Automated system of scaffold point cloud data acquisition using a robot dog

This paper introduces Automated system of Scaffold Point cloud data Acquisition using a Robot dog (ASPAR), a method for automating scaffold point cloud data acquisition using a quadruped robot. The method consists of three stages: (1) Initial Exploration, where the robot autonomously explores the site and detects scaffolds in real-time; (2) Scan Plan Generation, which uses 3D SLAM data and scaffold detection results to determine optimal scan positions and generate paths between them; and (3) Scan Plan Execution, where the robot follows these paths and performs scans at the designated positions. ASPAR demonstrated its effectiveness in scanning scaffold structures on construction sites without prior information. Experimental results showed that, compared to manual scans by skilled workers, it secured an average of 0.7 additional scan positions, achieving a coverage rate of 106.1 %. In a large-scale outdoor construction site experiment, it recorded a coverage rate of 96.8 %, validating its real-world applicability.