\u30db\u30d0\u30ea\u30f3\u30b0\u9ad8\u5ea6\u3078\u4e0a\u6607\u3057\u3066\u3044\u307e\u3059\u3002<\/li>\n<li><strong>HOVERING\uff1a<\/strong>\u30c9\u30ed\u30fc\u30f3\u306f\u7a7a\u4e2d\u3067\u9759\u6b62\u3057\u3066\u304a\u308a\u3001\u4f4d\u7f6e\u3092\u7dad\u6301\u3057\u3066\u3044\u307e\u3059\u3002<\/li>\n<li><strong>NAVIGATING\uff1a<\/strong> \u30c9\u30ed\u30fc\u30f3\u306f\u30da\u30a4\u30ed\u30fc\u30c9\u3092\u914d\u9054\u3059\u308b\u305f\u3081\u306b\u3001\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u9593\u3092\u7a4d\u6975\u7684\u306b\u79fb\u52d5\u3057\u3066\u3044\u307e\u3059\u3002<\/li>\n<li><strong>\u30db\u30fc\u30e0\u306b\u623b\u308b\uff1a<\/strong> \u30c9\u30ed\u30fc\u30f3\u306f\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf\u304c\u4f4e\u3044\u304b\u3001\u4fe1\u53f7\u304c\u5931\u308f\u308c\u305f\u305f\u3081\u306b\u767a\u5c04\u5730\u70b9\u306b\u623b\u3063\u3066\u3044\u307e\u3059\u3002<\/li>\n<li><strong>\u7740\u9678\uff1a<\/strong> \u30c9\u30ed\u30fc\u30f3\u306f\u7a7a\u4e2d\u304b\u3089\u5730\u4e0a\u3078\u964d\u4e0b\u3057\u3066\u3044\u307e\u3059\u3002<\/li>\n<li><strong>\u7dca\u6025\u7740\u9678\uff1a<\/strong> \u4e3b\u8981\u306a\u6545\u969c\uff08\u4f8b\uff1a\u30e2\u30fc\u30bf\u30fc\u306e\u6545\u969c\uff09\u306b\u3088\u308a\u3001\u5373\u5ea7\u306b\u5f37\u5236\u7684\u306b\u964d\u4e0b\u3059\u308b\u3002<\/li>\n<li><strong>\u30a8\u30e9\u30fc\uff1a<\/strong>\u672a\u51e6\u7406\u306e\u6545\u969c\u3084\u30b7\u30b9\u30c6\u30e0\u306e\u518d\u8d77\u52d5\u306b\u5bfe\u3059\u308b\u5305\u62ec\u7684\u306a\u72b6\u614b\u3002<\/li>\n<\/ul>\n<p>\u4ee5\u4e0b\u306e\u72b6\u614b\u3001\u4f8b\u3048\u3070<em>IDLE<\/em> \u304a\u3088\u3073 <em>ERROR<\/em> \u306f\u7d42\u7aef\u72b6\u614b\u307e\u305f\u306f\u6e96\u7d42\u7aef\u72b6\u614b\u3067\u3059\u3002\u30b7\u30b9\u30c6\u30e0\u304c <em>ERROR<\/em> \u306b\u5165\u308b\u3068\u3001<em>NAVIGATING<\/em> \u624b\u52d5\u30ea\u30bb\u30c3\u30c8\u3092\u884c\u308f\u306a\u3051\u308c\u3070\u3001\u9032\u884c\u3067\u304d\u307e\u305b\u3093\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u6545\u969c\u72b6\u614b\u3067\u30c9\u30ed\u30fc\u30f3\u304c\u98db\u884c\u3092\u8a66\u307f\u308b\u306e\u3092\u9632\u304e\u307e\u3059\u3002<\/p>\n<h2>\u9077\u79fb\u8ad6\u7406\u3068\u30a4\u30d9\u30f3\u30c8\u30c8\u30ea\u30ac\u30fc \ud83d\udce1<\/h2>\n<p>\u9077\u79fb\u306f\u3001\u4e0a\u8a18\u306e\u72b6\u614b\u9593\u3092\u30b7\u30b9\u30c6\u30e0\u304c\u3069\u306e\u3088\u3046\u306b\u79fb\u52d5\u3059\u308b\u304b\u3092\u5b9a\u7fa9\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u79fb\u52d5\u306f\u3001\u30e6\u30fc\u30b6\u30fc\u5165\u529b\u3001\u30bb\u30f3\u30b5\u30fc\u8aad\u307f\u53d6\u308a\u3001\u307e\u305f\u306f\u5185\u90e8\u30bf\u30a4\u30de\u30fc\u306a\u3069\u306e\u30a4\u30d9\u30f3\u30c8\u306b\u3088\u3063\u3066\u5f15\u304d\u8d77\u3053\u3055\u308c\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u8868\u306f\u3001\u5236\u5fa1\u8ad6\u7406\u306b\u5fc5\u8981\u306a\u91cd\u8981\u306a\u9077\u79fb\u3092\u6982\u8aac\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<table>\n<thead>\n<tr>\n<th>\u30a4\u30d9\u30f3\u30c8<\/th>\n<th>\u5143\u306e\u72b6\u614b<\/th>\n<th>\u76ee\u6a19\u72b6\u614b<\/th>\n<th>\u30ac\u30fc\u30c9\u6761\u4ef6<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>ARM_COMMAND<\/td>\n<td>IDLE<\/td>\n<td>ARMED<\/td>\n<td>\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf &gt; 20%<\/td>\n<\/tr>\n<tr>\n<td>TAKEOFF_COMPLETE<\/td>\n<td>ARMED<\/td>\n<td>\u96e2\u9678\u4e2d<\/td>\n<td>\u9ad8\u5ea6\u30bb\u30f3\u30b5\u30fc\u4f5c\u52d5\u4e2d<\/td>\n<\/tr>\n<tr>\n<td>\u30db\u30d0\u30ea\u30f3\u30b0\u5230\u9054<\/td>\n<td>\u96e2\u9678\u4e2d<\/td>\n<td>\u30db\u30d0\u30ea\u30f3\u30b0\u4e2d<\/td>\n<td>\u9ad8\u5ea6 = 1.5m<\/td>\n<\/tr>\n<tr>\n<td>\u30df\u30c3\u30b7\u30e7\u30f3\u958b\u59cb<\/td>\n<td>\u30db\u30d0\u30ea\u30f3\u30b0\u4e2d<\/td>\n<td>\u822a\u884c\u4e2d<\/td>\n<td>GPS\u30ed\u30c3\u30af = \u6709\u52b9<\/td>\n<\/tr>\n<tr>\n<td>\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf\u4e0d\u8db3<\/td>\n<td>\u822a\u884c\u4e2d<\/td>\n<td>\u5e30\u9084\u4e2d<\/td>\n<td>\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf &lt; 30%<\/td>\n<\/tr>\n<tr>\n<td>\u4fe1\u53f7\u55aa\u5931<\/td>\n<td>\u822a\u884c\u4e2d<\/td>\n<td>\u5e30\u9084\u4e2d<\/td>\n<td>\u4fe1\u53f7\u306a\u3057\u6642\u9593 &gt; 5\u79d2<\/td>\n<\/tr>\n<tr>\n<td>\u5e30\u9084\u5730\u70b9\u5230\u9054<\/td>\n<td>\u5e30\u9084\u4e2d<\/td>\n<td>\u7740\u9678\u4e2d<\/td>\n<td>\u8ddd\u96e2 = 0m<\/td>\n<\/tr>\n<tr>\n<td>\u7740\u5730<\/td>\n<td>\u7740\u9678\u4e2d<\/td>\n<td>\u5f85\u6a5f\u4e2d<\/td>\n<td>\u9ad8\u5ea6 = 0m<\/td>\n<\/tr>\n<tr>\n<td>\u30e2\u30fc\u30bf\u30fc\u6545\u969c<\/td>\n<td>\u4efb\u610f<\/td>\n<td>\u7dca\u6025\u7740\u9678<\/td>\n<td>\u96fb\u6d41 &lt; 