This article takes the dry bulk terminal yard as a representative and proposes a multi-sensor intelligent perception fusion technology framework for the perception problem of large-scale equipment automated operations in the complex dynamic environment of the yard.Based on the fusion of multiple sensors such as LiDAR，inertial sensor (IMU)，and real time kinematic (RTK)，the article uses the original RTK data information to optimize the bit pose of front-end odometer output.It also uses dynamic object removal technology to achieve robust and accurate dynamic element sensing and utilizes the octree cube query to achieve efficient and real-time global map updates to finally establish a highly accurate and up-to-date bulk yard map and support the subsequent yard operations.The intelligent perception fusion technology framework is applied to a real-world large dry bulk terminal.The results prove that the technology can achieve its high accuracy and real-time performance effect for the yard’s dynamic environment，effectively improving the perception ability of automated operations in dry bulk terminals.