In view of the large randomness,poor accuracy and low efficiency of stacking and reclaiming operation in bulk material handling stockyard,this paper presents a fully-automation control system for stacker-reclaimer.This system is based on Lidar machine vision technology.3D laser scanner is used to acquire the real-time point cloud data of the object stockpile shape in order to accomplish the on-line real-time modeling for the target stockpile,and control the stacker-reclaimer to fulfil automatic operation.An operation path planning algorithm based on visual image processing algorithm is designed,which can continuously guide the automatic operation of stacker-relaimer by predicting route in advance in real time.Practice shows that the control system improves the machine’s working efficiency and reduces operation cost remarkably.