Cyber-physical systems have strict real-time and space constraints, and event driven is one of its important characteristics. In CPS, events are composed of the change of the physical environment and object state, which form the closed-loop process of events trigger, perception, decision-making, control, then to events, and ultimately change the physical state of the object. This paper outlines some preliminary exploration of spatial-temporal event model of CPS, and then make a further study. According to CPS’ event-driven nature, spatial-temporal event model was described from time, space and observer, and established for major components of CPS based on the characteristics of precision agriculture (PA): the physical world, sensors, calculation (control) unit, actuators, and timer. Finally established spatial-temporal event model was validated by closed-loop process of sprinkler incident in precision agriculture, and it was proved that these events model can be used in PA. It turns out that spatial-temporal events in precision agriculture CPS are preliminarily discussed which lays the foundation for future research on event model applied to PA.