Abstract: To address reduced production efficiency and substantial property losses caused by stacker crane failures in the warehousing and logistics systems of tobacco enterprises, a multi-sensor-fusion-based condition monitoring system for stacker cranes was designed. Vibration/temperature sensors, tilt angle sensors, laser displacement sensors, and cameras were installed on the stacker cranes to monitor the stacker crane orientation and the fork pallet positions in real time, while the monitoring data were transmitted at a high speed through wireless communication technology. Monitoring data from key sensors were selected as health status evaluation indicators, and the CRITIC weighting method was used to assign weights and fuse multidimensional operating data, including stacker crane vibration, tilt angle and fork height. A comprehensive health status assessment model was developed to quantitatively evaluate equipment health. A operating condition monitoring platform for stacker cranes was developed to visualize the operating condition and health status of key components and to prompt operators to perform preventive maintenance in a timely manner. On-site verification was carried out on the stacker cranes in Golden Leaf Production and Manufacturing Center. The results showed that, after the designed monitoring system was put into operation, the stacker crane failure rate decreased from 0.63% to 0.45%, the average monthly machine downtime from 230 min/unit to 168 min/unit, and the frequency of material drop incidents by five times per month. The system provides technical support for improving the safety of warehousing operations.