Tong assembly position adjustment for threaded connection alignment

Abstract

An apparatus for positioning a tong assembly relative to a tubular can include a sensor attached to the tong assembly, a control system that processes data received from the sensor and thereby identifies a location of the tong assembly relative to an end of the tubular, and at least one actuator controlled by the control system and configured to displace the tong assembly. A method of positioning a tong assembly relative to a tubular can include obtaining an image of an end of the tubular with a camera attached to a tong assembly, processing the image, thereby identifying a location of the tong assembly relative to the tubular end, comparing the identified location with a desired location of the tong assembly relative to the tubular end, and displacing the tong assembly, thereby reducing a difference between the desired location and the identified location.

1 . A method of positioning a tong assembly relative to a tubular, the method comprising:
 obtaining an image of at least an end of the tubular with a camera attached to the tong assembly;   processing the image, thereby identifying a location of the tong assembly relative to the tubular end;   comparing the identified location with a desired location of the tong assembly relative to the tubular end;   displacing the tong assembly, thereby reducing a difference between the desired location and the identified location; and   then engaging the tubular with at least one of a rotary clamp and a backup clamp of the tong assembly.   
     
     
         2 . The method of  claim 1 , in which the displacing is performed automatically in response to the comparing. 
     
     
         3 . The method of  claim 1 , in which the tubular end is at a threaded connection between the tubular and another tubular. 
     
     
         4 . The method of  claim 1 , in which the displacing comprises a control system controlling operation of at least one actuator. 
     
     
         5 . The method of  claim 4 , in which the displacing further comprises the at least one actuator displacing the tong assembly in at least one direction selected from the group consisting of upward, downward and lateral. 
     
     
         6 . The method of  claim 1 , in which the reducing comprises minimizing the difference between the desired location and the identified location. 
     
     
         7 . The method of  claim 1 , in which the reducing comprises eliminating the difference between the desired location and the identified location. 
     
     
         8 . The method of  claim 1 , further comprising attaching the camera to the tong assembly between the rotary clamp and the backup clamp of the tong assembly. 
     
     
         9 . The method of  claim 1 , further comprising attaching the camera to the tong assembly at a position aligned with a desired location of the tubular end. 
     
     
         10 . The method of  claim 1 , in which the displacing comprises displacing the camera with the tong assembly. 
     
     
         11 . An apparatus for positioning a tong assembly relative to a tubular, the apparatus comprising:
 a sensor configured to attach to the tong assembly;   a control system configured to process data received from the sensor and thereby identify a location of the tong assembly relative to an end of the tubular; and   at least one actuator controlled by the control system and configured to displace the tong assembly into a desired alignment with the tubular prior to engagement of the tong assembly with the tubular.   
     
     
         12 . The apparatus of  claim 11 , in which the sensor comprises an optical sensor. 
     
     
         13 . The apparatus of  claim 12 , in which the optical sensor comprises a camera. 
     
     
         14 . The apparatus of  claim 11 , in which the sensor is attached to the tong assembly between a rotary clamp and a backup clamp of the tong assembly. 
     
     
         15 . The apparatus of  claim 11 , in which the sensor is displaceable with the tong assembly. 
     
     
         16 . The apparatus of  claim 11 , in which the sensor is aligned with a desired location of the tubular end. 
     
     
         17 . The apparatus of  claim 11 , in which the control system is configured to automatically operate the at least one actuator in response to there being a difference between the identified location and a desired location of the tong assembly relative to the tubular end. 
     
     
         18 . The apparatus of  claim 11 , in which the control system is configured to automatically operate the at least one actuator to reduce a difference between the identified location and a desired location of the tong assembly relative to the tubular end. 
     
     
         19 . The apparatus of  claim 11 , in which the control system is configured to automatically operate the at least one actuator to minimize a difference between the identified location and a desired location of the tong assembly relative to the tubular end. 
     
     
         20 . The apparatus of  claim 11 , in which the at least one actuator is configured to displace the tong assembly in at least one direction selected from the group consisting of upward, downward and lateral.