On the basis of the trend of automation development of domestic bulk cargo terminals and the demand of industrial structure adjustment,the collision between the arms of stacker and reclaimer is studied.In this paper,stacker-reclaimer anti-collision monitoring system has been designed effectively for warning collision and safe shutdown.This system locates the stacker and reclaimer based on double antenna’s GPS module positioning technology.The 2D oriented bounding box algorithm is also employed for machine arm space modeling and collision detection on account of the location data.The scheme solves the real-time problem of machine’s arms collision detection,and can be better applied to the yard operation.The system is beneficial to improve the operation efficiency and automation level of stacker reclaimer.