Steel pipe production process material tracing system and method

Abstract

The invention discloses a steel pipe production process material tracing system and method. The system comprises a longitudinal submerged arc welded pipe production line logistics tracking mechanism. A steel plate jet printing system and a steel pipe jet printing system of an automatic jet printing system of the tracking mechanism are used for jet printing of steel plate numbers and steel pipe numbers correspondingly. The automatic identification system automatically acquires plate number / pipe number images of the steel plates / steel pipes by using industrial cameras arranged beside each process, performs positioning and identification on plate number / pipe number information in an acquired video stream through an image processing algorithm, and uploads the identified plate number / pipe number to an MES and SCADA database; the communication network uses an optical fiber ring network to provide nearby access for the mark spraying equipment, the industrial camera and the edge computing unit, a camera triggering sensor is arranged, and steel plate / steel pipe in-place triggering recognition is achieved. The system has the beneficial effects that the automatic identification of plate numbers / pipe numbers is realized through the automatic identification system, and the plate numbers / pipe numbers are transmitted to the SCADA real-time database and the MES relational database, so that the digital control of the steel pipe production process is realized.

Description

Technical Field

[0001] This invention relates to a material traceability system and method for steel pipe production, and more particularly to a material traceability system and method for steel pipe production, belonging to the field of pipeline steel pipe manufacturing technology. Background Technology

[0002] The construction of long-distance pipelines places higher demands on the quality of welded pipe delivery, particularly the consistency of product performance and dimensional appearance. During the production process, MES, SCADA, and IoT systems have largely achieved automatic data collection at the control and production levels, storing a large amount of process inspection and production data, providing a data foundation for subsequent quality traceability and data mining. However, due to the lack of breakthroughs in online automatic marking and identification technology for steel plates / pipes, a large amount of process data cannot be accurately bound to pipe numbers. Key quality data is mostly matched through manual input, inevitably leading to data matching delays and omissions across systems. This makes it difficult to establish reliable data models to improve the quality control level of the entire production process, limiting the construction of a fully digital welded pipe production line. Therefore, developing automatic pipe number marking and identification technology is essential to achieve digital tracking of the entire production line's logistics, establish data connections between various digital systems, build a welded pipe process processing quality analysis, early warning, and process optimization model, and improve the full digitalization level of the straight seam submerged arc welded pipe production line. Summary of the Invention

[0003] To overcome the shortcomings of existing straight seam submerged arc welded pipe production lines, which lack automatic pipe number marking and identification technology and cannot achieve full production line logistics tracking digitalization, this invention provides a material traceability system and method for steel pipe production process.

[0004] The technical solution adopted by the present invention to solve its technical problem is: the present invention provides a material traceability system for steel pipe production process, including a logistics tracking mechanism for a straight seam submerged arc welded pipe production line, the tracking mechanism including an automatic marking system, an automatic identification system and a communication network.

[0005] The automatic marking system's steel plate marking system and steel pipe marking system are used to print the steel plate number and steel pipe number, respectively.

[0006] The automatic identification system automatically collects images of steel plate / pipe numbers using industrial cameras installed next to each process step. Then, it uses image processing algorithms to locate and identify the plate / pipe number information in the collected video stream, and uploads the identified plate / pipe number to the MES and SCADA databases.

[0007] The communication network uses a fiber optic ring network to provide nearby access for the marking equipment, industrial cameras, and edge computing units, and sets up camera trigger sensors to trigger recognition when the steel plate / steel pipe is in place.

[0008] The steel plate marking system includes a primer spraying machine I, a marking machine I, and a mechanical running mechanism.

[0009] The steel pipe marking system includes a primer spraying machine II, a marking machine II, and a robot, with the robot performing the operation.

[0010] The automatic recognition system includes an image acquisition unit and an image processing unit.

[0011] The image acquisition unit includes an industrial camera, lens, and light source, and acquires images of the board number / pipe number.

[0012] The image processing unit includes an edge computing unit, a server, and recognition software, which automatically identifies and verifies the video stream captured by the industrial camera to obtain an accurate pipe number.

[0013] The mechanical operating mechanism of the steel plate marking system is a mechanical gantry device. The mechanical gantry device clamps the primer spray gun and the plate number nozzle and automatically sprays primer and prints plate number on the upper surface of the steel plate perpendicular to the direction of steel plate movement.

[0014] The steel pipe marking system includes a primer spraying machine II, a marking machine II, and a robot.

