Methods for assembling or disassembling tubular column components for use in an underground well.

Abstract

Optical monitoring of threaded connection assembly and disassembly processes. A method for assembling or disassembling tubular column components may involve threading tubulars together while a camera obtains images of the tubulars, emitting image data from the camera to an image processor that detects optical flow vector fields from the image data, the optical flow vector fields representing displacements of the respective tubulars during threading, and controlling the threading in response to a difference between the displacements.Another method might involve positioning a camera so that the camera simultaneously observes at least two tubes, threading the tubes together, sending image data from the camera to an image processor, the image processor detecting optical flow vector fields from the image data, the optical flow vector field representing displacements of the respective tubes during threading, and controlling the threading in response to the image processor detecting the optical flow vector fields.

Description

1 / 22 Methods for assembling or disassembling tubular column components for use in an underground well. TECHNICAL FIELD

[001] This disclosure generally refers to equipment used and operations performed in conjunction with an underground well and, in an example described below, more particularly, provides optical monitoring of a threaded connection assembly or disassembly process. BACKGROUND

[002] Various types of tubular components can be threaded together to form tubular strings for use in a well. Tubulars used in wells can include protective wellbore casings (such as casing, liner, etc.), production or injection conduits (such as production tubing, injection tubing, screens, etc.), drill pipe and drill collars, and associated components (such as tubular couplings).

[003] It is normally important that the threaded connections between the tubulars are properly fitted. For example, when a threaded connection is properly fitted, the threaded connection can prevent fluid leakage into or out of the tubular string or can resist unscrewing of the connection. When a threaded connection is properly fitted, the tubulars can be used in subsequent well operations, such as (but not necessarily) drilling operations.

[004] It will therefore be readily appreciated that improvements are continually needed in the technique of assembling and disassembling threaded connections in tubular columns. The present disclosure provides such improvements in the technique. Petition 870260016594, dated 23 / 02 / 2026, page 14 / 66 2 / 22 BRIEF DESCRIPTION OF THE DRAWINGS

[005] FIG. 1 is a representative partial cross-sectional view of an example of a well system and associated method that may incorporate principles of this disclosure.

[006] FIG. 2A is a representative side view of an example of the method, with a single camera observing and imaging multiple threaded tubes.

[007] FIG. 2B is a representative side view of FIG. 2A example of the method, with multiple cameras observing and imaging multiple threaded tubes.

[008] FIG. 3 is a representative side view of another example of the method, with a single camera observing and imaging multiple threaded pipes.

[009] FIG. 4 is a representative view of the method in FIG. 2A, in which the optical flux vector fields are superimposed on the system components.

[0010] FIG. 5 is a representative view of the method in FIG. 2A, in which the optical flux vector fields are separated into groups.

[0011] FIG. 6 is a representative schematic view of an example of a control system that can be used with the method examples in FIGS. 2A-5. DETAILED DESCRIPTION

[0012] Representatively illustrated, FIG. 1 is a system 10 for use with an underground well and an associated method, which may incorporate principles of this disclosure. However, it should be clearly understood that the system 10 and the method are only one example of an application of the principles of this disclosure in practice, and a broad range of applications may be considered. Petition 870260016594, dated 23 / 02 / 2026, page 15 / 66 3 / 22 A variety of other examples are possible. Therefore, the scope of this disclosure is not limited to the details of system 10 and method described in this document and / or represented in the drawings.

[0013] In the example FIG. 1, a tubular string 12 is being assembled and deployed in a well. The tubular string 12 in this example is a production or injection tubing string, but in other examples, the tubular string may be a casing, liner, drill pipe, completion, stimulation, test, or other type of tubular string. The scope of this disclosure is not limited to the use of any specific type of tubular string or tubular components connected in a tubular string.

[0014] As represented in FIG. 1, a tubular 14 is suspended near its upper end by means of a rotating table 16, which may comprise a tube handling spider and / or safety wedges to grip the tubular 14 and support a weight from the tubular column 12. In this way, the upper end of the tubular 14 extends upwards through a probe floor 18 in preparation for connecting another tubular 20 to the tubular column 12.

