{"id":827,"date":"2026-06-12T15:47:05","date_gmt":"2026-06-12T07:47:05","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/gps-geofencing-ugv-arduino-boundary-alert-farsi\/"},"modified":"2026-06-12T15:47:05","modified_gmt":"2026-06-12T07:47:05","slug":"gps-geofencing-ugv-arduino-boundary-alert-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/gps-geofencing-ugv-arduino-boundary-alert-farsi\/","title":{"rendered":"Geofencing \u0628\u0627 GPS: \u0645\u062d\u062f\u0648\u062f \u06a9\u0631\u062f\u0646 \u0646\u0627\u062d\u06cc\u0647 \u062d\u0631\u06a9\u062a UGV \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nGeofencing GPS UGV \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0645\u062d\u062f\u0648\u062f\u0647 \u062d\u0631\u06a9\u062a\n<\/div>\n
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Geofencing \u2014 \u062d\u0635\u0627\u0631 \u062c\u063a\u0631\u0627\u0641\u06cc\u0627\u06cc\u06cc \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644<\/h2>\n

Geofencing<\/strong> \u06cc\u0639\u0646\u06cc \u062a\u0639\u0631\u06cc\u0641 \u06cc\u06a9 \u0645\u0646\u0637\u0642\u0647 \u062c\u063a\u0631\u0627\u0641\u06cc\u0627\u06cc\u06cc (\u0628\u0627 \u0645\u062e\u062a\u0635\u0627\u062a GPS) \u0648 \u062a\u0639\u06cc\u06cc\u0646 \u0642\u0627\u0646\u0648\u0646 \u0628\u0631\u0627\u06cc \u0631\u0641\u062a\u0627\u0631 UGV \u0648\u0642\u062a\u06cc \u0627\u0632 \u0622\u0646 \u0645\u0646\u0637\u0642\u0647 \u062e\u0627\u0631\u062c \u0645\u06cc\u200c\u0634\u0648\u062f \u2014 \u0645\u062b\u0644\u0627\u064b \u062a\u0648\u0642\u0641\u060c \u0628\u0627\u0632\u06af\u0634\u062a \u0628\u0647 \u062e\u0627\u0646\u0647\u060c \u06cc\u0627 \u0627\u0631\u0633\u0627\u0644 \u0647\u0634\u062f\u0627\u0631. \u06a9\u0627\u0631\u0628\u0631\u062f\u0647\u0627: \u06a9\u0634\u0627\u0648\u0631\u0632\u06cc \u062f\u0642\u06cc\u0642 (UGV \u0641\u0642\u0637 \u062f\u0631 \u0645\u0632\u0631\u0639\u0647 \u062e\u0648\u062f\u062a \u0628\u0645\u0627\u0646\u062f)\u060c \u062a\u062d\u0648\u06cc\u0644 \u0631\u0628\u0627\u062a (\u0641\u0642\u0637 \u062f\u0631 \u0645\u062d\u0648\u0637\u0647 \u0645\u062c\u0627\u0632)\u060c \u0648 \u0627\u06cc\u0645\u0646\u06cc \u0639\u0645\u0648\u0645\u06cc.<\/p>\n

\u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 Ray Casting (Point-in-Polygon)<\/strong> \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0622\u06cc\u0627 \u0646\u0642\u0637\u0647 \u0641\u0639\u0644\u06cc GPS \u062f\u0627\u062e\u0644 \u0686\u0646\u062f \u0636\u0644\u0639\u06cc \u062a\u0639\u0631\u06cc\u0641\u200c\u0634\u062f\u0647 \u0627\u0633\u062a \u06cc\u0627 \u062e\u0627\u0631\u062c \u2014 \u0631\u0648\u0634\u06cc \u0633\u0627\u062f\u0647 \u0648 \u06a9\u0627\u0631\u0622\u0645\u062f \u062d\u062a\u06cc \u0628\u0631\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648.<\/p>\n<\/div>\n

