# US 2018/0024232 A1 · Modular ladar sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0024232 A1 - Document ID: US20180024232A1 - Status: Published application - Kind: A1 - Application number: 15/720,310 - Filed: 2017-09-29 - Published: 2018-01-25 - Earliest claimed: 2013-01-23 - Assignees: Continental Advanced Lidar Solutions US, LLC - Applicants: Continental Advanced Lidar Solutions US, LLC - Inventors: Patrick Gilliland; Laurent Heughebaert; Joseph Spagnolia; Brad Short; Roger Stettner - Web page: https://patentgrep.com/patent/US20180024232A1 ## CPC - G01S 7/4863: Detector arrays, e.g. charge-transfer gates - G01S 7/4813: {Housing arrangements} - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/89: for mapping or imaging - G01S 17/894: Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar - G01S 17/931: of land vehicles - H04N 13/167: Synchronising or controlling image signals - H04N 13/172: image signals comprising non-image signal components, e.g. headers or format information - H04N 13/25: using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A lightweight, inexpensive LADAR sensor incorporating 3-D focal plane arrays is adapted specifically for modular manufacture and rapid field configurability and provisioning. The sensor generates, at high speed, 3-D image maps and object data at short to medium ranges. The techniques and structures described may be used to extend the range of long range systems as well, though the focus is on compact, short to medium range ladar sensors suitable for use in multi-sensor television production systems and 3-D graphics capture and moviemaking. 3-D focal plane arrays are used in a variety of physical configurations to provide useful new capabilities. ## Claims ### Claim 1 A mobile ladar platform having a ladar sensor, the ladar sensor with a field of view and having a first electrical connector and contained within a housing, and said mobile ladar platform further having a positioning system, and a digital processor adapted to perform analysis of a scene in the field of view, and the mobile ladar platform having a second electrical connector adapted to mate with said first electrical connector, and said positioning system having at least one control motor adapted to move said mobile ladar platform in response to a command from a digital processor, and said ladar sensor further comprising: a laser transmitter with modulated laser light output and a diffusing optic for illuminating a scene in the field of view of the ladar sensor; a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output; a clock driver circuit having a clock output, and having a temperature stabilized frequency reference; a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors having an output producing an electrical response signal from a reflected portion of said modulated laser light output; a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having an input connected to one of said light sensitive detector outputs, an electrical response signal demodulator, and a range measuring circuit connected to an output of said electrical response signal demodulator, and said range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output; said two dimensional array of light sensitive detectors electrically connected to said readout integrated circuit through a plurality of metallic bumps; and a communications port having an input connected to the range output of each unit cell and adapted to transmit the range output of each unit cell through said first electrical connector and said second connector. ### Claim 2 (depends on 1) The mobile ladar platform of claim 1 wherein said digital processor is adapted to identify an object in the field of view and command the positioning system to maneuver the mobile ladar platform relative to said object. ### Claim 3 (depends on 1) The mobile ladar platform of claim 1 wherein the laser transmitter comprises an optically pumped solid state laser formed in a gain medium selected from the set of yttrium aluminum garnet, erbium doped glass, neodymium doped yttrium aluminum garnet, and erbium doped yttrium aluminum garnet. ### Claim 4 (depends on 1) The mobile ladar platform of claim 1 wherein the laser transmitter comprises a semiconductor laser formed in a semiconducting gain medium with at least one element selected from the set of indium, gallium, arsenic, phosphorus. ### Claim 5 (depends on 1) The mobile ladar platform of claim 1 wherein the modulated laser light output is modulated with a waveform selected from the set of a single Gaussian pulse profile, multiple Gaussian profile pulses, a single flat-topped pulse profile, multiple flat-topped pulses, a pulsed sinewave, and a chirped sinewave pulse. ### Claim 6 (depends on 1) The mobile ladar platform of claim 1 wherein the two dimensional array of light sensitive detectors is mounted directly to the readout integrated circuit. ### Claim 7 (depends on 1) The mobile ladar platform of claim 1 wherein said two dimensional array of light sensitive detectors is formed of a semiconductor having at least one element selected from the set of silicon, indium, gallium, arsenic, phosphorus, aluminum, boron, antimony, magnesium, germanium, and nitrogen. ### Claim 8 (depends on 1) The mobile ladar platform of claim 1 wherein the housing has at least one conductive surface. ### Claim 9 (depends on 1) The mobile ladar platform of claim 1 wherein the electrical response signal demodulator comprises: an input amplifier with an output connected to a trigger circuit; a plurality of analog sampling gates, each sampling gate connected to an analog memory cell; a sample clock controlling the timing of each of said sampling gates; a selector for selecting each of said sampling gates; a digital circuit adapted to track the number of samples; an output amplifier with an input connected to each of said analog memory