{"id":563,"date":"2026-06-11T13:05:01","date_gmt":"2026-06-11T05:05:01","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/agv-line-follower-opencv-raspberry-pi-factory-farsi\/"},"modified":"2026-06-11T13:05:02","modified_gmt":"2026-06-11T05:05:02","slug":"agv-line-follower-opencv-raspberry-pi-factory-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/agv-line-follower-opencv-raspberry-pi-factory-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a AGV \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 \u0628\u0627 OpenCV \u0648 Raspberry Pi: \u0645\u0627\u0634\u06cc\u0646 \u0647\u0648\u0634\u0645\u0646\u062f \u06a9\u0627\u0631\u062e\u0627\u0646\u0647 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nAGV \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 OpenCV Raspberry Pi\n<\/div>\n
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AGV \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 \u0628\u0627 OpenCV \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u062f\u0631 \u06a9\u0627\u0631\u062e\u0627\u0646\u0647\u200c\u0647\u0627\u06cc \u0645\u062f\u0631\u0646\u060c AGV<\/strong>\u0647\u0627 (\u0631\u0628\u0627\u062a\u200c\u0647\u0627\u06cc \u062d\u0645\u0644\u200c\u0648\u0646\u0642\u0644 \u062e\u0648\u062f\u06a9\u0627\u0631) \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u06cc\u06a9 \u062e\u0637 \u0631\u0646\u06af\u06cc \u0631\u0648\u06cc \u06a9\u0641<\/strong> \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f \u2014 \u06cc\u06a9 \u0646\u0648\u0627\u0631 \u0632\u0631\u062f \u06cc\u0627 \u0633\u0641\u06cc\u062f \u06a9\u0647 \u0645\u0633\u06cc\u0631 \u062d\u0631\u06a9\u062a \u0631\u0627 \u0645\u0634\u062e\u0635 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u0631\u0648\u0634 \u0633\u0627\u062f\u0647\u200c\u062a\u0631 \u0648 \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631 \u0627\u0632 GPS \u06cc\u0627 LiDAR \u0627\u0633\u062a.<\/p>\n

OpenCV<\/strong> \u06cc\u06a9 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u067e\u0631\u062f\u0627\u0632\u0634 \u062a\u0635\u0648\u06cc\u0631 \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0627\u0633\u062a \u06a9\u0647 \u0631\u0648\u06cc Raspberry Pi \u0627\u062c\u0631\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f. \u062f\u0648\u0631\u0628\u06cc\u0646 Pi Camera<\/strong> \u062a\u0635\u0648\u06cc\u0631 \u06a9\u0641 \u0631\u0627 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f\u060c OpenCV \u062e\u0637 \u0631\u0627 \u0634\u0646\u0627\u0633\u0627\u06cc\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0648 \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 PID<\/strong> \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f \u062a\u0627 \u0631\u0628\u0627\u062a \u0631\u0648\u06cc \u062e\u0637 \u0628\u0645\u0627\u0646\u062f.<\/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

\u06cc\u06a9 AGV \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 \u0628\u0627 Pi Camera \u0648 OpenCV \u0628\u0627 \u0633\u0631\u0639\u062a \u06f0.\u06f5m\/s.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f2 \u062a\u0627 \u06f3 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0633\u0631\u0639\u062a:<\/strong> \u06f0.\u06f3-\u06f0.\u06f5 m\/s<\/li>\n
