LD6002B 3D Presence Radar

Component

The ld6002b component allows you to use the Hi-Link HLK-LD6002B 60 GHz 3D presence radar module with ESPHome. It can track up to 3 people and reports per-target position (X/Y/Z), cluster ID, and Doppler index.

The UART component is required. baud_rate, data_bits, parity and stop_bits must be 115200, 8, NONE and 1.

WARNING

Avoid the ESP’s UART0 pins (GPIO1/GPIO3 on the classic ESP32; other variants differ). The bootloader prints its boot log on UART0 TX at 115200 baud on every reset, and this stray data can corrupt the radar’s internal state until it is power cycled. The module has no reset pin or reset command, so use a UART that stays quiet during boot.

HLK-LD6002B 3D presence radar module, shown in the intended mounting orientation

# Example configuration entry
ld6002b:
  id: ld6002b_radar

Configuration Variables

• id (Optional, ID): Manually specify the ID for this component.
• uart_id (Optional, ID): Manually specify the ID of the UART Component to use. Required if you have multiple UARTs configured.
• wakeup_pin (Optional, Pin Schema): Pin used to wake the radar from low power mode. Required if you want auto_wake or the wake button to function. With low_power enabled and no wakeup_pin wired, the first command after an idle period is consumed as a wake-up and is retried automatically; wiring wakeup_pin avoids that retry.
• wakeup_pulse (Optional, Time, default: 50ms): Pulse length for the wakeup pin. Requires wakeup_pin.
• auto_wake (Optional, boolean, default: true): Pulse wakeup_pin before sending a command. Requires wakeup_pin.

Power and Hardware Requirements

WARNING

The module is sensitive to power quality. Supply 3.1–3.5 V with ripple ≤ 50 mV and current capacity ≥ 1 A. For DC-DC supplies, use a switching frequency of at least 2 MHz.

• GPIO IO voltage is 3.3 V.
• The TX2 pin can output a simple presence signal (high when presence is detected).
• Boot requires BOOT1 held low before startup (BOOT pins are pulled up internally).

Specifications

• Operating frequency: 58–64 GHz.
• Emission power: 12 dBm; antenna gain: 4 dBi.
• Beam width: ±60° horizontal and vertical (-3 dB).
• Operating temperature: -20 to 85 °C.
• Maximum tracked targets: 3.
• Distance accuracy: ~0.4 m; identification accuracy: 95% (module spec).

Installation and Coordinate System

The module supports top and side mounting. The horizontal and vertical beam angles are ±60° and the maximum detection distance is 6 m. A typical ceiling installation at 2.7 m height yields a detection area of roughly 5 m by 3 m.

Mount the module in the orientation shown at the top of this page, with the antenna side facing the detection area and the pin header along the bottom edge; the reported X/Y/Z axes assume this orientation.

Target and area coordinates are reported in meters. The origin is the module projection onto the reference plane (floor for ceiling installs, wall for side installs). X is left/right, Y is forward/away, and Z is height. Detection and interference areas are configured relative to this origin.

NOTE

Detection distance varies with target size and environment. Some variation is expected.

Area Configuration Notes

Detection areas define where presence is considered valid for the TX2 output and the detection_area_N binary sensors. Interference areas mask known noise sources (fans, air conditioners, curtains) so they do not trigger presence. Areas are stored in the module and persist across power cycles.

Use area_id to select the area, set area_config, then press Apply Area. Use Get Areas to read back stored values. A value you set on one of the area_config numbers is kept until you apply it or switch to another area_id, so an area read does not overwrite an edit in progress.

NOTE

Apply Area writes all six coordinates of the selected area, combining the values you set with the ones cached from the last area read, which happens on boot and after Auto Interference, Clear Interference and Reset Detection Area. If a bound is still unknown, the component requests the current areas first and applies the update once a fresh report arrives; if that report is still incomplete, the update is dropped with a warning.

Binary Sensor

The ld6002b binary sensor provides presence detection for targets and detection areas.

binary_sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    target:
      name: Presence
    target_1:
      name: Target-1 Presence
    detection_area_0:
      name: Area-0 Presence

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.
• target (Optional): True if any target is detected or any detection area reports presence. All options from Binary Sensor.
• target_N (Optional): True if target slot N (N = 1 to 3) is occupied: target_1, target_2, target_3. A person keeps the same slot for as long as they are tracked continuously, and a new person takes the lowest free slot. All options from Binary Sensor.
• detection_area_N (Optional): True if presence is detected in detection area N (0 to 3): detection_area_0, detection_area_1, detection_area_2, detection_area_3. All options from Binary Sensor.

NOTE

The detection_area_N sensors are cleared when the module reports that it entered unattended low-power mode. If a target is still being tracked at that moment the clear is skipped, because a tracked target is the more recent statement about the room.

