【摘要】 针对传统池塘底层环境调控装置存在的稳定性不足、行走范围小、行走轨迹不可控以及易受水草缠绕等问题，本研究设计了一种可移动式池塘底层环境调控装置。装置由提泥机构、动力机构、混合供电模块和智能路径规划模块等构成；通过提泥机构实现池底扰动与水质改善，采用动蹼明轮机构有效避免水草缠绕，并引入太阳能板提升续航能力与运行稳定性，基于扰动带宽的路径规划，实现装置自主航行与高覆盖作业。实验结果表明，装置日提水流量≥100 m³，提泥扰动带宽为2 m，行进速度为0.556～1.500 m·s^-1，作业覆盖率达90.5%，单次充电可稳定运行2 h。池底环境调控实验结果表明，装置运行使池底溶解氧含量平均提高33.25%，底层氧化还原环境由弱还原状态转变为稳定的弱氧化状态，叶绿素增长速率降低5.33%,p H保持稳定。装置在动力性能、智能路径规划能力和底层环境调控效果方面均表现良好，具备实际应用价值。更多还原

【Abstract】 To address the problems of insufficient stability, limited operating range, uncontrollable trajectories, and susceptibility to aquatic weed entanglement in conventional pond bottom environment regulation devices, we designed a mobile pond bottom-environment regulation device. The device consisted of a mud-lifting module, a propulsion module, a hybrid powersupply module, and an intelligent path-planning module. Pond bottom disturbance and water-quality improvement were achieved through the mud-lifting module; a fin-paddle wheel propulsion mechanism was adopted to effectively prevent weed entanglement; solar panels were integrated to enhance endurance and operational stability; and autonomous navigation with highcoverage operation was realized through path planning based on disturbance bandwidth. The results show that the device achieved a daily water-lifting capacity of no less than 100 m³, a mud-disturbance bandwidth of 2 m, a traveling speed of 0.556～1.500 m·s^-1, an operating coverage rate of 90.5%, and a stable operating duration of 2 h per charge. Pond-bottom regulation experiments indicate that operation of the device increased bottom-layer dissolved oxygen by an average of 33.25%, transformed the redox environment from a weakly reducing state to a stable weakly oxidizing state, reduced the chlorophyll growth rate by 5.33%, and maintained stable pH values. Overall, the device demonstrates good performance in propulsion, intelligent path planning, and bottom-environment regulation, and thus has strong potential for practical application.更多还原