0A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6b21\u306e\u3053\u3068\u3092\u89b3\u5bdf\u3057\u3066\u304f\u3060\u3055\u3044\uff1a<em>\u30e2\u30fc\u30bf\u30fc\u6545\u969c<\/em>\u30a4\u30d9\u30f3\u30c8\u306e\u5143\u306e\u72b6\u614b\u306f<em>\u4efb\u610f<\/em>\u3067\u3059\u3002\u3053\u308c\u306f\u76f4\u4ea4\u9077\u79fb\u307e\u305f\u306f\u5272\u308a\u8fbc\u307f\u3068\u547c\u3070\u308c\u307e\u3059\u3002\u30c9\u30ed\u30fc\u30f3\u304c<em>\u30a2\u30a4\u30c9\u30eb<\/em>\u307e\u305f\u306f<em>\u822a\u884c\u4e2d<\/em>\u306e\u72b6\u614b\u306b\u304b\u304b\u308f\u3089\u305a\u3001\u91cd\u5927\u306a\u30e2\u30fc\u30bf\u30fc\u6545\u969c\u306f\u76f4\u3061\u306b<em>\u7dca\u6025\u7740\u9678<\/em>\u306b\u72b6\u614b\u3092\u5909\u66f4\u3055\u305b\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u30df\u30c3\u30b7\u30e7\u30f3\u306e\u7d99\u7d9a\u6027\u3088\u308a\u3082\u5b89\u5168\u304c\u512a\u5148\u3055\u308c\u307e\u3059\u3002<\/p>\n<h2>\u30ac\u30fc\u30c9\u6761\u4ef6\u3068\u30a2\u30af\u30b7\u30e7\u30f3 \ud83d\uded1<\/h2>\n<p>\u9077\u79fb\u306f\u5e38\u306b\u7121\u6761\u4ef6\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u30ac\u30fc\u30c9\u6761\u4ef6\u306f\u5b89\u5168\u78ba\u8a8d\u3068\u3057\u3066\u6a5f\u80fd\u3057\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf\u304c\u6df1\u523b\u306b\u4f4e\u4e0b\u3057\u3066\u3044\u308b\u5834\u5408\u3001\u30e6\u30fc\u30b6\u30fc\u306f\u96e2\u9678\u30b7\u30fc\u30b1\u30f3\u30b9\u3092\u958b\u59cb\u3067\u304d\u307e\u305b\u3093\u3002\u30ac\u30fc\u30c9\u6761\u4ef6<em>\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf &gt; 20%<\/em>\u306f<em>\u30a2\u30a4\u30c9\u30eb<\/em>\u304b\u3089<em>\u30a2\u30fc\u30e0\u30c9<\/em>.<\/p>\n<p>\u3055\u3089\u306b\u3001\u9077\u79fb\u306f\u3057\u3070\u3057\u3070\u30a2\u30af\u30b7\u30e7\u30f3\u3092\u5f15\u304d\u8d77\u3053\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u30a2\u30af\u30b7\u30e7\u30f3\u306f\u9077\u79fb\u304c\u767a\u751f\u3057\u305f\u3068\u304d\u3001\u307e\u305f\u306f\u7279\u5b9a\u306e\u72b6\u614b\u306b\u3044\u308b\u9593\u306b\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002<\/p>\n<ul>\n<li><strong>\u30a8\u30f3\u30c8\u30ea\u30fc\u30a2\u30af\u30b7\u30e7\u30f3\uff1a<\/strong>\u72b6\u614b\u306b\u5165\u5ba4\u3057\u305f\u76f4\u5f8c\u306b\u5b9f\u884c\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3002<em>\u96e2\u9678\u4e2d<\/em>\u72b6\u614b\u3067\u306f\u3001\u30e2\u30fc\u30bf\u30fc\u63a8\u529b\u309260%\u306b\u8a2d\u5b9a\u3057\u3001\u9ad8\u5ea6PID\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u521d\u671f\u5316\u3059\u308b\u306a\u3069\u306e\u30a8\u30f3\u30c8\u30ea\u30fc\u30a2\u30af\u30b7\u30e7\u30f3\u304c\u884c\u308f\u308c\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/li>\n<li><strong>\u30a8\u30b0\u30b8\u30c3\u30c8\u30a2\u30af\u30b7\u30e7\u30f3\uff1a<\/strong>\u72b6\u614b\u3092\u96e2\u308c\u308b\u76f4\u5f8c\u306b\u5b9f\u884c\