Spraycision is an advanced level crop detection system used in spraying applications of specialty crops such as fruits, citrus plants and tree nuts. It retrofits to conventional orchard sprayers and automatically actuates nozzles on/off by detecting crop architecture with millimeter resolution. It sprays only to the tree canopy and avoids non-target areas, thus not only reduces the chemical costs for growers but also provides an environmentally friendly solution by significantly decreasing water, chemical, and fuel usage.