Sensor

The ld6002b sensor provides target coordinates, point-cloud count, and configured area coordinates.

sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    target_count:
      name: Target Count
    point_count:
      name: Point Count
    target_1:
      x:
        name: Target-1 X
      y:
        name: Target-1 Y
      z:
        name: Target-1 Z
      doppler_index:
        name: Target-1 Doppler Index
      cluster_id:
        name: Target-1 Cluster

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.

• target_count (Optional, int): Total number of targets currently detected (0 to 3). All options from Sensor.

• point_count (Optional, int): Total number of point-cloud points reported by the radar. All options from Sensor.

• target_N (Optional): Details about each target (N = 1 to 3). Up to 3 targets can be tracked simultaneously: target_1, target_2, target_3. A tracked person keeps the same target_N slot for as long as they remain tracked, and a new person takes the lowest free slot.

  • x (Optional, float): X coordinate of the target in meters.
  • y (Optional, float): Y coordinate of the target in meters.
  • z (Optional, float): Z coordinate of the target in meters.
  • doppler_index (Optional, int): Doppler index for the target (speed indicator, not a direct speed).
  • cluster_id (Optional, int): Cluster ID for the target.

  All options above inherit from Sensor.

  Slot identity comes from the module’s own spatial clustering, so it is stable rather than perfect: two people standing very close together can merge into a single target, a track’s cluster ID can occasionally change while the person is still in the room, and a slot left by someone who leaves is reused by the next new person. Watch cluster_id to see when a slot changes hands; it is published only when the value changes, not on every frame.

• interference_area_N (Optional): Interference (mask) area coordinates (N = 0 to 3). Each area provides x_min, x_max, y_min, y_max, z_min, z_max sensors. All options from Sensor.

• detection_area_N (Optional): Detection area coordinates (N = 0 to 3). Each area provides x_min, x_max, y_min, y_max, z_min, z_max sensors. All options from Sensor.

NOTE

The per-target x, y, z and doppler_index sensors come with these filters by default. They hold the last reading for a second, so a dropped frame does not read as a gap, and then limit how often updates reach the frontend:

- timeout:
    timeout: 1s
    value: last
- throttle_with_priority: 1s

Giving a sensor its own filters: replaces the defaults; use filters: [] to drop them. For example, to get faster updates on a single axis:

    target_1:
      x:
        name: Target-1 X
        filters:
          - throttle_with_priority: 300ms

If a Target Display switch is configured, its restore_mode decides whether target reporting starts on boot; the default is RESTORE_DEFAULT_ON. Without that switch, the component enables target reporting automatically when any target sensors or the work_mode text sensor are configured. While target reporting is disabled, target sensors remain unknown.

If you configure any area sensors or area configuration numbers, the component requests stored area data on boot. You can also use Get Areas to refresh the values.

NOTE

If a point_cloud switch is configured, it owns the point cloud stream and its restore_mode decides the boot state, and turning it off returns point_count to unknown. Without that switch, configuring point_count starts the stream on boot on its own. The stream sends large frames over the 115200 baud link, so leave it on only while you need the count. Configuring the switch or the sensor also reserves a larger 4 KB frame buffer at boot.

Text Sensor

The ld6002b text sensor exposes radar operating mode and firmware version.

text_sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    work_mode:
      name: Work Mode
    ota_version:
      name: OTA Version

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.
• work_mode (Optional): normal or low_power based on the radar work mode. All options from Text Sensor.
• ota_version (Optional): Firmware version string, if supported by your module firmware. All options from Text Sensor.

NOTE

work_mode reflects the current operating state and can differ from the low_power switch setting. If the module firmware does not emit work mode reports, ESPHome falls back to the configured low-power setting after a Get Low Power Mode request. In this fallback, ESPHome treats any detected presence as normal.

NOTE

Firmware updates use the vendor OTA upgrade tool; see the HLK OTA documentation provided with the module.

Number

The ld6002b number platform lets you configure timing and detection areas.

number:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    hold_delay:
      name: Hold Delay (s)
    z_min:
      name: Z Min (m)
    z_max:
      name: Z Max (m)
    low_power_sleep_time:
      name: Low Power Sleep (ms)
    area_config:
      x_min:
        name: Area X Min
      x_max:
        name: Area X Max
      y_min:
        name: Area Y Min
      y_max:
        name: Area Y Max
      z_min:
        name: Area Z Min
      z_max:
        name: Area Z Max

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.
• hold_delay (Optional, range 0–65535 s, step 1): Presence hold time, in seconds (default 30 s in the 2025 protocol spec). All options from Number.
• z_min / z_max (Optional, range -10–10 m, step 0.1): Global Z-axis detection range, in meters. All options from Number.
• low_power_sleep_time (Optional, range 0–60000 ms, step 100): Low power sleep time in milliseconds (default 500 ms). When low-power mode is enabled and the area is unattended, the module sleeps for this interval between scans; higher values reduce idle power but increase detection latency. All options from Number.
• area_config (Optional): Coordinate values (x_min/x_max/y_min/y_max/z_min/z_max, each range -10–10 m, step 0.1) for the selected area ID. Requires both a select.area_id and a button.apply_area on the same ld6002b (enforced at compile time); set the values, then press Apply Area to send them. A minimum above its matching maximum is rejected with a warning instead of being written.

