養魚是許多人的休閒娛樂，生活中隨處可見魚缸中優游的魚群，魚缸整潔影響整體觀感及魚群的生活品質，清潔魚缸常需要耗費許多時間與體力。本研究擬開發中大型魚缸底部清潔機器人，以智慧型裝置APP無線遙控機器人，發展出簡單操控的海螺清潔機器人，且沒有額外接出的線路，讓機器人可以自由的在水中行走。
本研究延續前一代具底部清潔功能之水下機器人，並加以改良，改善其自動化模式、節省馬達運用等；海螺機器人分為三大部分：移動規劃、清潔系統、擬真外型。移動上採用履帶設計模仿海螺移動，使用兩顆直流馬達帶動履帶，透過馬達驅動版控制馬達正反轉達到移動與轉向的目的；並規劃全自動清潔模式，機器人可以在魚缸中自主避開障礙物做清潔。清潔系統中，分成清潔模組、水質過濾模組、抽水馬達模組，三模組組成水質自濾系統，可以將魚缸底沙中的髒污揚起，藉由水質過濾模組將髒污攔截與淨化，最後由機器人內部抽水馬達將乾淨的水排出。外型設計上利用手工塑模設計出海螺的外型，模仿真實海螺的外殼。
海螺清潔機器人的設計是以3D CAD軟體來繪製零件，搭配積層製造技術來完成機器人零件製作。海螺清潔機器人整體尺寸為250×120×180mm，整體重量為894g。將所有模組組裝並進行水下清潔測試，經由結果選用最佳的清潔機構，安裝於海螺清潔機器人上；並針對海螺機器人整體清潔效果、清潔覆蓋率等做測試。

Fishkeeping has been known as a popular hobby for many people. In order to maintain an aesthetic tank display and optimize the environment for fish, it often takes owners enormous time and effort to keep their tanks clean. The purpose of this research is to develop a robotic cleaner for large aquarium, operated through wireless technology by an APP on mobile devices. The conch-shaped cleaning robot roams in the water freely without cables.
Based on the design of last generation bottom cleaning robot, this research aims to improve the automation control and reduce application of motors. The conch-shaped robot comprises three major topics: movement control, cleaning system, and appearance design. A caterpillar track design is adopted for the movement control to imitate the movement of a real conch. Each caterpillar track is driven by a DC motor, which is controlled by a motor driven module. The robot then moves with motors rotating in the same direction and turns while motors rotating in opposite direction. Furthermore, an automatic cleaning mode is developed so that the robot avoids obstacles automatically in the tank during operation. The cleaning system is comprised of a cleaning module, a water-filtration module, and a pump module. The three modules are combined to serve as system to maintain water quality. Dirty particles at the bottom and objects are stir up by the cleaning module and caught by the filter. Finally, the pump ejects clean water. As for the appearance, a hand-made plastic mold was made to imitate the appearance of a real conch.
3D CAD software was used to design the parts and the parts were made with additive manufacturing technology. The size of the robot is 250×120×180mm, and the total weight is 894g. All three modules were assembled and underwent underwater tests. The best performing cleaning mechanism was then selected to be installed on the final cleaning robot. Finally, the overall performance of the robot was tested and rated based on effectiveness of cleaning and movement coverage of the tank.

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