{"id":608,"date":"2025-07-25T11:24:24","date_gmt":"2025-07-25T11:24:24","guid":{"rendered":"https:\/\/tr.is.tohoku.ac.jp\/?p=608"},"modified":"2025-07-25T11:24:24","modified_gmt":"2025-07-25T11:24:24","slug":"%e8%87%aa%e5%8b%95%e6%b6%88%e9%98%b2%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e3%82%b7%e3%82%b9%e3%83%86%e3%83%a0","status":"publish","type":"post","link":"https:\/\/tr.is.tohoku.ac.jp\/%e8%87%aa%e5%8b%95%e6%b6%88%e9%98%b2%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e3%82%b7%e3%82%b9%e3%83%86%e3%83%a0\/","title":{"rendered":"\u81ea\u52d5\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0"},"content":{"rendered":"\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem.mp4\"><\/video><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><br>\u7814\u7a76\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u6982\u8981<\/h3>\n\n\n\n<p>\u672c\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306f\u3001\u77f3\u6cb9\u5316\u5b66\u30b3\u30f3\u30d3\u30ca\u30fc\u30c8\u706b\u707d\u306b\u5bfe\u5fdc\u3059\u308b\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u3092\u4e09\u83f1\u91cd\u5de5\u696d\u306a\u3069\u306e\u4f01\u696d\u3068\u5171\u540c\u3067\u7814\u7a76\u3057\u3066\u3044\u308b\u3002\u76f4\u5f8480m\u3092\u8d85\u3048\u308b\u5927\u578b\u306e\u77f3\u6cb9\u30bf\u30f3\u30af\u706b\u707d\u306e\u706b\u708e\u8fd1\u508d\u3067\u306f\u300115\u301c20 kW\/m\u00b2\u306e\u9ad8\u3044\u653e\u5c04\u71b1\u304c\u767a\u751f\u3059\u308b\u3002\u6d88\u9632\u968a\u54e1\u306e\u8010\u653e\u5c04\u71b1\u670d\u306e4 kW\/m\u00b2\u3092\u5927\u304d\u304f\u8d85\u3048\u308b\u305f\u3081\u3001\u4eba\u9593\u306b\u5909\u308f\u3063\u3066\u81ea\u52d5\u3067\u6d88\u706b\u6d3b\u52d5\u3092\u884c\u3046\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a\u304c\u5fc5\u8981\u3067\u3042\u308b\u3002<\/p>\n\n\n\n<p>\u8ab2\u984c\u306f\u300120 kW\/m\u00b2\u306e\u9ad8\u3044\u653e\u5c04\u71b1\u3092\u767a\u3059\u308b\u706b\u708e\u8fd1\u508d\u3067\u306e\u6d88\u706b\u6d3b\u52d5\u3092\u7121\u4eba\u3067\u884c\u3046\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a\u3067\u3042\u308b\u3002\u79c1\u9054\u306f\u3001\u6700\u5927300m\u96e2\u308c\u305f\u706b\u708e\u8fd1\u508d\u306e\u9ad8\u3044\u653e\u5c04\u71b1\u306e\u74b0\u5883\u3067\u81ea\u52d5\u3067\u6d88\u706b\u6d3b\u52d5\u3092\u884c\u3046\u653e\u6c34\u30ed\u30dc\u30c3\u30c8\u3068\u30db\u30fc\u30b9\u5ef6\u9577\u30ed\u30dc\u30c3\u30c8\u3092\u63d0\u6848\u3059\u308b\u3002\u63d0\u6848\u624b\u6cd5\u306e\u7279\u5fb4\u306f\u3001\u653e\u6c34\u7832\u30ed\u30dc\u30c3\u30c8\u3068\u30db\u30fc\u30b9\u5ef6\u9577\u30ed\u30dc\u30c3\u30c8\u306e\uff12\u53f0\u304c\u9023\u643a\u3057\u3066\u81ea\u52d5\u3067\u30db\u30fc\u30b9\u306e\u904b\u642c\u3068\u6577\u8a2d\u3092\u884c\u3046\u3053\u3068\u3067\u3042\u308b\u3002<\/p>\n\n\n\n<p>\u65b0\u6280\u8853\u3068\u3057\u3066\u3001\u8efd\u91cf\u3067\u9577\u6642\u9593\u306e\u6d3b\u52d5\u3092\u53ef\u80fd\u306b\u3059\u308b\u8010\u653e\u5c04\u71b1\u5916\u88c5[5]\u3001\uff12\u53f0\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u52d5\u8ffd\u5f93\u5236\u5fa1[7]\u3001\u767a\u707d\u5f8c\u306b\u822a\u7a7a\u5199\u771f\u3068\u6574\u5408\u6027\u306e\u53d6\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u7528\u5730\u56f3\u3092\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b\u69cb\u7bc9\u3059\u308bGP &amp; LiDAR based SLAM [2][3]\u3001\u8907\u96d1\u306a\u74b0\u5883\u3067\u885d\u7a81\u305b\u305a\u306b\u8d70\u884c\u3059\u308b\u305f\u3081\u306e\u7d4c\u8def\u7d4c\u8def\u8a08\u753b [1]\u30011MPa\u3092\u8d85\u3048\u308b\u6c34\u5727\u3092\u304b\u3051\u308b\u30db\u30fc\u30b9\u3092\u5c48\u66f2\u305b\u305a\u306b\u6577\u8a2d\u3059\u308b\u7d4c\u8def\u751f\u6210[4]\u306a\u3069\u306e\u65b0\u6280\u8853\u3092\u958b\u767a\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u958b\u767a\u3057\u305f\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306f\u30012019\u5e74\u306b\u5343\u8449\u770c\u5e02\u539f\u5e02\u6d88\u9632\u306b\u914d\u5099\u3055\u308c\u3001\u6d88\u9632\u968a\u54e1\u306b\u3088\u308b\u904b\u7528\u304c\u59cb\u307e\u3063\u3066\u3044\u308b\u3002\u7121\u4eba\u5316\u3092\u5b9f\u73fe\u3059\u308b\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306fCOVID-19\u306a\u3069\u306e\u30d1\u30f3\u30c7\u30df\u30c3\u30af\u3067\u3082\u6709\u52b9\u306b\u6a5f\u80fd\u3059\u308b\u3053\u3068\u3092\u63d0\u6848\u3057\u305f[6]\u3002\u200b\u200b2022\u5e74\u306b\u306f\u30b9\u30af\u30e9\u30e0\u30d5\u30a9\u30fc\u30b9\u306e\u304a\u3082\u3061\u3083\u304c\u8ca9\u58f2\u3055\u308c\u305f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2224\" height=\"977\" src=\"http:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem.jpg\" alt=\"\" class=\"wp-image-511\" srcset=\"https:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem.jpg 2224w, https:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem-300x132.jpg 300w, https:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem-768x337.jpg 768w, https:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem-1536x675.jpg 1536w, https:\/\/tr.is.tohoku.ac.jp\/wp-content\/uploads\/2025\/07\/05_FireFightingRobotSystem-2048x900.jpg 2048w\" sizes=\"auto, (max-width: 2224px) 100vw, 2224px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u95a2\u9023\u30ea\u30f3\u30af<\/h3>\n\n\n\n<p>[a] Autonomous Fire Fighting Robot System, Mitsubishi Heavy Industry<br><a href=\"https:\/\/www.mhi.com\/jp\/products\/energy\/firefighting_robot_system.html\">https:\/\/www.mhi.com\/jp\/products\/energy\/firefighting_robot_system.html<\/a> (In Japanese)<br><a href=\"https:\/\/www.mhi.com\/products\/energy\/firefighting_robot_system.html\">https:\/\/www.mhi.com\/products\/energy\/firefighting_robot_system.html<\/a> (In English)<\/p>\n\n\n\n<p>[b] Scrum Force, Ichihara Fire Department (In Japanese)<br><a href=\"https:\/\/www.city.ichihara.chiba.jp\/article?articleId=637ec5690ae3aa080704f656\">https:\/\/www.city.ichihara.chiba.jp\/article?articleId=637ec5690ae3aa080704f656<\/a><\/p>\n\n\n\n<p>[c] Toy of Scrum Force, TAKARA TOMY (In Japanese)<br><a href=\"https:\/\/takaratomymall.jp\/shop\/g\/g4904810189398\/?srsltid=AfmBOoqtQ6-0MoBf1YLd7OpXAp1j392mHFaF3lfxN-RCwEf_0Aok-lTs\">https:\/\/takaratomymall.jp\/shop\/g\/g4904810189398\/?srsltid=AfmBOoqtQ6-0MoBf1YLd7OpXAp1j392mHFaF3lfxN-RCwEf_0Aok-lTs<\/a><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u767a\u8868\u8ad6\u6587<\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>&#8220;Two-Stage Hybrid A* Path-Planning In Large Petrochemical Complexes&#8221;<\/strong><strong><br><\/strong>Abu Ubaidah SHAMSUDIN, Kazunori OHNO, Ryunosuke HAMADA, Shotaro KOJIMA, Naoki MIZUNO, Thomas WESTFECHTEL, Takahiro SUZUKI, Satoshi TADOKORO, Jun FUJITA, Hisanori AMANO.