In　order　to　change　the　status　that　the　modified　asphalt　waterproofing　coiled　material　is　basically　paved　by　manual　work,　a　fully　automatic　and　wireless　paving　machine　for　the　modified　asphalt　coiled　material　is　designed　and　researched,　which　is　mainly　using　PLC　(programmable　logic　controller)　and　MCU　to　realize,　via　obtaining　signals　from　multi-sensors.　Meanwhile,　fuzzy　parameters　selftuning　PID　algorithm　and　automatic　searching　line　algorithm　have　been　studied,　and　the　results　of　research　have　been　applied　in　the　design　of　this　machine.　This　machine　can　process　the　signals　and　make　the　judgment　for　the　next　action　in　real-time.　It　runs　by　two　modes,　one　is　manual　wireless　control　mode,　and　the　other　is　automatic　searching　line　paving　mode.　The　scene＇s　experiments　shows　that　a　precision　of　±2centimetres　can　be　reached　by　using　automatic　searching　line　paving　mode,　the　speed　of　the　machine　may　reach　0.5m/min　at　least　and　15m/min　at　most,　and　satisfies　the　need　of　paving.　What＇s　more,　this　machine　greatly　improves　the　efficiency　of　the　bridge　waterproofing　construction.