目前中大型水族箱與水下展場由於清潔難度高，因此多以人工清潔為主，而市售的清潔機器人都只具有單一的清潔功能，其它類型的水下清潔機器人，例如：游泳池、船體清潔機器人也不可直接應用於此，故需適當的小型水下清潔機器人以滿足中大型魚缸之清潔需求。本研究開發出具側壁與底部清潔功能的小型水下清潔機器人，以智慧型裝置APP無線遙控機器人，使機器人在水中可自由地移動。
本研究機器人主要由四大模組所組成，當中包含：側壁清潔模組、底部清潔模組、移動模組與控制模組。為了改善機器人只有單一清潔功能的狀況，本研究開發出適合清潔中型水族箱的側壁清潔模組，透過模組內部的捲尺升降機構，帶動負責清潔玻璃側壁的電動刷頭，做出高度升降比的上下清潔動作。底部清潔模組則是延續前一代海螺型魚缸底部清潔機器人之設計，透過構造的改良，減少模組的體積。移動模組是使用高自由度的Mecanum Wheels作為驅動方式，配合防水微動開關，讓機器人在清潔側壁的同時可準確地貼合側壁。使用者可在APP選擇手動控制機器人亦可進入自動清潔模式，智慧型裝置將發射藍牙訊號給外部控制盒，外部控制盒將訊號轉換成無線電的型式，再傳達給水下清潔機器人，由無線遙控的方式，使機器人的移動更加暢行無阻。本研究機器人的零組件是透過積層製造技術中的ProJet、FDM所加工完成，在組裝成各個模組並進行防水測試後，將各模組互相整合即完成本研究之機器人，最後進行整合性的水下測試，達到自動清潔側壁與底部之功能。

Nowadays, the large aquariums are still cleaned by manual, because of the difficulty of cleaning. Commercial type cleaning robots have only single cleaning function, but other type of underwater cleaning robot cannot be used in this field, such as vessel or swimming pool cleaning robots. So it needs a appropriate small-scale underwater cleaning robot to clean medium and large aquariums. The purpose of this research is to develop a small - scale underwater cleaning robot with the function of cleaning glass and bottom, through operated wireless technology by an APP on mobile devices. The underwater cleaning robot can roam in the water freely without cables.
In this research, the robot can be divided into four main modules: glass cleaning module, bottom cleaning module, moving module and control module. In order to improve the single cleaning function, this research develop the glass cleaning module which apply to the middle aquariums. Through tape spring mechanism inside the module activate the electric brush moving up and down in a wide range. The bottom cleaning module is based on the design of last generation “Conch shaped underwater aquarium bottom cleaning robot”. Improving the mechanism, we reduce the volume of the module. Mecanum wheels and limit switches are adopted for the moving module to match the glass when the robot is cleaning the glass. User can use the APP to choose manual or automatic mode. Mobile devices transmit Bluetooth signal to an external control box, then external control box transforms Bluetooth to a radio signal. Without cables, the robot can move unlimitedly. The parts of the robot are made by additive manufacturing technology, such as Projet and FDM. After assembling and water-proof test, integrate every parts to complete a robot. Finally, by function test under the water to achieve the function of cleaning glass and bottom.

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