 Solution

The nonzero vectors $b,c$ are normal vectors to the two planes. If $b\times c=0$, then $c=qb$ for some nonzero real $q$. Their equations are therefore $r\cdot b=\lambda$ and $q(r\cdot b)=\mu$.

When $\mu =q\lambda$, the planes coincide and their intersection is an entire plane. Otherwise they are distinct parallel planes and have no intersection. Neither case has exactly a line as its intersection. Hence $b\times c\ne 0$ is necessary for intersection in a line. It means that the two normal vectors are not parallel; in that case it is also sufficient.