For the low level of automation in the citrus pruning process, based on the Internet of Things and electro-hydraulic drivng architecture ,we designed a remote control system orchard pruning robot. The robot's control system mainly constitutes a hydraulic drive module, the control module, the correspondence module, the perception module, human-phone interaction module to complete the pruning robot's joints position monitoring and remote control, with the start-stop of the hydraulic motor to complete the fruit tree mechanical pruning tasks. We used modified Denavit-Hartenberg (D-H) method to build the kinematic equation and through Matlab Robotic Toolbox, we verified the modeling of the kinematic model of the pruning robot, with Monte Carlo algorithm to visualize the theoretical workspace of the pruning mechanism. According to the different characteristics of joint movement, we selected specific sensors, controllers and hydraulic valves to design the application layer of the Internet of Things system. Based on the UART-WIFI moduel ESP8266,we established network layer of the Internet of Things system, which realizes the remote control correspondence of cell phone APP - cloud server - pruning robot. Based on the characteristics of easy to use and quick to start, we designed a human-machine interaction interface of cell phone APP, through which we can read the robot joints' positional status and send control commands to realize the robot's positional adjustment automatically. We designed a test at a open area for viewing the rapidity and accuracy of the machine prototype. The results of the test show all the positioning errors of the mobile joints are within ±0.5mm, the positioning error of each rotating joint is less than 2°and the control and adjustment time of each joint movement to the limit stroke is between 1.14s-9.21s, with good adjustment time..The experimental results show that this fruit tree pruner based on IoT architecture has a high degree of automation, a simpler mode of operation, and has a certain application value in the actual fruit tree rough pruning and profiling pruning.