Measurement of displacement and top beam attitude angle of advanced hydraulic support based on visual detection

We constructed an advanced hydraulic support test bench and proposed a visual detection-based approach for measuring the displacement and attitude angle of the advanced hydraulic support. Firstly, our methodology involved using a binocular camera for image acquisition and stereo rectification of the advanced hydraulic support. Then, we employed the ORB algorithm to detect feature points and the SGBM matching algorithm to determine the disparity value. Finally, the attitude angle solution algorithm and the triangulation method are written to calculate the support displacement and the top beam attitude angle. Results showed that the advanced hydraulic support had an average absolute error of 8 mm in displacement measurement and 0.4° in attitude angle measurement, meeting the accuracy requirements for fully mechanized mining face operations.