[0015] The primer spraying machine II includes a spray gun with a nozzle number, a controller, and a paint supply system with stirring, circulation, and heating.

[0016] The inkjet printer II includes a nozzle, an inkjet controller, and an ink supply and circulation system.

[0017] The operating mechanism consists of a robot that holds the pipe number spray gun and the pipe number nozzle to complete the marking of the steel pipe.

[0018] The marking process for steel plate numbers / steel pipe numbers is as follows:

[0019] S1, flat roller steel plate conveyor / pre-welding machine outlet pipe, incoming material detection triggered;

[0020] S2, Steel plate / steel pipe specification inspection;

[0021] S3, Nozzle positioning;

[0022] S4. The steel plate / steel pipe OCR recognition queue of the previous process is sent for printing information;

[0023] S5, Printing trigger;

[0024] S6. Printing complete, printer returns to its original position; printing ends.

[0025] The steel plate marking procedure is as follows: Preparation for printing, the plate number printhead is stopped at the center of the grinding gantry:

[0026] S1-a, The incoming material inspection procedure is triggered by the flat roller conveyor for steel plates;

[0027] S2-a, Steel Plate Specification Inspection

[0028] The Z-axis laser rangefinder of the steel plate marking system detects the steel plate conveyed by the flat roller and triggers the steel plate marking operation program. The Z-axis cylinder drives the plate number nozzle to fall, and the encoder measuring wheel of the marking machine installed on the ground rises up to press against the steel plate, and detects the moving speed and length of the steel plate in real time.

[0029] S3-a, Nozzle Positioning

[0030] The plate number nozzle automatically moves to the marking position according to the specifications of the steel plate being inspected;

[0031] S4-a, Send printing information

[0032] The inkjet controller connects to the production network, accesses the intermediate table of completed steel pipe numbers in the material loading station of the MES system, and retrieves the steel plate number to the inkjet controller to form a queue of plate numbers to be printed.

[0033] S5-a, Printing Trigger

[0034] The printing program is triggered when the steel plate moves to the set position; during the printing process, the Z-axis laser rangefinder detects the distance between the plate number printhead and the steel plate in real time and adjusts it in real time according to the set height; the distance between the plate number printhead and the surface of the steel plate is 10-20mm.

[0035] S6-a, End of marking

[0036] The Z-axis cylinder lifts the plate number nozzle, and the marking mechanism returns to its original position, ready for the next steel plate.

[0037] The procedure for marking the pipe number on the steel pipe is as follows: Preparation for printing; the primer spraying machine II and the marking machine II are integrated into the robot, which then stops at its origin position.

[0038] S1-b, The incoming material inspection procedure is triggered by the steel pipes conveyed by the flat roller conveyor;

[0039] S2-b, Steel Pipe Specification Inspection

[0040] During the pre-welding process of steel pipes, the current pipe diameter specification is obtained by a pipe diameter measuring sensor set above the roller conveyor, which triggers the steel pipe marking operation program. The pipe diameter measuring sensor obtains the current pipe diameter specification by measuring distance and compares it with the set specification. When the two match, the operation begins.

[0041] S3-b, nozzle positioning

[0042] The robot drives the primer spraying machine II's pipe number spray gun and the marking machine II to the designated marking position on the steel pipe of that specification. The encoder measuring wheel of the marking machine, which is installed on the ground, rises up and closes to the steel pipe, and detects the moving speed and length of the steel pipe in real time. The laser range sensor installed on one side of the pipe number nozzle detects the distance between the pipe number nozzle and the steel pipe in real time, and adjusts the robot arm in real time. The distance between the pipe number nozzle and the surface of the steel pipe is 10-20mm.

[0043] S4-b, Send printing information

[0044] The inkjet controller connects to the production network, accesses the intermediate table of completed steel pipe numbers in the forming station of the MES system, and retrieves the root pipe number from the intermediate table to form a queue of pipe numbers to be sprayed in the inkjet controller.

[0045] S5-b, Printing Trigger

[0046] When the steel pipe reaches the set position, the primer spraying and marking program is triggered.

[0047] S6-b, End of marking process

[0048] The robot returns to its original position and waits for the next steel pipe.

[0049] The OCR recognition process steps are as follows: The system prepares and waits for each process to trigger recognition:

[0050] A1. Identify Triggers

[0051] When the material detection sensors in each process detect the steel pipe, they trigger the industrial camera to acquire images and capture images at the set frame rate.

