Abstract: In this study, aiming at the fruits and melons planted in the greenhouses, a kind of automatic application robot with adjustable ground walking, application height and Angle is designed, which has the advantages of small size, flexible steering, strong site adaptability and drug saving. The system adopts dual CPU parallel structure and SPI communication protocol. The functions of obstacle avoidance walking, path planning, visual recognition and target dispensing are separating controlled to improve the operating efficiency of the system.