In the process of automatic operation of the scraper in the C?type stockyard,too fast reclaim often leads to the tripping failure of the scraper,and too slow reclaim will lead to insufficient material supply and low efficiency. A method for controlling the reclaim speed of C?type stockyard scraper based on point cloud model is proposed,and it is verified in the field test of a C?type stockyard,the control method steps:1) The data and shape of the point cloud of the stockpile are obtained,and the height grey scale picture is converted,and a new point cloud filtering algorithm is used to reduce its noise and improve its smoothness;2) The material flow model is established based on the constant condition of the scraper chain plate,and the current?speed model of the scraper is constructed in combination with energy conversion,and the model results are written into the scraper PLC in real time,and then the scraper reclaim speed is controlled in real time. The results show that,using this model,the memory resources of the stockpile point cloud model are reduced by 98.64%,an effective topological relationship is formed between points,the complexity of calculation is reduced,and the smoothness of the stockpile point cloud model is significantly improved;the flow fluctuation of the material flow during the operation of the scraper is within 8.29%,the equipment failure rate of the scraper is reduced by 5.24%,and the production efficiency is increased by 9.68%. The reclaim speed control method proposed in this paper can be used to replace the manual adjustment of the reclaim speed of the scraper,reduce the operation failure of the scraper,improve the production efficiency,effectively improve the unmanned and intelligent level of the equipment,and provide references for the control of the reclaim speed and operation stability of various scrapers.