[0015] In this example, a tubular coupling 22 is fitted to the upper end of the tubular 14 before the tubular is connected to the tubular column 12. The coupling 22 is internally threaded at each of its opposite ends.

[0016] In conventional well operations, it is common for a tubular pipe and a threaded coupling joined together to be called a joint, and for threaded joints joined together to be called a pipe section, casing, liner, or tube. Petition 870260016594, dated 23 / 02 / 2026, page 16 / 66 4 / 22 etc. However, in some examples, a separate coupling cannot be used; instead, one end (typically a top box end of a joint) is internally threaded and the other end (typically a bottom pin end of the joint) is externally threaded, so that successive joints can be threaded directly together. Thus, the scope of this disclosure may encompass the use of a separate coupling with a tubular, or the use of a tubular without a separate coupling (in which case the coupling may be considered integrally formed with, and partly of, the tubular). In the example FIG. 1, coupling 22 may also be considered a tubular, since it is a tubular component connected to tubular column 12.

[0017] To create a threaded connection between the tubular 20 and the coupling 22, a set of rotating and supporting clamps or clamps 24, 26 is used. The rotating clamp 24 in the example FIG. 1 is used to grip, rotate, and apply torque to the upper tubular 20 as it is threaded onto the coupling 22. The supporting clamp 26 in the example FIG. 1 is used to grip and hold the lower tubular 14 against rotation and to react to the torque applied by the rotating clamp 24. The rotating clamp 24 and the supporting clamp 26 may be separate devices or may be components of a probing apparatus known to those skilled in the art as an iron probe.

[0018] In one example, the rotating clamp 24 and the support clamp 26 may be components of a clamping system, such as the VERO(TM) clamping system marketed by Weatherford International, Inc. of Houston, Texas, USA. Petition 870260016594, dated 23 / 02 / 2026, page 17 / 66 5 / 22 In this example, the rotating clamp 24 can be a clamp system mechanism that rotates and applies torque to the upper tubular 20, and the support clamp 26 can be a support mechanism of the clamp system that reacts to the applied torque and prevents rotation of the lower tubular 14. Thus, the term rotating clamp, as used in this document, indicates the mechanism for rotation and torque application, and the term support clamp, as used in this document, indicates the mechanism for reacting to torque.

[0019] Note that it is not necessary for the tubulars 14, 20 (and coupling 22, if used) to be vertical in compounding or disassembling operations. The tubulars 14, 20 may instead be horizontal or otherwise oriented. Additional systems in which the principles of this disclosure may be incorporated include the CAM™, COMCAM™ and TORKWRENCH™ neutralization systems marketed by Weatherford International, Inc.

[0020] In other examples, a top drive (see FIG. 3) can be used to rotate and apply torque to the upper tubular 20. Thus, it will be appreciated that the scope of this disclosure is not limited to the use of any specific equipment to grip, rotate, apply torque, or react to torque applied to any tubular in a threaded connection assembly or disassembly operation.

[0021] After the upper tubular 20 is properly fitted to the lower tubular 14 or coupling 22, the tubular string 12 can be lowered further into the well and the fitting operation can be repeated to connect another section of pipe to the upper end of the tubular string. In this way, the tubular string 12 is progressively deployed in the well, Petition 870260016594, dated 23 / 02 / 2026, p. 18 / 66 6 / 22 connecting successive tube sections to the upper end of the tubular column. In some examples, an individual tubular component may be added to the tubular column 12 instead of a tube section.

[0022] In FIG. 1, the process of forming the threaded connection can be controlled so that a properly formed connection is obtained, and this control can be automatic so that human error is avoided. As described in more detail below, at least one camera 28 can be used in certain examples to facilitate this automatic control of the threaded connection forming process.

[0023] As used in this document, the term camera is used to indicate a device capable of obtaining images of an observed structure. Each image may comprise an array or matrix of pixels, with each pixel possessing a combination of optical characteristics. Examples of cameras include digital video cameras, time-of-flight sensors, and optical array sensors. Preferably, a camera does not come into contact with a structure observed by the camera.

