{"id":855,"date":"2026-06-12T15:52:10","date_gmt":"2026-06-12T07:52:10","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/delivery-robot-gps-routing-warehouse-to-door-farsi\/"},"modified":"2026-06-15T21:51:47","modified_gmt":"2026-06-15T13:51:47","slug":"delivery-robot-gps-routing-warehouse-to-door-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/delivery-robot-gps-routing-warehouse-to-door-farsi\/","title":{"rendered":"\u0631\u0628\u0627\u062a \u062a\u062d\u0648\u06cc\u0644 \u0628\u0627 \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628\u06cc GPS \u2014 \u0627\u0632 \u0627\u0646\u0628\u0627\u0631 \u062a\u0627 \u062f\u0631\u0628 \u062e\u0627\u0646\u0647 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u0628\u0627\u062a \u062a\u062d\u0648\u06cc\u0644 GPS \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628\u06cc \u0627\u0646\u0628\u0627\u0631 \u062f\u0631\u0628 \u062e\u0627\u0646\u0647\n<\/div>\n
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\u0641\u0644\u0648\u06cc \u06a9\u0627\u0645\u0644 \u0633\u06cc\u0633\u062a\u0645 \u062a\u062d\u0648\u06cc\u0644<\/h2>\n

\u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u062a\u062d\u0648\u06cc\u0644 \u06a9\u0627\u0645\u0644 \u0686\u0646\u062f \u0644\u0627\u06cc\u0647 \u062f\u0627\u0631\u062f: \u06f1) \u0633\u0641\u0627\u0631\u0634<\/strong>: \u06a9\u0627\u0631\u0628\u0631 \u0627\u0632 \u0627\u067e \u0645\u0648\u0628\u0627\u06cc\u0644 \u06cc\u0627 \u0648\u0628\u200c\u0633\u0627\u06cc\u062a \u0622\u062f\u0631\u0633 \u062a\u062d\u0648\u06cc\u0644 \u0631\u0627 \u0648\u0627\u0631\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f. \u06f2) \u0627\u0631\u0633\u0627\u0644 Waypoint<\/strong>: \u0633\u0631\u0648\u0631 \u0645\u062e\u062a\u0635\u0627\u062a GPS \u0631\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 LoRa \u0628\u0647 \u0631\u0628\u0627\u062a \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u062f. \u06f3) \u062d\u0631\u06a9\u062a<\/strong>: \u0631\u0628\u0627\u062a \u0628\u0627 GPS waypoint \u0628\u0647 \u0645\u0642\u0635\u062f \u0645\u06cc\u200c\u0631\u0648\u062f. \u06f4) \u062a\u0623\u06cc\u06cc\u062f\u06cc\u0647<\/strong>: \u0648\u0642\u062a\u06cc \u0631\u0633\u06cc\u062f\u060c \u06cc\u06a9 \u06a9\u062f \u06cc\u06a9\u200c\u0628\u0627\u0631 \u0645\u0635\u0631\u0641 \u0627\u0632 \u0637\u0631\u06cc\u0642 SMS \u0628\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u062f. \u06af\u06cc\u0631\u0646\u062f\u0647 \u06a9\u062f \u0631\u0627 \u0648\u0627\u0631\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u06a9\u0645\u067e\u0627\u0631\u062a\u0645\u0627\u0646 \u0628\u0627\u0632 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u067e\u0634\u062a\u0647<\/td>\nArduino + GPS + LoRa (\u0631\u0628\u0627\u062a) + Python Server + \u0627\u067e \u0648\u0628<\/td>\n<\/tr>\n
\u0627\u0639\u0644\u0627\u0646<\/td>\nSMS \u0628\u0627 \u0645\u0627\u0698\u0648\u0644 SIM800L \u06cc\u0627 \u0627\u06cc\u0645\u06cc\u0644<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0627\u0633\u06a9\u0631\u06cc\u067e\u062a Python \u2014 \u0633\u0631\u0648\u0631 \u0645\u0633\u06cc\u0631\u06cc\u0627\u0628\u06cc<\/h2>\n
import serial, time, json\n\n# \u062f\u0631\u06cc\u0627\u0641\u062a Waypoint \u0627\u0632 \u0648\u0628\u200c\u0633\u0631\u0648\u06cc\u0633\ndef get_next_delivery():\n    return {\"lat\": 35.7125, \"lng\": 51.4055, \"code\": \"7842\"}\n\n# \u0627\u0631\u0633\u0627\u0644 \u0628\u0647 \u0631\u0628\u0627\u062a \u0627\u0632 \u0637\u0631\u06cc\u0642 LoRa Gateway\nlora_serial = serial.Serial('\/dev\/ttyUSB0', 9600)\n\ndef send_waypoint(delivery):\n    cmd = f\"WP:{delivery['lat']:.6f},{delivery['lng']:.6f}\\n\"\n    lora_serial.write(cmd.encode())\n    print(f\"Sent waypoint: {delivery['lat']}, {delivery['lng']}\")\n\ndef wait_arrival():\n    while True:\n        if lora_serial.in_waiting:\n            msg = lora_serial.readline().decode().strip()\n            if \"ARRIVED\" in msg:\n                return True\n        time.sleep(0.5)\n\ndelivery = get_next_delivery()\nsend_waypoint(delivery)\nif wait_arrival():\n    # \u0627\u0631\u0633\u0627\u0644 SMS \u0628\u0627 \u06a9\u062f \u062a\u0623\u06cc\u06cc\u062f\n    print(f\"Delivery arrived. Code: {delivery['code']}\")\n    # send_sms(customer_phone, f\"\u06a9\u062f \u062a\u062d\u0648\u06cc\u0644: {delivery['code']}\")<\/code><\/pre>\n
\u06a9\u062f Arduino \u2014 \u062f\u0631\u06cc\u0627\u0641\u062a Waypoint \u0627\u0632 \u0633\u0631\u0648\u0631<\/h2>\n
double targetLat, targetLng;\nbool hasTarget = false;\n\nvoid loop(){\n  \/\/ \u062f\u0631\u06cc\u0627\u0641\u062a Waypoint \u0627\u0632 LoRa\n  int pkt = LoRa.parsePacket();\n  if(pkt > 0){\n    String cmd = \"\";\n    while(LoRa.available()) cmd += (char)LoRa.read();\n    if(cmd.startsWith(\"WP:\")){\n      String coords = cmd.substring(3);\n      int comma = coords.indexOf(',');\n      targetLat = coords.substring(0,comma).toDouble();\n      targetLng = coords.substring(comma+1).toDouble();\n      hasTarget = true;\n    }\n  }\n\n  if(hasTarget && gps.location.isValid()){\n    float dist = gpsDist(gps.location.lat(), gps.location.lng(), targetLat, targetLng);\n    if(dist < 3.0){\n      stopMotors();\n      hasTarget = false;\n      \/\/ \u0627\u0639\u0644\u0627\u0646 \u0631\u0633\u06cc\u062f\u0646\n      LoRa.beginPacket(); LoRa.print(\"ARRIVED\"); LoRa.endPacket();\n    } else {\n      navigateTo(targetLat, targetLng);\n    }\n  }\n}<\/code><\/pre>\n
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