Abstract: Addressing the problems staying with the detection line like abnormal sorting and missing of hole type defects as caused by error signal sent from the pipe gap sensor, the two-stage pipe-tracking control algorithm is developed, and then its suitability is analyzed via relevant on-the-site serial tests. It is regarded via the analysis that the newly-developed pipe-tracking algorithm seems to be mostly suitable for the specified-pipe detection line;it s necessary to achieve the optical pipe-tracking speed ratio via theoretic calculation and on-the-site testing so as to ensure proper position tracking;if each single driving roller is controlled independently, the pipe tracking requirement for pipes with different lengths can be met by means of adjusting the primary pipe-tracking position.