<br>AIM, (2017), 1619-1626.<br>DOI: <a href=\"https:\/\/doi.org\/10.1109\/AIM.2017.8014250\">https:\/\/doi.org\/10.1109\/AIM.2017.8014250<\/a><\/li>\n\n\n\n<li><strong>&#8220;Evaluation of LIDAR and GPS Based SLAM on Fire Disaster in Petrochemical Complexes&#8221;<\/strong><strong><br><\/strong>Abu Ubaidah SHAMSUDIN, Naoki MIZUNO, Jun FUJITA, Kazunori OHNO, Ryunosuke HAMADA, Satoshi TADOKORO, Hisanori AMANO<strong><br><\/strong>IEEE SSRR, (2017), We4T1. 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), (2017), 48-54<br>DOI: <a href=\"https:\/\/doi.org\/10.1109\/SSRR.2017.8088139\">https:\/\/doi.org\/10.1109\/SSRR.2017.8088139<\/a><\/li>\n\n\n\n<li><strong>&#8220;Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR&#8221;<\/strong><strong><br><\/strong>Abu Ubaidah SHAMSUDIN, Kazunori OHNO, Ryunosuke HAMADA, Shotaro KOJIMA, Thomas WESTFECHTEL, Takahiro SUZUKI, Yoshito OKADA, Satoshi TADOKORO, Jun FUJITA, Hisanori AMANO<br>ROBOMECH Journal, 5, (2018), 7.<br>DOI: <a href=\"https:\/\/doi.org\/10.1186\/s40648-018-0104-z\">https:\/\/doi.org\/10.1186\/s40648-018-0104-z<\/a><\/li>\n\n\n\n<li><strong>&#8220;Enhanced path smoothing based on conjugate gradient descent for firefighting robots in petrochemical complexes&#8221;<\/strong><strong><br><\/strong>Naoki MIZUNO, Kazunori OHNO, Ryunosuke HAMADA, Hiroyoshi KOJIMA, Jun FUJITA, Hisanori AMANO, Thomas WESTFECHTEL, Takahiro SUZUKI, Satoshi TADOKORO<strong><br><\/strong> Advanced Robotics, 33, 14, (2019), 687-698.<br>DOI: <a href=\"https:\/\/doi.org\/10.1080\/01691864.2019.1632221\">https:\/\/doi.org\/10.1080\/01691864.2019.1632221<\/a><\/li>\n\n\n\n<li><strong>&#8220;Novel exterior cover design for radiant heat resistance of firefighting robots in large-scale petrochemical complex fires&#8221;<\/strong><strong><br><\/strong>Jun FUJITA, Yoshihiro TAMURA, Hisanori AMANO, Kazunori OHNO, Satoshi TADOKORO<strong><br><\/strong>Robomech J, 9, 13, (2022).<br>DOI: <a href=\"https:\/\/doi.org\/10.1186\/s40648-022-00229-5\">https:\/\/doi.org\/10.1186\/s40648-022-00229-5<\/a>\u00a0<\/li>\n\n\n\n<li><strong>&#8220;Consideration of the contribution of operating a firefighting robot system for large fires to prevent COVID-19 infection among firefighters&#8221;<\/strong><strong><br><\/strong>Jun FUJITA, Hisanori AMANO, Kazunori OHNO, Satoshi TADOKORO<br>Advanced Robotics, 37, 8, (2023), 518-527.<br>DOI:<a href=\"https:\/\/doi.org\/10.1080\/01691864.2022.2155490\">https:\/\/doi.org\/10.1080\/01691864.2022.2155490<\/a><\/li>\n\n\n\n<li><strong>&#8220;Development of a Robust Tracking Target against Disturbance Noise for Tracking Control of Fire Fighting Robots&#8221;<\/strong><strong><br><\/strong>Jun Fujita, Hisanori Amano, Kazunori Ohno and Satoshi Tadokoro<br>IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), (2023), 174-180<br>DOI: <a href=\"https:\/\/doi.org\/10.1109\/SSRR59696.2023.10499949\">https:\/\/doi.org\/10.1109\/SSRR59696.2023.10499949<\/a><\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u7814\u7a76\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u6982\u8981 