[0052] A2. Pipe No. Positioning

[0053] Identify the printed character area in the captured image and proceed to step A3;

[0054] If no characters are recognized in the image, three images will be automatically captured and uploaded to the system for manual review.

[0055] A3. Automatic Recognition and Judgment

[0056] After identifying the printed character area, the character is segmented and recognized according to the OCR algorithm. When the confidence level of the character recognition result is greater than 95%, the recognition result is determined to be accurate and uploaded to the database.

[0057] The identification result is compared with the feeding tube number queue. If the tube number is not in the feeding tube number queue, the tube number is invalid. The image is manually verified and the number is modified. The modified number is then uploaded to the database.

[0058] A4. Recognition complete.

[0059] When the material detection signal is zero, image acquisition for this process is stopped, and the recognition ends.

[0060] The beneficial effects of this invention are that it uses an automatic marking system to print steel plate numbers and steel pipe numbers on steel plates and steel pipes, and an automatic identification system to automatically identify plate / pipe numbers at each process of the production line. The relevant information is automatically transmitted to the SCADA real-time database and the MES relational database, realizing the binding of process reporting, real-time process data, and measured data with pipe numbers. This provides material binding information for data traceability and quality control, thereby achieving digital control of the steel pipe production process. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the material traceability system for the steel pipe production process of the present invention.

[0062] Figure 2 This is a flowchart of the spraying process for the material traceability method in the steel pipe production process of the present invention.

[0063] In the diagram: 100. Automatic marking system; 200. Automatic identification system. Detailed Implementation

[0064] The present invention will be further described below with reference to the accompanying drawings and embodiments. However, those skilled in the art should understand that the present invention is not limited to the specific embodiments listed, and any embodiment that conforms to the spirit of the present invention should be included within the scope of protection of the present invention.

[0065] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," "left," "right," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing or simplifying the invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] See appendix Figure 1 The present invention discloses a material traceability system for steel pipe production process, including a logistics tracking mechanism for a straight seam submerged arc welded pipe production line. The tracking mechanism includes an automatic marking system 100, an automatic identification system 200, and a communication network.

[0067] The automatic marking system 100 has a steel plate marking system and a steel pipe marking system, which are used to print the steel plate number and the steel pipe number, respectively.

[0068] The automatic identification system 200 automatically collects images of the plate number / pipe number of steel plates / pipes by industrial cameras set up next to each process, and then uses image processing algorithms to locate and identify the plate number / pipe number information in the collected video stream. The identified plate number / pipe number is then uploaded to the MES and SCADA database to achieve the purpose of automatic pipe number identification and process reporting.

[0069] The communication network uses a fiber optic ring network to provide nearby access for the marking equipment, industrial cameras, and edge computing units. It is equipped with camera-triggered sensors, and the steel plate / pipe is triggered for identification when it arrives, avoiding long-term occupation of bandwidth and computing power and ensuring the effectiveness of information transmission.

[0070] The steel plate marking system includes a primer spraying machine I, a marking machine I, and a mechanical running mechanism.

[0071] The primer spraying machine I includes a panel number spray gun, a controller, and a paint supply system with stirring, circulation, and heating. Its main function is to spray a layer of primer before marking, thereby improving the contrast of panel numbers and thus increasing the recognition rate.

[0072] The marking machine I includes a board number printhead, a marking controller, an ink supply and circulation system, and is used to print board numbers.

[0073] The mechanical operating mechanism of the steel plate marking system is a mechanical gantry device. The mechanical gantry device clamps the primer spray gun and the plate number nozzle and automatically sprays primer and prints plate number on the upper surface of the steel plate perpendicular to the direction of steel plate movement.

[0074] The steel pipe marking system includes a primer spraying machine II, a marking machine II, and a robot, with the robot performing the operation.

[0075] The primer spraying machine II includes a pipe number spray gun, a controller, and a paint supply system with stirring, circulation, and heating. A layer of primer is sprayed before the marking to increase the contrast of the pipe number and improve the recognition rate.

[0076] The marking machine II includes a tube number printhead, a marking controller, an ink supply and circulation system, and is used to print tube numbers.

[0077] The robot of the operating mechanism clamps the pipe number spray gun and pipe number nozzle to complete the steel pipe marking.

[0078] Both the steel plate marking system and the steel pipe marking system are equipped with an electrical control system, which consists of a PLC, control cabinet, operating console, remote control terminal, etc., and is mainly responsible for the logic control of the entire system and external signal communication.