[0024] With further reference now to FIG. 2A, an example of the method for assembling tubular column components is representatively illustrated. For convenience, this example of the method is described below, as it can be used with system 10 of FIG. 1, but the method can be used with other systems while maintaining the principles of this disclosure.

[0025] In the example FIG. 2A, camera 28 observes and images at least tubulars 14, 20, coupling 22 and a rotor 30 of the rotating clamp 24 while tubular 20 is Petition 870260016594, dated 23 / 02 / 2026, page 19 / 66 7 / 22 threaded into the coupling. The claws 32 carried on the rotor 30 grip the tubular 20 to apply torque to the tubular 20 as it is threaded into the coupling 22. The claws 34 of the support clamp 26 grip the tubular 14 to react to the torque applied by the rotating clamp 24.

[0026] Image data are output by camera 28. As described in more detail below, the image data are fed into an image processor 36 (see FIG. 6). The image processor 36 detects displacements of the various structures observed by camera 28 using optical flow techniques. These optical flow techniques include grouping optical vector fields that represent movements of the various components observed by camera 28. As used in this document, the term displacement is used to indicate longitudinal or rotational motion or a combination of longitudinal and rotational motions (e.g., helical displacement).

[0027] The movements of the components observed by camera 28 can then be compared to determine when a proper threaded connection has been achieved, or if a proper threaded connection can be achieved. A controller 38 (see FIG. 6) controls the connection-making process based on these determinations. For example, the controller 38 can control the operation of the rotary clamp 24 so that a predetermined number of turns of the tubular clamp 20 is performed, or so that a complete loss of thread (e.g., a longitudinal overlap between threaded components) is achieved.

[0028] In the example FIG. 2A, camera 28 can observe components (such as the tubular 20 and the rotor 30) that move Petition 870260016594, dated 23 / 02 / 2026, page 20 / 66 8 / 22 during the connection assembly process, as well as components (such as the tubular 14 and the coupling 22) that must remain stationary during the connection assembly process. In this way, slippage between the rotor 30 and the tubular 20 can be detected if there is a difference between the rotational displacements of the rotor and the tubular 20. Similarly, slippage between the claws 34 of the support clamp 26 and the tubular 14 can be detected if there is rotation of the tubular 14 and the coupling 22 during the connection assembly process.

[0029] The longitudinal displacement of the tubular 20 to the coupling 22 can be detected, so that the connection composition process can be terminated by the controller 38 when the total loss of thread is within a predetermined range. Similarly, a number of turns of the tubular 20, as it is threaded onto the coupling 22, can be detected, so that the connection composition process can be terminated by the controller 38 when the number of turns is within a predetermined range.

[0030] The detection of component displacements, as discussed above, is facilitated by the use of camera 28 to observe multiple components during the connection composition process. A single camera 28 can observe one, two, three, four, or any other number of components. However, it is not necessary that only a single camera be used to observe all the components for which displacements are to be determined.

[0031] With further reference now to FIG. 2B, another example of the method is illustrated representatively. In this example, multiple cameras 28 are used to observe Petition 870260016594, dated 23 / 02 / 2026, page 21 / 66 9 / 22 system components 10 during the tubular connection assembly process.

[0032] Each of the cameras 28 can observe a single component or multiple components. As shown in FIG. 2B, an upper camera 28 observes the rotor 30 and the tubular 20. An intermediate camera 28 observes the tubulars 14, 20 and the coupling 22. A lower camera 28 observes the tubular 14 and the support clamp 26.

[0033] The image data from the multiple cameras 28 can be combined by the image processor 36, so that the movements of all components can be determined using the optical flow techniques discussed in more detail below. Based on these detected movements, the controller 38 can control the connection composition process.

[0034] With further reference now to FIG. 3, another example of the method is illustrated representatively. In this example, a top drive 40 is used to rotate and apply torque to the tubular 20. The support clamp 26 reacts to the torque applied by the top drive 40.

[0035] Camera 28 can observe any combination of tubular 20, coupling 22, tubular 14 and support clamp 26. Multiple cameras 28 can be used if desired.

[0036] Rotor 42 of top drive 40 is used to rotate and apply torque to tubular 20. Camera 28, or another camera, can observe rotor 42 and tubular 20 during the tubular connection assembly process.

