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This paper investigate an adaptive pesticide spraying system according to the plants height. The system including a depth sensor and a spraying system with multiple nozzles at different height in vertical direction. The entire system is installed on an automatic guided vehicle. In order to implement precision spraying or automatic targeting, plant identification, and plant height calculation are critical for the system with fixed height of nozzles. The designed system will open one or combination of the nozzles of the spraying system since the plant height is identified. To address the plant height-adaptive challenge, a pesticide spraying system with plant height-adaptive is proposed based on a camera sensor to dealt with the figure of the plant. Both of the depth and color data of the figure are obtained and analyzed, the open or close state of the spraying system is optimized for different plants with different height. Various experimental results have demonstrated that the proposed system is considered as well.INDEX TERMS Automatic guided vehicle, precision spraying, depth sensor, height-adaptive, signal processing.