由于大量藻类等浮游植物会附着在鱼池池底及池壁四周，导致水体污染和鱼病频发。为解决人工清刷存在的问题，研究基于履带式行走和盘形刷清刷的智能型水下鱼池清刷机器人。对清刷机器人整体系统进行设计，包括机器人总体结构、运动系统、清刷系统及部分控制系统，同时建立清刷机器人力学模型和水动力学分析，使其在清刷过程中具有良好的运动平稳性、结构稳定性及水动力特性。根据要求制作模型样机，并模拟水下清刷试验。样机试验分析结果显示：在不考虑刷盘直径、刷丝材料、接地压力以及清刷路径的情况下，影响清刷性能的主要因素是刷盘转速，得出最优组合方案为刷盘转速600 r/min，驱动速度0.4 m/s。
 

A large number of phytoplankton such as algae will adhere to the bottom of the fish tank and around the tank wall, which will lead to water pollution and frequent fish disease. In order to solve the problem of manual cleaning, an intelligent underwater fish tank cleaning robot based on crawler walking and disc brush cleaning was studied. The overall system of the cleaning robot was designed, including the overall structure of the robot, the motion system, the cleaning system and part of the control system. At the same time, the mechanical model and hydrodynamic analysis of the cleaning robot were established to provide good motion stability, structural stability and hydrodynamic characteristics in the process of cleaning. Model prototypes were made as required and underwater cleaning tests were simulated. Through the analysis of the prototype test, the results show that the main factor affecting the cleaning performance is the brush speed when the brush diameter, the brush material, the grounding pressure and the cleaning path are not considered, and the optimal combination scheme is that the brush speed is 600 r/min and the drive speed is 0.4 m/s.