Abstract: Aiming at the problems of poor working environment, low operating efficiency, large operating error and high cost of the stacker and retractor in the enclosed stockyard, a set of intelligent control system for stacker and retractor was designed. The system was based on LiDAR technology, through the scanner to obtain stock pile surface point cloud data, the positioning system with the combination of scanner calibration was used to completethe real-time matching between the positioning sensor feedback profile data and scan data, realize the point cloud dataprocessing and 3D reconstruction of stock. Through image processing technology, the operation path was forecasted advance to guide the stacker and retractor to complete automatic operation in a enclosed stockyard. Experiment shows that the control system improves the work efficiency and reduces the operation cost.