Select

The ld6002b select platform configures sensitivity, trigger speed, installation mode, and the active area ID.

select:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    sensitivity:
      name: Sensitivity
    trigger_speed:
      name: Trigger Speed
    installation_mode:
      name: Installation Mode
    area_id:
      name: Area ID

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.
• sensitivity (Optional): low, medium, or high. low only detects motion. All options from Select.
• trigger_speed (Optional): fast (~0.5 s), medium (~1 s), or slow (~5 s), the time from detecting a person to triggering. All options from Select.
• installation_mode (Optional): top or side. All options from Select.
• area_id (Optional): Area to edit with area_config. Options are interference_area_0 through interference_area_3 and detection_area_0 through detection_area_3 (mapped internally to IDs 0–7). All options from Select.

NOTE

If no area ID is selected, Apply Area is ignored to prevent writing to the wrong region.

Switch

The ld6002b switch platform enables low power mode, point-cloud output, and target reporting.

switch:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    low_power:
      name: Low Power
    point_cloud:
      name: Point Cloud
    target_display:
      name: Target Display

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.
• low_power (Optional): Enable or disable low power mode. In low power mode, the module uses a lower duty cycle when the area is empty and returns to full tracking on motion. The module documentation reports ~2.5 mA average current in low power idle and ~135 mA in normal tracking. All options from Switch.
• point_cloud (Optional): Enable or disable point-cloud reporting, which is what point_count reads. All options from Switch.
• target_display (Optional): Enable or disable target reporting (0x0A04). If disabled, target sensors will show unknown and target presence binary sensors turn off until re-enabled. All options from Switch.

NOTE

Each switch applies its own restore_mode on boot. point_cloud and low_power keep the standard ALWAYS_OFF default, so enable Point Cloud when you want the stream. target_display defaults to RESTORE_DEFAULT_ON, so target reporting starts on unless a stored state or your own restore_mode says otherwise. inverted is not available on these switches: they report what the module is doing, not how something is wired to it. The full point cloud is not exposed as a text sensor; use point_count to monitor how many points are returned.

The low_power switch enables or disables low-power mode. The work_mode text sensor reflects the current operating state, which may stay in normal while movement is detected.

Button

The ld6002b button platform exposes configuration and diagnostic commands.

button:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    apply_area:
      name: Apply Area
    auto_interference:
      name: Auto Interference
    get_areas:
      name: Get Areas
    get_installation:
      name: Get Installation
    wake:
      name: Wake

Configuration Variables

• ld6002b_id (Optional, ID): Manually specify the ID of the LD6002B component.
• apply_area (Optional): Send the configured area_config to the selected area_id. Requires a select.area_id on the same ld6002b. All options from Button.
• auto_interference (Optional): Generate interference areas from the current environment. Run this with no people present and with known interference sources active. To reset the generated interference areas, use Clear Interference. All options from Button.
• get_areas (Optional): Request stored interference/detection areas from the radar. All options from Button.
• clear_interference (Optional): Clear interference areas. All options from Button.
• reset_detection_area (Optional): Reset detection areas to defaults (4 m by 4 m). All options from Button.
• get_delay (Optional): Request hold delay. All options from Button.
• get_sensitivity (Optional): Request sensitivity state. All options from Button.
• get_trigger_speed (Optional): Request trigger speed state. All options from Button.
• get_z_range (Optional): Request Z-axis range. All options from Button.
• get_installation (Optional): Request installation mode from the radar and update the installation_mode select with top or side. All options from Button.
• get_low_power_mode (Optional): Request low power mode state. All options from Button.
• get_low_power_sleep_time (Optional): Request low power sleep time. All options from Button.
• reset_unattended (Optional): Reset the module’s unattended (no-person) state used by its low-power logic. Helpful if the device gets stuck in an unattended state. All options from Button.
• wake (Optional): Pulse the wakeup_pin to wake the radar. Requires wakeup_pin on the parent ld6002b. All options from Button.

