A remote-control system for fruit tree pruners was designed based on the Internet of Things （IoTs） and electro-hydraulic driving architecture to solve the problems of the low level of automation in the process of pruning fruit tree.The control system for fruit tree pruners was mainly consisted of a hydraulic drive module， a main control module， a communication module， a perception module， and a human-phone interaction module to complete the monitoring and remote control of the joint position of the pruner and cooperate with the start-stop of the hydraulic motor to complete the tasks of mechanical pruning of fruit trees.The improved Denavit-Hartenberg （D-H） parameter method was used to establish the kinematic model of fruit tree pruner.The kinematic model of pruner was verified with Matlab Robotics Toolbox， and the theoretical workspace of each pruning mechanism was solved with Monte Carlo algorithm.The specific sensors， controllers and hydraulic valves were selected according to the characteristics of joint motion to design an application layer control scheme for the IoTs system.The network layer of the IoTs system was established based on the UART-Wi-Fi module ESP8266 to realize remote monitoring and communication between the mobile phone APP-cloud server-pruner.A mobile phone APP with human-phone interaction interface for the convenience of easy use and quick start was designed to enable the reading of the joint positional status of the pruner and the sending of control instructions through the human-phone interaction interface to automatically adjust the position of pruner.A experiment at an open area for viewing the rapidity and accuracy of the machine prototype was conducted.The results of testing the prototype showed that the positioning errors of the mobile joints were within ±0.5 mm， the positioning error of each rotating joint was less than 2°， and the control and adjustment time of each joint motion to the limit stroke was between 1.14-9.21 s， with good adjustment time.It is indicated that the fruit tree pruner based on the IoTs architecture has a high degree of automation and a simple mode of operation， and has certain application value in practically pruning fruit trees.