Height Servo System for Straw-Checkerboard Sand Barriers Paving Robot

The height of the transverse machine of the straw-checkerboard sand barriers paving robot affects the paving quality heavily. A height servo system based on multi-sensor data fusion and fuzzy control is proposed. The servo system includes ten ultrasonic telemeters, a single chip and a programmable logic controller. The ultrasonic telemeters get the height of the transverse machine from different position, the multi-sensor data fusion method avoid the random error, the fuzzy control keeps the height of the transverse machine invariable with the given height. The simulation results show that the height servo system for the paving robot is efficient in keep the height of the transverse machine invariable even in the uneven ground.