基于Zabbix的移动机器人运行状态动态监控系统  

Dynamic monitoring system for mobile robot operation status based on Zabbix

作　　者：王坤 林伟[1] 刘峥 戚家伟 闫利 WANG Kun;LIN Wei;LIU Zheng;QI Jiawei;YAN Li(State Grid Henan Electric Power Company Marketing Service Center(Measurement Center),ZhengZhou 450000,China;Henan Jiuyu Tenglong Information Engineering Co.,Ltd.,ZhengZhou 450000,China;Zhengzhou University,Zhengzhou City,ZhengZhou 450000,China)

机构地区：[1]国网河南电力公司营销服务中心(计量中心),郑州450000 [2]河南九域腾龙信息工程有限公司,郑州450000 [3]郑州大学,郑州450000

出　　处：《自动化与仪器仪表》2024年第9期294-298,共5页Automation & Instrumentation

基　　金：国网河南营销服务中心(计量中心)项目,2022年营业厅效能评估监测数字化建设实施(用电营业管理提升),(项目编号POW1042-2222)。

摘　　要：计算机科学技术的发展使得机器人的应用领域得以扩展,为进一步降低运行成本,提高机器人运动状态检测精度,减少主客观因素对数据造成的检查误差问题,研究依托开源监控软件Zabbix平台,将其与Khepera IV机器人相结合,并引入模糊控制理论设计机器人运动控制监控系统及应用策略。借助MATLAB2018b仿真平台和实验环境进行应用分析,结果表明,基于Zabbix的机器人运动监控系统更具实用性与稳定性,获得信息与实际信息的吻合度达到90%以上,在机器人路径规划时,研究提出了方法在路径规划时间上较普通方法减少了18%左右,在路径规划距离上缩短了8%~11%。实验结果说明Zabbix在机器人系统中的应用能帮助机器人完成更加合理的运动控制工作,为机器人的路线规划及避障等提供更有利的依据。The development of computer science and technology has expanded the application field of robots.In order to further reduce operating costs,improve the accuracy of robot motion state detection,and reduce the inspection error caused by subjective and objective factors on data,the research relies on the open-source monitoring software Zabbix platform to combine it with the Khepera IV robot,and introduces fuzzy control theory to design a robot motion control monitoring system and application strategy.Utilizing the MATLAB 2018b simulation platform and experimental environment for application analysis,the results show that the robot motion monitoring system based on Zabbix is more practical and stable,with a consistency of over 90%between the obtained information and actual information.In robot path planning,the proposed method reduces path planning time by about 18%compared to ordinary methods,and shortens path planning distance by 8%to 11%.The experimental results indicate that the application of Zabbix in robot systems can help robots complete more reasonable motion control work,providing more favorable basis for robot route planning and obstacle avoidance.

关 键 词：Zabbix监控系统 移动机器人 模糊控制 三角形隶属度函数 仿真实验 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]