High-fidelity 3D scanning is essential for preserving cultural heritage artefacts, supporting documentation, analysis, and long-term conservation. However, conventional methods typically require specialized expertise and manual intervention to maintain optimal scanning conditions and coverage. We present an automated two-robot scanning system that eliminates the need for handheld or semi-automatic workflows by combining coordinated robotic manipulation with high-resolution 3D scanning. Our system parameterizes the scanning space into distinct regions, enabling coordinated motion planning between a scanner-equipped robot and a tray-handling robot. Optimized trajectory planning and waypoint distribution ensure comprehensive surface coverage, minimize occlusions, and balance reconstruction accuracy with system efficiency. Experimental results show that our approach achieves significantly lower Chamfer Distance and higher F-score compared to baseline methods, offering superior geometric accuracy, improved digitization efficiency, and reduced reliance on expert operators.

翻译：高保真三维扫描对于文化遗产的保护至关重要，它支持文物的记录、分析和长期保存。然而，传统方法通常需要专业知识和人工干预来维持最佳的扫描条件与覆盖范围。本文提出一种自动化双机器人扫描系统，通过将协调的机器人操控与高分辨率三维扫描相结合，消除了对手持或半自动工作流程的需求。我们的系统将扫描空间参数化为不同区域，使得配备扫描仪的机器人与托盘搬运机器人之间能够进行协调的运动规划。优化的轨迹规划与路径点分布确保了全面的表面覆盖，最大限度地减少了遮挡，并在重建精度与系统效率之间取得了平衡。实验结果表明，与基线方法相比，我们的方法实现了显著更低的倒角距离和更高的F分数，提供了更优的几何精度、更高的数字化效率，并降低了对专家操作人员的依赖。