Tube and bar bundling wire identification method based on linear structured light

The invention relates to a tube and bar bundling wire identification method based on linear structured light, and the method comprises the steps: enabling the tail end of a robot to move to an initial position, enabling a laser line to be projected to a fixed plane, and determining a binary threshold value of subsequent image processing through the recognition of an image pixel value; the tail end of the robot scans the tube and bar bundle from the preset position in the x-axis direction, multiple upper surface images of the tube and bar bundle are obtained, the multiple upper surface images are spliced through the image feature recognition technology, and the maximum bundle seam between adjacent tubes and bars is determined; and after the maximum binding seam position is obtained, the tail end of the robot is rotated by 90 degrees to enable the laser line to be hit into the maximum binding seam, then the tail end of the robot scans the pipe bar binding wires in the y-axis direction, and after it is found tha