The three-dimensional model of the stock pile can be obtained and the automation of stacking and reclaiming can be realized by installing lidar scanner on stacker-reclaimer in stockyard. Aiming at the problems that the installation parameters of the lidar system are not easy to measure directly, the parameter error has a great impact on the three-dimensional imaging effect of the stock pile, and the parameters of the lidar system on the stacker-reclaimer are difficult to calibrate, a set of methods for parameter calibration of the lidar system is proposed, which first establishes the coordinate system of each joint according to the structure of the stacker-reclaimer, and measures the initial value of the parameters of the lidar system according to the relative position relationship between the coordinate systems, then establishes the optimization problem according to the on-site wall information scanned by the lidar, and finally designs a genetic algorithm to solve the optimization problem and obtain the final system parameters. The effect of the three-dimensional model of the stockyard after calibration shows that the method has strong practical value.