Abstract: In view of problems of serious wear and high failure rate in application of contact method of rocker angle measurement of shearer in complex mine environment, an rocker angle measurement method of shearer under low illumination environment was proposed, which combines image enhancement algorithm and monocular vision for non-contact measurement of rocker angle of shearer. Multi-scale Retinex image enhancement algorithm based on guided filtering is used to obtain enhanced images. ROI extraction, edge detection and progressive probabilistic transform are performed on the enhanced image to get rocker angle in camera space, and calibrated CCD camera is used for coordinate conversion, and actual angle is output. The experimental results show that the rocker angle measurement method of shearer is fast and accurate, the error is less than 0.1°, and it has good performance in contrast enhancement, noise cancellation, detail enhancement.