Binocular vision and line laser-based chain breakage detection method for warehouse scraper

The invention provides a chain breakage detection method for a warehouse scraper based on binocular vision and line laser, and relates to the technical field of scraper conveyors, the method comprises the following steps: taking a line laser as a light source, and taking a picture of the warehouse scraper vertically downwards through a binocular camera to obtain a warehouse scraper image and a warehouse scraper bottom image; whether the warehouse scraper is started or not is judged through images shot by the binocular camera; if it is determined that the warehouse scraper is in the static state, a warehouse scraper image shot by a binocular camera is used as original point cloud data, and whether chain breakage exists in the warehouse scraper or not is judged through a segmentation algorithm and an image processing mode based on the original point cloud data; if it is determined that the warehouse scraper is in the starting state, whether chain breakage exists in the warehouse scraper or not is judged through