[0079] The automatic recognition system includes an image acquisition unit and an image processing unit.

[0080] The image acquisition unit includes an industrial camera, a lens, and a light source, and is used to acquire images of the board number / pipe number.

[0081] The image processing unit includes an edge computing unit, a server, and recognition software, which automatically identifies and verifies the video stream captured by the industrial camera to obtain an accurate pipe number.

[0082] See appendix Figure 2 The present invention employs the traceability method of the material traceability system in the steel pipe production process. The steel plate number / steel pipe number marking process is as follows:

[0083] S1, flat roller steel plate conveyor / pre-welding machine outlet pipe, incoming material detection triggered;

[0084] S2, Steel plate / steel pipe specification inspection;

[0085] S3, Nozzle positioning;

[0086] S4. The steel plate / steel pipe OCR recognition queue of the previous process is sent for printing information;

[0087] S5, Printing trigger;

[0088] S6. Printing complete, printer returns to its original position; printing ends.

[0089] Furthermore, the steel plate number marking procedure is as follows: During printing preparation, the plate number printhead is positioned at the center of the grinding gantry.

[0090] S1-a, The incoming material inspection procedure is triggered by the flat roller conveyor for steel plates.

[0091] S2-a, Steel Plate Specification Inspection

[0092] The Z-axis laser rangefinder of the steel plate marking system detects the steel plate conveyed by the flat roller and triggers the steel plate marking operation program. The Z-axis cylinder drives the plate number nozzle to fall, and the encoder measuring wheel of the marking machine installed on the ground rises up to press against the steel plate, and detects the moving speed and length of the steel plate in real time.

[0093] S3-a, Nozzle Positioning

[0094] The plate number nozzle automatically moves to the marking position in the horizontal and vertical directions according to the specifications of the steel plate being detected.

[0095] S4-a, Send printing information

[0096] The inkjet printer connects to the production network, accesses the intermediate table of completed steel pipe numbers in the material loading station of the MES system, and retrieves the steel plate number to the inkjet printer to form a queue of plate numbers to be printed.

[0097] S5-a, Printing Trigger

[0098] When the steel plate moves to the set position, the printing program is triggered, with 10-20 printing digits; during the printing process, the Z-axis laser rangefinder detects the distance between the plate number printhead and the steel plate in real time and adjusts it in real time according to the set height; the distance between the plate number printhead and the surface of the steel plate is 10-20mm.

[0099] S6-a, End of marking

[0100] The Z-axis cylinder lifts the plate number nozzle, and the marking mechanism returns to its original position, ready for the next steel plate.

[0101] Repeat steps S1-a to S6-a in a loop to complete the marking work on the steel plate.

[0102] Furthermore, the steel pipe marking procedure involves the following steps: Preparation for marking, the primer spraying machine II and the marking machine II are integrated into the robot, and the robot stops at its origin position.

[0103] S1-b, The incoming material inspection procedure is triggered by the steel pipes conveyed by the flat roller conveyor;

[0104] S2-b, Steel Pipe Specification Inspection

[0105] During the pre-welding process of steel pipes, the current pipe diameter specification is obtained by a pipe diameter measurement sensor set above the roller conveyor, triggering the steel pipe marking operation program. The pipe diameter measurement sensor obtains the current pipe diameter specification by measuring distance and compares it with the set specification. When the two match, the process proceeds to the next step.

[0106] S3-b, nozzle positioning

[0107] The robot drives the primer sprayer II's pipe number spray gun and the marking machine II to the designated marking position on the steel pipe of that specification. The encoder measuring wheel of the marking machine, which is installed on the ground, rises up and closes to the steel pipe, detecting the moving speed and length of the steel pipe in real time. The laser range sensor installed on one side of the pipe number nozzle detects the distance between the pipe number nozzle and the steel pipe in real time, and adjusts the robot arm in real time. The distance between the pipe number nozzle and the surface of the steel pipe is 10-20mm.

[0108] S4-b, Send printing information

[0109] The inkjet printer connects to the production network, accesses the intermediate table of completed steel pipe numbers in the forming station of the MES system, and retrieves the root pipe number from the intermediate table to form a queue of pipe numbers to be sprayed in the inkjet printer.

[0110] S5-b, Printing Trigger

[0111] When the steel pipe reaches the set position, the primer spraying and marking program is triggered.