\u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 Ray Casting \u2014 \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/h2>\n
#include <TinyGPS++.h>\n\n\/\/ ===== \u062a\u0639\u0631\u06cc\u0641 \u0645\u0631\u0632 Geofence (\u0686\u0646\u062f \u0636\u0644\u0639\u06cc \u06f4 \u06af\u0648\u0634\u0647 \u2014 \u0645\u062b\u0627\u0644) =====\nconst int NUM_VERTS = 4;\ndouble fenceLat[] = {35.7120, 35.7135, 35.7135, 35.7120};\ndouble fenceLng[] = {51.4050, 51.4050, 51.4070, 51.4070};\n\nbool pointInPolygon(double lat, double lng){\n  bool inside = false;\n  for(int i=0, j=NUM_VERTS-1; ilat) != (fenceLat[j]>lat)) &&\n       (lng < (fenceLng[j]-fenceLng[i])*(lat-fenceLat[i])\/(fenceLat[j]-fenceLat[i])+fenceLng[i])){\n      inside = !inside;\n    }\n  }\n  return inside;\n}\n\nTinyGPSPlus gps;\n\nvoid loop(){\n  while(Serial1.available()) gps.encode(Serial1.read());\n\n  if(gps.location.isValid()){\n    bool safe = pointInPolygon(gps.location.lat(), gps.location.lng());\n    if(!safe){\n      \/\/ \u0645\u0631\u0632 \u0646\u0642\u0636 \u0634\u062f!\n      stopMotors();\n      sendLoRaAlert(\"GEOFENCE BREACH!\");\n    }\n  }\n}\n\nvoid stopMotors(){\n  analogWrite(ENA, 0); analogWrite(ENB, 0);\n}\n\nvoid sendLoRaAlert(String msg){\n  LoRa.beginPacket();\n  LoRa.print(msg);\n  LoRa.endPacket();\n}<\/code><\/pre>\n
\u062a\u0639\u0631\u06cc\u0641 \u0645\u0631\u0632 \u0627\u0632 Google Earth<\/h2>\n
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  1. \u062f\u0631 Google Earth Pro \u0631\u0648\u06cc \u0645\u062d\u062f\u0648\u062f\u0647 \u0645\u0648\u0631\u062f \u0646\u0638\u0631 \u06cc\u06a9 Polygon \u0628\u06a9\u0634.<\/li>\n
  2. \u06a9\u0644\u06cc\u06a9\u200c\u0631\u0627\u0633\u062a \u2192 Properties \u2192 Coordinates \u0631\u0627 \u06a9\u067e\u06cc \u06a9\u0646.<\/li>\n
  3. \u0645\u0642\u0627\u062f\u06cc\u0631 lat\/lng \u0631\u0627 \u062f\u0631 \u0622\u0631\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc fenceLat \u0648 fenceLng \u0642\u0631\u0627\u0631 \u0628\u062f\u0647.<\/li>\n
  4. \u062f\u0642\u062a GPS ~\u06f2.\u06f5m \u0627\u0633\u062a \u2014 \u0645\u0631\u0632 \u0631\u0627 \u062d\u062f\u0627\u0642\u0644 \u06f1\u06f0m \u0627\u0632 \u0645\u0648\u0627\u0646\u0639 \u0648\u0627\u0642\u0639\u06cc \u062f\u0648\u0631\u062a\u0631 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646.<\/li>\n<\/ol>\n
    \u062c\u062f\u0648\u0644 \u0631\u0641\u062a\u0627\u0631 \u062f\u0631 \u0646\u0642\u0636 \u0645\u0631\u0632<\/h2>\n\n\n\n\n\n\n\n
    \u0633\u0646\u0627\u0631\u06cc\u0648<\/th>\n\u0631\u0641\u062a\u0627\u0631 \u062a\u0648\u0635\u06cc\u0647\u200c\u0634\u062f\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u0646\u0632\u062f\u06cc\u06a9 \u0645\u0631\u0632 (\u06f5m)<\/td>\n\u06a9\u0627\u0647\u0634 \u0633\u0631\u0639\u062a \u0628\u0647 \u06f5\u06f0\u066a<\/td>\n<\/tr>\n
    \u0631\u0648\u06cc \u0645\u0631\u0632<\/td>\n\u062a\u0648\u0642\u0641 \u06a9\u0627\u0645\u0644<\/td>\n<\/tr>\n
    \u062e\u0627\u0631\u062c \u0627\u0632 \u0645\u0631\u0632<\/td>\n\u062a\u0648\u0642\u0641 + \u0647\u0634\u062f\u0627\u0631 LoRa + \u0628\u0627\u0632\u06af\u0634\u062a \u0628\u0647 \u062e\u0627\u0646\u0647<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
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