Masterstudiengang Mechatronik
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Reality capturing a construction site or enterprise manufacturing hall with a laser scanner results in a digital twin of the environment. Generating a digital twin in regular intervals is useful to plan and manage the facility as well as to check its up-to-date status virtually. Commonly, a mobile scan of the facility takes several hours to accomplish and should take place during non-working hours to decrease the chance of capturing moving objects degrading the scan accuracy. The repeated execution of manual scans is therefore restricted to time slots at night and on weekends and increases the personnel costs.
To overcome the time restrictions and to reduce the personnel cost for repeated scans, an autonomous mobile mapping robot was developed within this thesis. This robot is able to autonomously traverse harsh and changing environments based on a predefined path while scanning and taking 360_ pictures of the surroundings. Therefore, the mobile laser scanner NavVis VLX was mounted on the quadruped robot SPOT from Boston Dynamics. Communication between the robot and the laser scanner enables the simultaneous control of both devices. The user can plan the execution of an autonomous scanning mission with a graphical user interface and the execution itself does not require an operator and is reliably successful. The autonomous scan was proven to have a precise repeatability and coverage of the planned trajectory even with obstacles blocking the original path. In addition, the accuracy of the scan meets the specifications of a classical VLX scan resulting in an accurate representation of the reality.