Tool joint assist

Abstract

A tool joint assist system includes one or more iron roughnecks for making up or breaking out tubular joints; a programmable logic controller for each of the one or more iron roughnecks; at least one camera associated with each of the one or more iron roughnecks; a computer that calculates a stick-up height; and one or more user-input devices. Each programmable logic controller controls only one iron roughneck. The computer includes a processor, memory, and one or more monitors displaying an image from the at least one camera. The programmable logic controllers, the cameras, the monitors, the user-input devices, and the computer are connected by a network.

What is claimed: 
     
         1 . A tool joint assist system comprising:
 one or more iron roughnecks for making up or breaking out tubular joints;   a programmable logic controller for each of the one or more iron roughnecks, each programmable logic controller controlling only one iron roughneck;   at least one camera associated with each of the one or more iron roughnecks;   a computer that calculates a stick-up height, the computer comprising:
 a processor; 
 memory; 
   one or more monitors displaying an image from the at least one camera; and   one or more user-input devices,   wherein the programmable logic controllers, the cameras, the monitors, the user-input devices, and the computer are connected by a network.   
     
     
         2 . The tool joint assist system of  claim 1 , wherein the at least one camera comprises a single camera. 
     
     
         3 . The tool joint assist system of  claim 1 , wherein at least one of the one or more monitors is also a user-input device. 
     
     
         4 . The tool joint assist system of  claim 1 , wherein the one or more user-input devices is selected from the group consisting of a keyboard, a joystick, a mouse, a trackball, a touchscreen, and a touchpad. 
     
     
         5 . The tool joint assist system of  claim 1 , wherein the system does not comprise a three-dimensional sensor. 
     
     
         6 . A positioning method comprising:
 capturing a two-dimensional image of a first object to be manipulated by a second object;   displaying the captured two-dimensional image of the first object combined with an aiming line overlay;   adjusting a location of the aiming line overlay relative to the first object in the captured two-dimensional image according to user input;   calculating a parameter of the first object from the adjusted location of the aiming line overlay;   sending the parameter to a control system for the second object; and   setting a position of the second object by the control system based on the parameter of the first object.   
     
     
         7 . The positioning method according to  claim 6 , further comprising:
 setting the control system to automatic sequence;   entering a correct step of capturing an image of a tool joint;   sending a command from the control system to a computer to capture a two-dimensional image;   detecting the command to capture the two-dimensional image with the software application;   
     
     
         8 . The positioning method according to  claim 6 , wherein the control system comprises a programmable logic controller. 
     
     
         9 . The positioning method according to  claim 6 ,
 wherein the control system controls an iron roughneck,   wherein the first object is a tubular,   wherein the second object is the iron roughneck,   wherein adjusting the location of the aiming line places the aiming line over a tool joint, and   wherein the parameter is a stickup height.   
     
     
         10 . The positioning method according to  claim 6 , further comprising calibrating using a calibration image, the calibrating being performed prior to calculating a parameter. 
     
     
         11 . The positioning method according to  claim 6 , further comprising streaming a plurality of images from a camera to the computer,
 wherein capturing the two-dimensional image comprises capturing one of the plurality of images streamed from the camera.   
     
     
         12 . The positioning method according to  claim 11 , wherein the plurality of images streamed from the camera is a video stream. 
     
     
         13 . The positioning method according to  claim 6 , wherein only one tubular is included in the two-dimensional image. 
     
     
         14 . The positioning method according to  claim 6 , wherein there is no minimum separation distance between the tubulars to be made up or broken out and other objects included in the two-dimensional image. 
     
     
         15 . The positioning method according to  claim 6  further comprising confirming the location of the aiming line. 
     
     
         16 . The positioning method according to  claim 15 , wherein confirming is performed using one or more user-input devices selected from the group consisting of a keyboard, a joystick, a mouse, a trackball, a touchscreen, and a touchpad.