With the development of marine fisheries, cage culture has become an important way of culture. The cage is immersed in seawater for a long time, and it is easy to attach various marine organisms and dirt, which not only affects the water permeability of the cage, but also may cause adverse effects on the cultured organisms. Therefore, it is of great practical significance to design an efficient and automated cage cleaning robot. Cage cleaning robot based on the principle of cavitation jet can use the cavitation effect generated by high-speed jet to effectively remove the dirt on the cage and improve the cleaning efficiency.