cells; and an output control for selecting a sequence of analog memory cells; wherein an input of an analog to digital converter is connected to said output amplifier, an output of said analog to digital converter producing a sequence of digitized analog samples of said electrical response signal, and the output of the analog to digital converter connected to the input of a digital processor, and the digital processor is programmed to demodulate said electrical response signal by operating on the sequence of digitized analog samples using a digital processing algorithm. ### Claim 10 A three dimensional imaging system and ladar platform, said ladar platform having a ladar sensor within an electronic enclosure, a first electrical connector mounted to the electronic enclosure and adapted to mate with a second electrical connector within said ladar platform, the ladar platform having a front panel, the front panel with a front panel opening therein, the ladar sensor operating through the front panel opening and having a field of view, the ladar sensor having; a retention feature adapted to engage with a mating feature on the ladar platform, a laser transmitter with a modulated laser light output and a diffusing optic adapted to illuminate a scene in the field of view of the ladar sensor module; a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output; a clock driver circuit having a clock output, and having a temperature stabilized frequency reference; a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors with an output producing an electrical response signal from a reflected portion of said modulated laser light output; and a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having an input connected to one of the light sensitive detector outputs, an electrical response signal demodulator, and a range measuring circuit connected to an output of the electrical response signal demodulator, and the range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output; said two dimensional array of light sensitive detectors electrically connected to said readout integrated circuit through a plurality of metallic bumps. ### Claim 11 (depends on 10) The three dimensional imaging system of claim 10 wherein the laser transmitter comprises an optically pumped solid state laser formed in a gain medium selected from the set of yttrium aluminum garnet, erbium doped glass, neodymium doped yttrium aluminum garnet, and erbium doped yttrium aluminum garnet. ### Claim 12 (depends on 10) The three dimensional imaging system of claim 10 wherein the laser transmitter comprises a semiconductor laser formed in a semiconducting gain medium with at least one element selected from the set of indium, gallium, arsenic, phosphorus. ### Claim 13 (depends on 10) The three dimensional imaging system of claim 10 wherein the modulated laser light output is modulated with a waveform selected from the set of a single Gaussian pulse profile, multiple Gaussian profile pulses, a single flat-topped pulse profile, multiple flat-topped pulses, a pulsed sinewave, and a chirped sinewave pulse. ### Claim 14 (depends on 10) The three dimensional imaging system of claim 10 wherein the two dimensional array of light sensitive detectors is mounted directly to said readout integrated circuit. ### Claim 15 (depends on 10) The three dimensional imaging system of claim 10 wherein an outer surface of the ladar sensor is a conductive surface. ### Claim 16 (depends on 10) The three dimensional imaging system of claim 10 wherein the front panel opening has a plurality of conductive spring fingers connecting between a surface of the front panel opening and a conductive surface of the ladar sensor. ### Claim 17 A motor vehicle connected to a ladar sensor through a cable, the ladar sensor with a field of view and having a first electrical connector and contained within a housing, and said motor vehicle having a second electrical connector at a terminus of said cable, the second electrical connector adapted to mate with the first electrical connector, a digital processor adapted to perform analysis of a scene in the field of view, and to identify an object within said scene, and to command a positioning system to maneuver with respect to the object, and said ladar sensor further comprising: a laser transmitter with modulated laser light output and a diffusing optic for illuminating a scene in the field of view of the ladar sensor; a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output; a clock driver circuit having a clock output, and having a temperature stabilized frequency reference; a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors having an output producing an electrical response signal from a reflected portion of said modulated laser light output; a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having an input connected to one of said light sensitive detector outputs, an electrical response signal demodulator, and a range measuring circuit connected to an output of said electrical response signal demodulator, and said range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output; said two dimensional array of light sensitive detectors electrically connected to said readout integrated circuit through a plurality of metallic bumps; and a communications port having an input connected to the range output of each unit cell and adapted to transmit the range output of each unit cell through said cable to said motor vehicle. ### Claim 18 (depends on 17) The motor vehicle of claim 17 wherein the motor vehicle is selected from the set of a van and a truck. ### Claim 19 (depends on 17) The motor vehicle of claim 17 wherein the motor vehicle connects through a plurality of cables to a plurality of ladar sensors. ### Claim 20 (depends on 17) The motor vehicle of claim 17 wherein the motor vehicle also connects to at least one 2D video camera.