Modular ladar sensor

A wheeled vehicle comprising:

• a first electrically conductive housing having an interior wall;
• a ladar sensor having a field of view and mounted to said interior wall of said first electrically conductive housing;
• a first connector mounted to said first electrically conductive housing and electrically connected to said ladar sensor;
• a cable extending between a first end and a second end;
• a second connector disposed at said second end of said cable and adapted to mate with said first connector;
• a third connector disposed at said first end of said cable;
• a second electrically conductive enclosure;
• a digital processor disposed within said second electrically conductive enclosure;
• and
• a fourth connector coupled to said second electrically conductive enclosure and coupled to said digital processor;
• said third connector connected to said fourth connector such that said cable connects said ladar sensor to said digital processor;
• said digital processor adapted to perform analysis of a scene in the field of view of said ladar sensor;
• said ladar sensor further comprising
• a laser transmitter with a modulated laser light output and a diffusing optic adapted to illuminate a scene in a 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, said range measuring circuit further connected to said zero range reference output and to said 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.

A motor vehicle comprising:

• an electrically conductive housing having an interior wall;
• a ladar sensor having a field of view and mounted to said interior wall of said electrically conductive housing;
• and
• a digital processor connected to said ladar sensor through a cable;
• said digital processor adapted to perform analysis of a scene in the field of view, to identify an object within said scene, and to command a positioning system to maneuver with respect to the object;
• 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,
• 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,
• an 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 the 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 said zero range reference output, and said 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 digital processor.