{"id":523,"date":"2026-06-11T12:50:58","date_gmt":"2026-06-11T04:50:58","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/agv-lidar-obstacle-avoidance-tfmini-arduino-farsi\/"},"modified":"2026-06-11T12:50:58","modified_gmt":"2026-06-11T04:50:58","slug":"agv-lidar-obstacle-avoidance-tfmini-arduino-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/agv-lidar-obstacle-avoidance-tfmini-arduino-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0633\u06cc\u0633\u062a\u0645 \u0636\u062f-\u062a\u0635\u0627\u062f\u0641 LiDAR \u0628\u0631\u0627\u06cc AGV: TF-Mini Plus \u0648 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nLiDAR TF-Mini AGV \u0636\u062f \u062a\u0635\u0627\u062f\u0641\n<\/div>\n
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LiDAR \u0628\u0631\u0627\u06cc AGV \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

LiDAR<\/strong> (Light Detection and Ranging) \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 \u0641\u0627\u0635\u0644\u0647\u200c\u0633\u0646\u062c \u0644\u06cc\u0632\u0631\u06cc \u0627\u0633\u062a. TF-Mini Plus<\/strong> \u06cc\u06a9 LiDAR \u0641\u0634\u0631\u062f\u0647 \u0648 \u0627\u0631\u0632\u0627\u0646 \u0627\u0633\u062a (\u0642\u06cc\u0645\u062a \u06f2\u06f5-\u06f4\u06f0 \u062f\u0644\u0627\u0631) \u06a9\u0647 \u0641\u0627\u0635\u0644\u0647 \u0627\u0634\u06cc\u0627\u0621 \u0631\u0627 \u062a\u0627 \u06f1\u06f2 \u0645\u062a\u0631 \u0628\u0627 \u062f\u0642\u062a \u00b1\u06f1cm \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f. \u0627\u06cc\u0646 \u0628\u0631\u0627\u06cc \u0631\u0628\u0627\u062a\u200c\u0647\u0627\u06cc AGV \u06a9\u0647 \u0628\u0627\u06cc\u062f \u0627\u0632 \u062a\u0635\u0627\u062f\u0641 \u0628\u0627 \u062f\u06cc\u0648\u0627\u0631 \u06cc\u0627 \u0627\u0646\u0633\u0627\u0646 \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u06a9\u0646\u0646\u062f \u0628\u0633\u06cc\u0627\u0631 \u0645\u0646\u0627\u0633\u0628 \u0627\u0633\u062a.<\/p>\n

TF-Mini \u0627\u0632 \u067e\u0631\u0648\u062a\u06a9\u0644 UART<\/strong> \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u06cc\u0639\u0646\u06cc \u0645\u062b\u0644 \u06cc\u06a9 Serial Port \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0635\u062d\u0628\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0647\u0631 \u06f1\u06f0\u06f0ms \u06cc\u06a9 \u0645\u0642\u062f\u0627\u0631 \u0641\u0627\u0635\u0644\u0647 \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0633\u06cc\u0633\u062a\u0645 \u0645\u0627 \u0633\u0647 \u0646\u0627\u062d\u06cc\u0647 \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc\u200c\u06a9\u0646\u062f: STOP<\/strong> (\u0632\u06cc\u0631 \u06f3\u06f0cm)\u060c SLOW<\/strong> (\u06f3\u06f0-\u06f1\u06f0\u06f0cm)\u060c \u0648 GO<\/strong> (\u0628\u0627\u0644\u0627\u06cc \u06f1\u06f0\u06f0cm).<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u0633\u06cc\u0633\u062a\u0645 \u0636\u062f-\u062a\u0635\u0627\u062f\u0641 \u0628\u0627 LiDAR \u0628\u0631\u0627\u06cc AGV \u06a9\u0647 \u062f\u0631 \u06f3 \u0646\u0627\u062d\u06cc\u0647 \u0645\u062e\u062a\u0644\u0641 \u0639\u06a9\u0633\u200c\u0627\u0644\u0639\u0645\u0644 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f1 \u062a\u0627 \u06f2 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646 (TF-Mini)<\/li>\n
  • \u0628\u0631\u062f \u062a\u0634\u062e\u06cc\u0635:<\/strong> \u06f1\u06f0cm \u062a\u0627 \u06f1\u06f2m<\/li>\n
  • \u0646\u0631\u062e \u0628\u0631\u0648\u0632\u0631\u0633\u0627\u0646\u06cc:<\/strong> \u06f1\u06f0\u06f0Hz<\/li>\n<\/ul>\n<\/div>\n