[0112] S6-b, End of marking process

[0113] The robot returns to its original position and waits for the next steel pipe.

[0114] Repeat steps S1-b to S6-b in a loop to complete the marking work on the steel pipe.

[0115] The OCR recognition process steps are as follows: The system prepares and waits for each process to trigger recognition:

[0116] A1. Identify Triggers

[0117] When the material detection sensors in each process detect the steel pipe, they trigger the industrial camera to acquire images and capture images at the set frame rate.

[0118] A2. Pipe No. Positioning

[0119] Identify the printed character area in the captured image and proceed to step A3;

[0120] If no characters are detected in the image, three images will be automatically captured and uploaded to the system for manual review.

[0121] A3. Automatic Recognition and Judgment

[0122] After identifying the printed character area, the character is segmented and recognized using an OCR algorithm. When the confidence level of the character recognition result is greater than 95%, the recognition result is considered accurate and uploaded to the database.

[0123] The identification result is compared with the feeding pipe number queue. If the pipe number is not in the feeding pipe number queue, an invalid pipe number is indicated. The image is then manually verified and the number is modified. After that, the modified number is uploaded to the database.

[0124] A4. Recognition complete.

[0125] When the material detection signal is zero, image acquisition for this process is stopped, and the recognition ends.

[0126] The present invention relates to a material traceability system and method for steel pipe production, which can completely replace the existing manual writing of plate / pipe numbers and visual identification methods. In all processes on the production line, the plate / pipe number OCR system is used to automatically identify the plate / pipe number through an industrial camera, and upload the relevant information of the plate / pipe number to information systems such as SCADA and MES, so as to achieve accurate matching of production processing and inspection information with plate / pipe number, as well as automatic and accurate traceability of materials in the production process.

[0127] It should be noted that the above embodiments are examples and not limitations of the present invention, and those skilled in the art will be able to design many alternative embodiments without departing from the scope of the claims of this patent.

Claims

1. A material traceability system for steel pipe production process, comprising a logistics tracking mechanism for a straight seam submerged arc welded pipe production line, characterized in that: The tracking system includes an automatic marking system, an automatic identification system, and a communication network; The automatic marking system's steel plate marking system and steel pipe marking system are used to print the steel plate number and steel pipe number, respectively. The automatic identification system automatically collects images of the plate number / pipe number of steel plates / pipes by industrial cameras set up next to each process, and then uses image processing algorithms to locate and identify the plate number / pipe number information in the collected video stream, and uploads the identified plate number / pipe number to the MES and SCADA database. The communication network uses a fiber optic ring network to provide nearby access for the marking equipment, industrial cameras, and edge computing units, and sets up camera trigger sensors to trigger recognition when the steel plate / steel pipe is in place.

2. The material traceability system for steel pipe production process according to claim 1, characterized in that: The steel plate marking system includes a primer spraying machine I, a marking machine I, and a mechanical running mechanism; The steel pipe marking system includes a primer spraying machine II, a marking machine II, and a robot, with the robot performing the operation.

3. The material traceability system for steel pipe production process according to claim 2, characterized in that: The automatic recognition system includes an image acquisition unit and an image processing unit; The image acquisition unit includes an industrial camera, a lens, and a light source, and acquires images of the board number / tube number. The image processing unit includes an edge computing unit, a server, and recognition software, which automatically identifies and verifies the video stream captured by the industrial camera to obtain an accurate pipe number.

4. The material traceability system for steel pipe production process according to claim 2, characterized in that: The mechanical operating mechanism of the steel plate marking system is a mechanical gantry device. The mechanical gantry device clamps the primer spray gun and the plate number nozzle and automatically sprays primer and prints plate number on the upper surface of the steel plate perpendicular to the direction of steel plate movement.

5. The material traceability system for steel pipe production process according to claim 2, characterized in that: The steel pipe spraying system includes a primer spraying machine II, a spraying machine II, and a robot; The primer spraying machine II includes a spray gun with a nozzle number, a controller, and a paint supply system with stirring, circulation, and heating. The inkjet printer II includes a nozzle with a tube number, an inkjet controller, and an ink supply and circulation system; The operating mechanism consists of a robot that holds the pipe number spray gun and the pipe number nozzle to complete the marking of the steel pipe.

