Простой groupBy и считать будет работать.
val data=Array(("58172A0396","","","2003-01-02 17:37:15.0"),
("58172A0396","","","2003-01-02 17:37:15.0"),
("46C5Y00693"," Mac Pro","Mac PC","2018-01-03 17:17:23.0"),
("1737K7008F"," Windows PC","Windows PC","2018-01-05 11:12:31.0"),
("1737K7008F"," Network Device","Unknown","2018-01-05 11:12:31.0"),
("1737K7008F"," Network Device","Unknown","2018-01-05 11:12:31.0"),
("1737K7008F"," Network Device","","2018-01-06 03:12:52.0"),
("1737K7008F"," Windows PC","Windows PC","2018-01-06 03:12:52.0"),
("1737K7008F"," Network Device","Unknown","2018-01-06 03:12:52.0"),
("1665NF01F3"," Network Device","Unknown","2018-01-07 03:42:34.0"))
val rdd = sc.parallelize(data)
val df = rdd.toDF("serial_num","devicetype","device_model","timestamp")
val df1 = df.groupBy("timestamp","serial_num","devicetype","device_model").count