Aiming to access and control perception devices through Web page remotely and conveniently, an Internet of Things Gateway (IOTGW) and its prototype system based on embedded Web server are presented. According to the typical use scenario and application requirements of warehouse management, embedded Web server is adopted as a lightweight approach for accessing perception devices and interacting with heterogeneous networks, and the hardware and software architectures of IOTGW based on ARM chip and embedded Web server are proposed. Experiments show that the IOTGW can address the heterogeneity of different sensor networks and diversity of protocols in the perception and network layer and realize the functionality of IOT management and control.