  • \u062f\u0642\u062a:<\/strong> \u00b1\u06f1cm \u0627\u0632 \u0645\u0631\u06a9\u0632 \u062e\u0637<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\nAGV + Pi Camera<\/text>\n\n\n\n\u062e\u0637 \u0632\u0631\u062f<\/text>\n\u062e\u0637\u0627\u06cc \u0627\u0646\u062d\u0631\u0627\u0641 = \u06f2cm<\/text>\nPi Camera \u2192 OpenCV \u2192 PID \u2192 \u0645\u0648\u062a\u0648\u0631<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f Python \u2014 Line Following \u0628\u0627 OpenCV<\/h2>\n
    \nimport cv2\nimport numpy as np\nimport RPi.GPIO as GPIO\nimport time\n\n# \u062a\u0646\u0638\u06cc\u0645 \u0645\u0648\u062a\u0648\u0631 L298N\nIN1,IN2,IN3,IN4=17,18,27,22\nENA,ENB=12,13  # PWM\nGPIO.setmode(GPIO.BCM)\nfor p in [IN1,IN2,IN3,IN4,ENA,ENB]: GPIO.setup(p,GPIO.OUT)\npwmA = GPIO.PWM(ENA,100); pwmB = GPIO.PWM(ENB,100)\npwmA.start(0); pwmB.start(0)\n\ndef setMotors(l,r):\n    l = max(-100, min(100, l))\n    r = max(-100, min(100, r))\n    GPIO.output(IN1, l>0); GPIO.output(IN2, l<0)\n    GPIO.output(IN3, r>0); GPIO.output(IN4, r<0)\n    pwmA.ChangeDutyCycle(abs(l)); pwmB.ChangeDutyCycle(abs(r))\n\ncap = cv2.VideoCapture(0)\ncap.set(3,320); cap.set(4,240)\n\nKp,Ki,Kd = 0.5, 0.001, 0.1\nintegral = prev_error = 0\n\nwhile True:\n    ret, frame = cap.read()\n    roi = frame[180:240, :]        # \u0641\u0642\u0637 \u06f6\u06f0 \u067e\u06cc\u06a9\u0633\u0644 \u067e\u0627\u06cc\u06cc\u0646\n    gray = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY)\n    _, binary = cv2.threshold(gray, 80, 255, cv2.THRESH_BINARY_INV)\n\n    M = cv2.moments(binary)\n    if M[\"m00\"] > 0:\n        cx = int(M[\"m10\"] \/ M[\"m00\"])\n        error = cx - 160          # \u0627\u0646\u062d\u0631\u0627\u0641 \u0627\u0632 \u0645\u0631\u06a9\u0632\n        integral += error\n        derivative = error - prev_error\n        correction = Kp*error + Ki*integral + Kd*derivative\n        prev_error = error\n        setMotors(int(60-correction), int(60+correction))\n    else:\n        setMotors(0,0)   # \u062e\u0637 \u067e\u06cc\u062f\u0627 \u0646\u0634\u062f\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0646\u0638\u06cc\u0645 PID<\/h2>\n\n\n\n\n\n\n\n\n
    \u0645\u0634\u06a9\u0644<\/th>\n\u062a\u0646\u0638\u06cc\u0645<\/th>\n<\/tr>\n<\/thead>\n
    \u0631\u0628\u0627\u062a \u062a\u0646\u062f \u0686\u0631\u062e \u0645\u06cc\u200c\u0632\u0646\u062f<\/td>\nKp \u0631\u0627 \u06a9\u0627\u0647\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n
    \u0631\u0628\u0627\u062a \u0627\u0632 \u062e\u0637 \u062e\u0627\u0631\u062c \u0645\u06cc\u200c\u0634\u0648\u062f<\/td>\nKp \u0631\u0627 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n
    \u0644\u0631\u0632\u0634 \u062f\u0631 \u0645\u0633\u06cc\u0631 \u0645\u0633\u062a\u0642\u06cc\u0645<\/td>\nKd \u0631\u0627 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n
    \u062f\u0631 \u067e\u06cc\u0686 \u062e\u0627\u0631\u062c \u0645\u06cc\u200c\u0634\u0648\u062f<\/td>\nKi \u0631\u0627 \u06a9\u0645\u06cc \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nPi Camera<\/text>\n\u06f3\u06f2\u06f0\u00d7\u06f2\u06f4\u06f0px<\/text>\nOpenCV<\/text>\nThreshold+Moment<\/text>\nPID Controller<\/text>\n\u062e\u0637\u0627 \u2192 \u062a\u0635\u062d\u06cc\u062d<\/text>\nL298N<\/text>\n\u0645\u0648\u062a\u0648\u0631 AGV<\/text>\nAGV \u062e\u0637\u200c\u0631\u0648 \u2014 Pi Camera \u2192 OpenCV \u2192 PID \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
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