6. A traceability method for the material traceability system in the steel pipe production process as described in claim 1, characterized in that: The marking process for steel plate numbers / steel pipe numbers is as follows: S1, flat roller steel plate conveyor / pre-welding machine outlet pipe, incoming material detection triggered; S2, Steel plate / steel pipe specification inspection; S3, Nozzle positioning; S4. The steel plate / steel pipe OCR recognition queue of the previous process is sent for printing information; S5, Printing trigger; S6. Printing complete, printer returns to its original position; printing ends.

7. The traceability method according to claim 6, characterized in that: The steel plate marking procedure is as follows: Printing preparation, the printhead for the board number is stopped in the center of the sanding gantry; S1-a, The incoming material inspection procedure is triggered by the flat roller conveyor for steel plates; S2-a, Steel Plate Specification Inspection The Z-axis laser rangefinder of the steel plate marking system detects the steel plate conveyed by the flat roller and triggers the steel plate marking operation program. The Z-axis cylinder drives the plate number nozzle to fall, and the encoder measuring wheel of the marking machine installed on the ground rises up to press against the steel plate, and detects the moving speed and length of the steel plate in real time. S3-a, Nozzle Positioning The plate number nozzle automatically moves to the marking position according to the specifications of the steel plate being inspected; S4-a, Send printing information The inkjet controller connects to the production network, accesses the intermediate table of completed steel pipe numbers in the material loading station of the MES system, and retrieves the steel plate number to the inkjet controller to form a queue of plate numbers to be printed. S5-a, Printing Trigger The printing program is triggered when the steel plate moves to the set position; during the printing process, the Z-axis laser rangefinder detects the distance between the plate number printhead and the steel plate in real time and adjusts it in real time according to the set height; the distance between the plate number printhead and the surface of the steel plate is 10-20mm. S6-a, End of marking The Z-axis cylinder lifts the plate number nozzle, and the marking mechanism returns to its original position, ready for the next steel plate.

8. The traceability method according to claim 6, characterized in that: The procedure for marking the pipe number on the steel pipe is as follows: The printing preparation is complete; the primer sprayer II and the marking machine II are integrated into the robot, which stops at the origin position. S1-b, The incoming material inspection procedure is triggered by the steel pipes conveyed by the flat roller conveyor; S2-b, Steel Pipe Specification Inspection During the pre-welding process of steel pipes, the current pipe diameter specification is obtained by a pipe diameter measuring sensor set above the roller conveyor, which triggers the steel pipe marking operation program. The pipe diameter measuring sensor obtains the current pipe diameter specification by measuring distance and compares it with the set specification. When the two match, the operation begins. S3-b, nozzle positioning The robot drives the primer spraying machine II's pipe number spray gun and the marking machine II to the designated marking position on the steel pipe of that specification. The encoder measuring wheel of the marking machine, which is installed on the ground, rises up and closes to the steel pipe, and detects the moving speed and length of the steel pipe in real time. The laser range sensor installed on one side of the pipe number nozzle detects the distance between the pipe number nozzle and the steel pipe in real time, and adjusts the robot arm in real time. The distance between the pipe number nozzle and the surface of the steel pipe is 10-20mm. S4-b, Send printing information The inkjet controller connects to the production network, accesses the intermediate table of completed steel pipe numbers in the forming station of the MES system, and retrieves the root pipe number from the intermediate table to form a queue of pipe numbers to be sprayed in the inkjet controller. S5-b, Printing Trigger When the steel pipe reaches the set position, the primer spraying and marking program is triggered. S6-b, End of marking process The robot returns to its original position and waits for the next steel pipe.

9. The traceability method according to claim 6, characterized in that: The OCR recognition process steps are as follows: System preparation, waiting for recognition triggers in each process. A1. Identify Triggers When the material detection sensors in each process detect the steel pipe, they trigger the industrial camera to acquire images and capture images at the set frame rate. A2. Pipe No. Positioning Identify the printed character area in the captured image and proceed to step A3; If no characters are recognized in the image, three images will be automatically captured and uploaded to the system for manual review. A3. Automatic Recognition and Judgment After identifying the printed character area, the character is segmented and recognized according to the OCR algorithm. When the confidence level of the character recognition result is greater than 95%, the recognition result is determined to be accurate and uploaded to the database. The identification result is compared with the feeding tube number queue. If the tube number is not in the feeding tube number queue, the tube number is invalid. The image is manually verified and the number is modified. The modified number is then uploaded to the database. A4. Recognition complete. When the material detection signal is zero, image acquisition for this process is stopped, and the recognition ends.

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