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kW\/m\u00b2\u306e\u9ad8\u3044\u653e\u5c04\u71b1\u3092\u767a\u3059\u308b\u706b\u708e\u8fd1\u508d\u3067\u306e\u6d88\u706b\u6d3b\u52d5\u3092\u7121\u4eba\u3067\u884c\u3046\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a\u3067\u3042\u308b\u3002\u79c1\u9054\u306f\u3001\u6700\u5927300m\u96e2\u308c\u305f\u706b\u708e\u8fd1\u508d\u306e\u9ad8\u3044\u653e\u5c04\u71b1\u306e\u74b0\u5883\u3067\u81ea\u52d5\u3067\u6d88\u706b\u6d3b\u52d5\u3092\u884c\u3046\u653e\u6c34\u30ed\u30dc\u30c3\u30c8\u3068\u30db\u30fc\u30b9\u5ef6\u9577\u30ed\u30dc\u30c3\u30c8\u3092\u63d0\u6848\u3059\u308b\u3002\u63d0\u6848\u624b\u6cd5\u306e\u7279\u5fb4\u306f\u3001\u653e\u6c34\u7832\u30ed\u30dc\u30c3\u30c8\u3068\u30db\u30fc\u30b9\u5ef6\u9577\u30ed\u30dc\u30c3\u30c8\u306e\uff12\u53f0\u304c\u9023\u643a\u3057\u3066\u81ea\u52d5\u3067\u30db\u30fc\u30b9\u306e\u904b\u642c\u3068\u6577\u8a2d\u3092\u884c\u3046\u3053\u3068\u3067\u3042\u308b\u3002 \u65b0\u6280\u8853\u3068\u3057\u3066\u3001\u8efd\u91cf\u3067\u9577\u6642\u9593\u306e\u6d3b\u52d5\u3092\u53ef\u80fd\u306b\u3059\u308b\u8010\u653e\u5c04\u71b1\u5916\u88c5[5]\u3001\uff12\u53f0\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u52d5\u8ffd\u5f93\u5236\u5fa1[7]\u3001\u767a\u707d\u5f8c\u306b\u822a\u7a7a\u5199\u771f\u3068\u6574\u5408\u6027\u306e\u53d6\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u7528\u5730\u56f3\u3092\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b\u69cb\u7bc9\u3059\u308bGP &amp; LiDAR based SLAM [2][3]\u3001\u8907\u96d1\u306a\u74b0\u5883\u3067\u885d\u7a81\u305b\u305a\u306b\u8d70\u884c\u3059\u308b\u305f\u3081\u306e\u7d4c\u8def\u7d4c\u8def\u8a08\u753b [1]\u30011MPa\u3092\u8d85\u3048\u308b\u6c34\u5727\u3092\u304b\u3051\u308b\u30db\u30fc\u30b9\u3092\u5c48\u66f2\u305b\u305a\u306b\u6577\u8a2d\u3059\u308b\u7d4c\u8def\u751f\u6210[4]\u306a\u3069\u306e\u65b0\u6280\u8853\u3092\u958b\u767a\u3057\u305f\u3002 \u958b\u767a\u3057\u305f\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306f\u30012019\u5e74\u306b\u5343\u8449\u770c\u5e02\u539f\u5e02\u6d88\u9632\u306b\u914d\u5099\u3055\u308c\u3001\u6d88\u9632\u968a\u54e1\u306b\u3088\u308b\u904b\u7528\u304c\u59cb\u307e\u3063\u3066\u3044\u308b\u3002\u7121\u4eba\u5316\u3092\u5b9f\u73fe\u3059\u308b\u6d88\u9632\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306fCOVID-19\u306a\u3069\u306e\u30d1\u30f3\u30c7\u30df\u30c3\u30af\u3067\u3082\u6709\u52b9\u306b\u6a5f\u80fd\u3059\u308b\u3053\u3068\u3092\u63d0\u6848\u3057\u305f[6]\u3002\u200b\u200b2022\u5e74\u306b\u306f\u30b9\u30af\u30e9\u30e0\u30d5\u30a9\u30fc\u30b9\u306e\u304a\u3082\u3061\u3083\u304c\u8ca9\u58f2\u3055\u308c\u305f\u3002 \u95a2\u9023\u30ea\u30f3\u30af [a] Autonomous Fire Fighting Robot System, Mitsubishi Heavy Industryhttps:\/\/www.mhi.com\/jp\/products\/energy\/firefighting_robot_system.html (In Japanese)https:\/\/www.mhi.com\/products\/energy\/firefighting_robot_system.html (In English) [b] Scrum Force, Ichihara Fire Department (In Japanese)https:\/\/www.city.ichihara.chiba.jp\/article?articleId=637ec5690ae3aa080704f656 [c] Toy of Scrum Force, TAKARA TOMY (In Japanese)https:\/\/takaratomymall.jp\/shop\/g\/g4904810189398\/?srsltid=AfmBOoqtQ6-0MoBf1YLd7OpXAp1j392mHFaF3lfxN-RCwEf_0Aok-lTs 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