    \n\nAGV + LiDAR<\/text>\n\nSTOP<\/text>\n<30cm<\/text>\n\nSLOW<\/text>\n30-100cm<\/text>\n\nGO<\/text>\n>100cm<\/text>\n\nLiDAR AGV \u2014 \u06f3 \u0646\u0627\u062d\u06cc\u0647: STOP\/SLOW\/GO<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u2014 LiDAR Obstacle Avoidance<\/h2>\n
    \n#include <SoftwareSerial.h>\nSoftwareSerial tfSerial(4, 5);  \/\/ RX, TX\n\nstruct TFData { int distance; int strength; };\n\nTFData readTF() {\n  TFData data = {-1, -1};\n  while(tfSerial.available() >= 9) {\n    if(tfSerial.read() == 0x59 && tfSerial.read() == 0x59) {\n      byte buf[7];\n      tfSerial.readBytes(buf, 7);\n      data.distance = buf[0] | (buf[1] << 8);\n      data.strength = buf[2] | (buf[3] << 8);\n    }\n  }\n  return data;\n}\n\nvoid setup() {\n  Serial.begin(115200);\n  tfSerial.begin(115200);\n  pinMode(LED_BUILTIN, OUTPUT);\n}\n\nvoid loop() {\n  TFData tf = readTF();\n  int d = tf.distance;\n\n  if(d > 0 && d < 30) {\n    Serial.println(\"STOP! \" + String(d) + \"cm\");\n    \/\/ stopMotors();\n    digitalWrite(LED_BUILTIN, HIGH);\n  } else if(d >= 30 && d < 100) {\n    int speed = map(d, 30, 100, 80, 200);\n    Serial.println(\"SLOW \" + String(d) + \"cm spd=\" + String(speed));\n    \/\/ setSpeed(speed);\n  } else {\n    Serial.println(\"GO \" + String(d) + \"cm\");\n    \/\/ setSpeed(255);\n    digitalWrite(LED_BUILTIN, LOW);\n  }\n  delay(50);\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u062f\u06cc\u0648\u0627\u0631 \u062f\u0631 \u06f5\u06f0cm \u2192 SLOW\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u062f\u0633\u062a \u062f\u0631 \u06f2\u06f0cm \u2192 STOP\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u0641\u0627\u0635\u0644\u0647 \u062f\u0631 Serial Monitor \u0642\u0627\u0628\u0644 \u062e\u0648\u0627\u0646\u062f\u0646\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    Strength \u0628\u0627\u0644\u0627\u06cc \u06f1\u06f0\u06f0\u061f<\/td>\n\u0632\u06cc\u0631 \u06f1\u06f0\u06f0 = \u0647\u062f\u0641 \u0636\u0639\u06cc\u0641<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nTF-Mini LiDAR<\/text>\nUART 115200<\/text>\nArduino<\/text>\n\u0645\u0646\u0637\u0642 \u0646\u0627\u062d\u06cc\u0647<\/text>\nL298N<\/text>\n\u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u062a\u0648\u0631<\/text>\nAGV \u0627\u06cc\u0645\u0646<\/text>\nSTOP\/SLOW\/GO<\/text>\nLiDAR AGV \u2014 TF-Mini \u2192 Arduino \u2192 \u0633\u0647\u200c\u0646\u0627\u062d\u06cc\u0647 \u2192 \u0645\u0648\u062a\u0648\u0631<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n