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Introduction

HPS-3D160-U is the newest generation high-performance solid-state LiDAR sensor based on Time-of-Flight(ToF) principle. Equipped with an optimized lighting system and low distortion infrared optical lens, measurable distance up to 12m on 90% reflective white targets. Flexible user-defined region of interest(ROI) function, Simple-HDR, Auto-HDR, and Super-HDR modes, makes HPS-3D160-U suitable for various applications.
HPS-3D160-U integrates high-power 850nm infrared VCSEL emitters and high-photosensitive components. The embedded high-performance processor, advanced data processing, filtering and compensation algorithms ensure very stable simultaneous measure data output. Full solid structure, industrial IP67 protection design and sturdy aviation aluminum housing enable the product to be used in complicated environments.
This HPS-3D160-U LiDAR module adopts USB as data transmission for conveniently connecting with host and offers SDK for supporting Windows, Linux, ROS and Raspberry Pi. It can be used in AGV collision avoidance, safety area protection, people counting, service robot collision avoidance, smart transportation, automatic door area trigger control.

Features

Specification

Board Overview

Wire color Signal Signal Type Description
Red VCC Power Power, connect to DC +11~24V
Black GND GND Ground
Blue DATA- Digital TXN(-)
Blue+White DATA+ Digital TXP(+)
Orange DATA- Digital RXN(-)
Orange+White DATA+ Digital RXP(+)
Purple DATA- I/O Optocoupler isolated I/O Common
Purple+white DATA+ I/O Optocoupler isolated I/O Output
Shield layer SHIELD -- Cable shield, the internal is connected with product case

Tutorial

Requirements

Run on Host PC

  1. Connect the LiDAR module to 12~24V DC. Black to negative, red to positive. Plug the USB to the PC when powered on.

Connection

  1. In Windows computer, download and unzip Host PC, the unzipped files shown as below:

Unzipped files

  1. Install driver. Enter driver folder, unzip en.stsw-stm32102.ZIP file then you can get the driver file. Then select to install the driver of suitbale version(for win10, please double click NDP461-KB3102438-Web).

Install driver

Open device manager to check if the driver is properly installed. (The following shows the driver is installed)

Check

  1. Enter HPS3D160_Client folder, double click to open HPS-3D160.exe file.

Open file

  1. Complete setup as below

Setup

  1. Enter host PC main interface.

Host Main Interface

(1). Client software version

(2). Menu bar

(3). Display frame rate.

(4). Control Option: select view file to save, obstacle extraction and so on.

(5). View Image control

(6). Device connected menu bar: current connection status, COM, device version, device serial number

  1. Click "Start" to see the point cloud data, and the outline of object detected within the detection range. Hold the left mouse button down and drag to change the viewing direction of the point cloud image; roll the mouse wheel to zoom in/out point cloud image.

Point CLoud Data

  1. 2D distance image: The distance value beyond the measurement range will be display as 65400 or 65500 here, and the color of this point on the image is white; when the signal value is too low or the radar judges that the ranging is invalid, the distance value will be display as 65300 or 65530, and the image will be displayed in black. For other normal values, the image will be displayed from red to blue according to the distance value (small to large).

2D Distance Image

  1. 1D plot chart: plot curve chart of average distance, minimum distance, single pixel point, or point cloud XYZ coordinate graph.

1D Plot Chart

  1. Select image mode: under grayscale mode, ranging is disabled, and only save signal amplitude value; depth mode is also ranging mode.

  2. File: record data and save into file for analysis, also including data playback function.

  3. Others: obstacle extraction parameter setting and data display. Shown as below:

Others

Obstacle extraction parameter as below:

Function Parameter

LiDAR Installing Settings: By setting the installation angle and height of the LiDAR module, the sensor measurement distance value can be converted into the horizontal distance value of the measured object to the sensor; enabling the point cloud coordinate rotation translation can convert the LiDAR world coordinate system with a certain installation angle into a world coordinate system in accordance with our logic for data analysis and processing.

  1. ROI Settings The client software supports user define multiple groups of regions of interest (ROI). Each group supports multiple custom ROI. By combining multiple ROIs to meet the requirements in our actual application scenarios. Click Advance, ROI Settings to enter the ROI setting.

ROI Settings

(1). Distance image display interface: color image display and rectangular ROI drawing and sections setting;
(2). Refresh or Clear all ROI: refresh the current display interface, clear all user-defined ROI sections in current ROI group(Group ID).
(3). ROI Draw: At present, the client software supports drawing up to 16 non-repetitive ROI.
For detailed drawing steps, please refer to ROI setting steps below.
(4). ROI data display box: This area is used to display simple data in the current ROI. By moving the mouse to the ROI drawn, the current ID and its simple data package contents are displayed in the area; The alarm indicator corresponds to the three-stage threshold alarm output status bit (bit0 bit1 bit2)

ROI Adjust: Manual tiny adjustment for ROI area is supported, including pan and zoom.

Setting Interface

(1). Display the currently set ROI ID number.

(2). Alarm threshold setting: at present, the client software supports three segments of threshold setting. Threshold ID range is 0~2;

The setting steps are as below:

Step 4. View the data information in the current ROI and move the mouse to the ROI to be viewed.

Run on Rapsberry Pi

  1. Install Python dependency library and git. Make sure Raspberry Pi is connected to the Internet. Skip this step if you have installed already.

Input the following commands in the terminal and press "Enter":

sudo apt-get install build-essential python-dev python-smbus git

Download codes from github:

cd Desktop
git clone https://github.com/DFRobotdl/HPS3D_SDK_Linux_Demo.git

Download Codes

Compile and run:

cd HPS3D_SDK_Linux_Demo
gcc main.c -o app -g -Wall  -Wl,-rpath=./ -L./ -lhps3d_arm
./app

When transmission type selection is appeared, enter 0(select USB transmission), and press "enter" to see the average distance within the radar detection range

Select transmission type

Expected Results

Result

FAQ

For any questions, advice or cool ideas to share, please visit the DFRobot Forum.

More Documents

DFshopping_car1.png Get HPS-3D160-U Area Array Lidar from DFRobot Store or DFRobot Distributor.

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