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3002<em>\u30db\u30d0\u30ea\u30f3\u30b0\u4e2d<\/em>\u72b6\u614b\u3092\u96e2\u308c\u308b\u969b\u3001\u30b7\u30b9\u30c6\u30e0\u306f\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u30d5\u30a9\u30ed\u30ef\u30fc\u3092\u505c\u6b62\u3057\u3066\u3001\u885d\u7a81\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9632\u3050\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/li>\n<li><strong>\u5b9f\u884c\u30a2\u30af\u30c6\u30a3\u30d3\u30c6\u30a3\uff1a<\/strong>\u72b6\u614b\u306b\u3044\u308b\u9593\u3001\u7d99\u7d9a\u7684\u306b\u5b9f\u884c\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3002<em>\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3<\/em> \u72b6\u614b\u3001a <em>\u3059\u308b<\/em>\u3053\u306e\u30a2\u30af\u30c6\u30a3\u30d3\u30c6\u30a3\u306f\u3001GPS\u30c7\u30fc\u30bf\u3092\u7d99\u7d9a\u7684\u306b\u8aad\u307f\u53d6\u308a\u3001\u30e2\u30fc\u30bf\u30fc\u306e\u56de\u8ee2\u6570\u3092\u8abf\u6574\u3057\u3066\u98db\u884c\u7d4c\u8def\u3092\u7dad\u6301\u3059\u308b\u3053\u3068\u3092\u542b\u3080\u3002<\/li>\n<\/ul>\n<p>\u4ee5\u4e0b\u306e\u72b6\u614b\u3092\u691c\u8a0e\u3059\u308b\u3002<em>\u30db\u30fc\u30e0\u306b\u623b\u308b<\/em>\u72b6\u614b\u3002\u9032\u5165\u6642\u306b\u30c9\u30ed\u30fc\u30f3\u306f\u30db\u30fc\u30e0\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u30d9\u30af\u30c8\u30eb\u3092\u8a08\u7b97\u3057\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u3002\u9000\u51fa\u6642\u306b\u3001\u623b\u308b\u30d9\u30af\u30c8\u30eb\u3092\u30af\u30ea\u30a2\u3057\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u30c9\u30ed\u30fc\u30f3\u304c\u518d\u3073<em>\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3<\/em>\uff08\u305f\u3068\u3048\u3070\u30e6\u30fc\u30b6\u30fc\u304c\u518d\u3073\u5236\u5fa1\u3092\u56de\u5fa9\u3057\u305f\u5834\u5408\uff09\u306b\u5207\u308a\u66ff\u308f\u3063\u305f\u3068\u3057\u3066\u3082\u3001\u623b\u308b\u30ed\u30b8\u30c3\u30af\u304c\u30df\u30c3\u30b7\u30e7\u30f3\u30ed\u30b8\u30c3\u30af\u306b\u5e72\u6e09\u3057\u306a\u3044\u3053\u3068\u3092\u4fdd\u8a3c\u3059\u308b\u3002<\/p>\n<h2>\u968e\u5c64\u7684\u72b6\u614b\u8a2d\u8a08\uff08\u8907\u5408\u72b6\u614b\uff09 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<em>\u30a2\u30a4\u30c9\u30eb<\/em>\u30ea\u30bb\u30c3\u30c8\u30b3\u30de\u30f3\u30c9\u306a\u3057\u3067\u306f\u30af\u30e9\u30c3\u30b7\u30e5\u3092\u5f15\u304d\u8d77\u3053\u3059\u3002<\/li>\n<\/ul>\n<h2>\u30e1\u30ea\u30c3\u30c8\u306e\u6982\u8981 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