Abstract: In view of the low accuracy of irrigation volume and fertilizer concentration, and the inability to dynamically adjust the fertilization formula during the process of orchard planting management, a mobile multi-channel orchard fertigation machine was developed. There were mainly six parts of the prototype: mixing device for fertilizer, fertilizer absorption device, fertilizer parameter detection device, control system, traction walking device and power system. Through orthogonal experiments on the key components of the fertilizer absorption device, the influences of different factors on the fertilizer absorption performance was analyzed, such as the layout of the fertilizer absorption device, the diameter of the fertilizer pipe, the type of filter, arrangement of the fertilizer pipe, the number of filter meshes, and the optimal structure of fertilizer absorption device was also determined. An automatic control system for precise fertigation was developed and a prototype performance test was conducted. The results showed that the fertigation machine can automatically complete the precise irrigation and fertilization of the orchard, and dynamically adjust the fertilization formula, the relative error of the irrigation volume control was not more than 0.54%, the absolute error of the EC value control was not more than 0.07 mS/cm, and the relative error of the multi-channel mother liquor ratio was not more than 2.00%.