Examples

Targets Only (X/Y/Z For 3 Targets)

uart:
  tx_pin: GPIOXX
  rx_pin: GPIOXX
  baud_rate: 115200

ld6002b:
  id: ld6002b_radar

sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    target_count:
      name: Target Count
    target_1:
      x:
        name: Target-1 X
      y:
        name: Target-1 Y
      z:
        name: Target-1 Z
      doppler_index:
        name: Target-1 Doppler Index
    target_2:
      x:
        name: Target-2 X
      y:
        name: Target-2 Y
      z:
        name: Target-2 Z
      doppler_index:
        name: Target-2 Doppler Index
    target_3:
      x:
        name: Target-3 X
      y:
        name: Target-3 Y
      z:
        name: Target-3 Z
      doppler_index:
        name: Target-3 Doppler Index

binary_sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    target_1:
      name: Target-1 Presence
    target_2:
      name: Target-2 Presence
    target_3:
      name: Target-3 Presence

Full Configuration

uart:
  id: uart_bus
  tx_pin: GPIOXX
  rx_pin: GPIOXX
  baud_rate: 115200

ld6002b:
  id: ld6002b_radar
  uart_id: uart_bus
  wakeup_pin: GPIOXX
  wakeup_pulse: 50ms
  auto_wake: true

binary_sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    target:
      name: Presence
    target_1:
      name: Target-1 Presence
    target_2:
      name: Target-2 Presence
    target_3:
      name: Target-3 Presence
    detection_area_0:
      name: Area-0 Presence
    detection_area_1:
      name: Area-1 Presence
    detection_area_2:
      name: Area-2 Presence
    detection_area_3:
      name: Area-3 Presence

sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    target_count:
      name: Target Count
    point_count:
      name: Point Count
    target_1:
      x:
        name: Target-1 X
      y:
        name: Target-1 Y
      z:
        name: Target-1 Z
      doppler_index:
        name: Target-1 Doppler Index
      cluster_id:
        name: Target-1 Cluster
    target_2:
      x:
        name: Target-2 X
      y:
        name: Target-2 Y
      z:
        name: Target-2 Z
      doppler_index:
        name: Target-2 Doppler Index
      cluster_id:
        name: Target-2 Cluster
    target_3:
      x:
        name: Target-3 X
      y:
        name: Target-3 Y
      z:
        name: Target-3 Z
      doppler_index:
        name: Target-3 Doppler Index
      cluster_id:
        name: Target-3 Cluster
    interference_area_0:
      x_min:
        name: Interference-0 X Min
      x_max:
        name: Interference-0 X Max
      y_min:
        name: Interference-0 Y Min
      y_max:
        name: Interference-0 Y Max
      z_min:
        name: Interference-0 Z Min
      z_max:
        name: Interference-0 Z Max
    detection_area_0:
      x_min:
        name: Detection-0 X Min
      x_max:
        name: Detection-0 X Max
      y_min:
        name: Detection-0 Y Min
      y_max:
        name: Detection-0 Y Max
      z_min:
        name: Detection-0 Z Min
      z_max:
        name: Detection-0 Z Max
    # interference_area_1..3 and detection_area_1..3 follow the same shape

text_sensor:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    work_mode:
      name: Work Mode
    ota_version:
      name: OTA Version

number:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    hold_delay:
      name: Hold Delay (s)
    z_min:
      name: Z Min (m)
    z_max:
      name: Z Max (m)
    low_power_sleep_time:
      name: Low Power Sleep (ms)
    area_config:
      x_min:
        name: Area X Min
      x_max:
        name: Area X Max
      y_min:
        name: Area Y Min
      y_max:
        name: Area Y Max
      z_min:
        name: Area Z Min
      z_max:
        name: Area Z Max

select:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    sensitivity:
      name: Sensitivity
    trigger_speed:
      name: Trigger Speed
    installation_mode:
      name: Installation Mode
    area_id:
      name: Area ID

switch:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    low_power:
      name: Low Power
    point_cloud:
      name: Point Cloud
    target_display:
      name: Target Display

button:
  - platform: ld6002b
    ld6002b_id: ld6002b_radar
    apply_area:
      name: Apply Area
    auto_interference:
      name: Auto Interference
    get_areas:
      name: Get Areas
    clear_interference:
      name: Clear Interference
    reset_detection_area:
      name: Reset Detection Area
    get_delay:
      name: Get Hold Delay
    get_sensitivity:
      name: Get Sensitivity
    get_trigger_speed:
      name: Get Trigger Speed
    get_z_range:
      name: Get Z Range
    get_installation:
      name: Get Installation
    get_low_power_mode:
      name: Get Low Power Mode
    get_low_power_sleep_time:
      name: Get Low Power Sleep Time
    reset_unattended:
      name: Reset Unattended
    wake:
      name: Wake

See Also

• HLK-LD6002B 3D Presence Module Communication Protocol V1.2
• LD2410 Sensor
• LD2420 24GHz mmWave Radar Sensor
• LD2450 Sensor
• RD-03D mmWave Radar
• API Reference: ld6002b.h