基于嵌入式Web的移动机器人安全性故障监控系统设计

摘要

针对移动机器人运动过程中普遍出现的动力系统故障问题,设计了一种基于"ARM-Linux"操作系统的嵌入式Web远程监控系统.通过对移动机器人动力系统的内部参数进行监控,保证系统可以及时发现故障,提高机器人的安全性和可靠性.分析了驱动电机矢量控制中几种关键参数,提出对电机运行电流、转速等参数监控.实验证明,系统可以对机器人电机驱动出现的过流、欠压、超速等故障进行监控和预警.%Because the power system faults often occurs in the process of the mobile robot movement, this paper designs a kind of embedded Web remote monitoring system, based on"ARM–Linux" operating system. lts internal parameters are monifored to en-sure that the faults are found out in time and improve the safety and reliability of the robot. It also analyzes the several key parame-ters in the motor vector control. The experiment proves that the system of the mobile robot can be used to monitor the faults of over-current , under-voltage and over-speed in the mobile robot.