The orchard pesticide application technology in china still remains problematic with its high cost,low efficiency as well as high pesticide loss,which results in serious environmental pollution.The design and implement of a self-adaptive control system for highly-effective application of trellised crops provide a solution to the above problems.The system consists of a visual DM642 processor,an ARM controller and a F2806 signal controller and adopted the image-processing and multi-sensor merging technologies based on the embedded system.The distance of the pesticide application and the spraying pressure will be detected through ultrasonic sensor and visual sensor,based on which the system manipulates the control motor automatically to adjust the spray nozzles to the optimal spraying distance and choose s the best spraying pressure.To ensure the stability and the reliability of the system,we designed stable hardware components and software structure and worked out detailed communication protocols.Experiments showed that the system is characterized by excellent real-time,effective control,low consumption of power as well as low cost.It proved that the system could fulfill the monitoring and controlling tasks stably and reliably during the spraying.