PROBLEM TO BE SOLVED: To provide a paddy field weeding robot that freely moves on interrow space and a spacing between rootstocks and obtains stable weeding effects.SOLUTION: The paddy field weeding robot 1 has a main frame 10 having an inverted hollow space through which rice plant rootstocks of paddy field are passed, wheels 19A and 19B at the lower part of the main frame, drive portions 11A and 11B for rotating and driving the wheels 19A and 19B, first floats 20A-20D that are arranged at the front and rear of the wheels 19A and 19B and produces buoyancy in the paddy field weeding robot 1, and sensor levers 23A and 23B that are arranged at the front and rear to detect rice plant rootstocks in a paddy field, drives the drive portions 11A and 11B on the basis of sensors mounted on the main frame 10 and controls the rotation of the wheels 19A and 19B. Consequently, the paddy field weeding robot 1 autonomously travels while avoiding rice plant rootstocks.COPYRIGHT: (C)2011,JPO&INPIT【課題】条間、株間を自由に移動し、且つ、安定した除草効果が得られる除草ロボットを提供する。【解決手段】水田除草ロボット1は、水田の稲株が通過可能な逆凹状の空間を有したメインフレーム10は、その下部に、車輪19A,19B、車輪19A,19Bを回転駆動する駆動部11A,11B、車輪19A,19Bの前後に配置されて水田除草ロボット1に浮力を生じさせる第1のフロート20A~20D、全部に設けられて水田内の稲株を検知するセンサレバー23A,23B、メインフレーム10に搭載されたセンサ類に基づいて駆動部11A,11Bを駆動し、車輪19A,19Bの回転を制御する。これにより、水田除草ロボット1は稲株を避けながら自律走行する。【選択図】図1