[0037] With further reference now to FIG. 4, several components of system 10 are illustrated representatively, as observed by camera 28 in the example. Petition 870260016594, dated 23 / 02 / 2026, page 22 / 66 Figure 2A, 10 / 22. The optical vector fields representing the detected motions of the components are superimposed on the illustrated components. The vector fields result from the optical flow techniques discussed above.

[0038] The rotation of the tubular 20 by the rotor 30 of the rotating clamp 24 is represented by an arrow 44 in FIG. 4. Note that a group of vectors 30a indicates this rotation of the rotor 30 and can be detected by the image processor 36 with appropriate instruction, programming and / or training.

[0039] Another group of vectors 20a indicates a similar rotation of the tubular 20. Vectors 20a also indicate longitudinal displacement of the tubular 20 as it is threaded onto the coupling 22. The rotation and longitudinal displacement of the tubular 20, as indicated by vectors 20a, can be detected by the image processor 36 with appropriate instruction, programming and / or training.

[0040] Although in a normal connection composition process the tubular 14 and the coupling 22 should not rotate, the rotation of these components is represented in FIG. 4 for convenience in describing a condition that may cause the controller 38 to terminate the connection composition process. In this example, a vector group 22a indicates rotation of the coupling 22 and a vector group 14a indicates rotation of the tubular 14. These vector groups 14a, 22a can be detected by the image processor 36 with appropriate instruction, programming and / or training.

[0041] Controller 38 can terminate the connection composition process (for example, by ceasing the rotation of rotor 30) if any of the following conditions are indicated by the optical vector fields: Petition 870260016594, dated 23 / 02 / 2026, p. 23 / 66 11 / 22 1. Rotor 30 rotates at a faster rate than tube 20. This condition may result from slippage of the claws 32 (see FIG. 2A) in tube 20; 2. Coupling 22 rotates. This condition may result from the slippage of the claws 34 (see FIG. 2A) in the tubular 14; 3. Tubular 14 rotates. This condition may result from the slippage of the claws 34 (see FIG. 2A) in tubular 14; 4. Coupling 22 rotates relative to tubular 14. This condition may result from improper assembly of coupling 22 to tubular 14 before tubular 20 is screwed into the coupling; 5. Tubular 20 rotates a predetermined number of turns (or within a predetermined range of turns) as it is threaded onto coupling 22. This condition may indicate a proper composition of the threaded connection between tubular 20 and coupling 22; 6. Tubular 20 moves longitudinally downwards a predetermined distance (or within a predetermined distance range) as it is threaded onto coupling 22. This condition may indicate a proper composition of the threaded connection between tubular 20 and coupling 22.

[0042] In a tubular connection disassembly operation, the controller 38 can terminate the connection disassembly process (e.g., by ceasing the rotation of rotor 30) if rotor 30 rotates at a faster rate than tubular 20, coupling 22 rotates relative to tubular 14, or tubular 14 rotates.

[0043] With further reference now to FIG. 5, the optical vector groups 14a, 20a, 22a, 30a are illustrated. Petition 870260016594, dated 23 / 02 / 2026, page 24 / 66 12 / 22 representatively, in addition to the system components 10. In this view, the way in which the image processor 36 can detect optical vector fields in the image data output by the camera 28 can be more easily visualized.

[0044] As mentioned above, optical flow techniques are used to detect the optical vectors 14a, 20a, 22a, 30a represented in the image data. For example, before the connection composition process, camera 28 can observe the probe floor environment 18 (see FIG. 1) as a background reference to produce a reference image. Then, at the beginning of the connection composition process, camera 28 begins to observe the various components involved (such as the tubulars 14, 20, the coupling 22 and the rotor 30).

[0045] While the tubular 20 is screwed into the coupling 22, the image processor 36 detects the optical vectors 14a, 20a, 22a, 30a in real time by comparing later (or current) image data with earlier (or old) image data. Based on appropriate instruction, programming and / or training, the image processor 36 is able to group the vectors 14a, 20a, 22a, 30a into their respective vector fields 14b, 20b, 22b, 30b.

[0046] For example, an operator can input into a control system 46 (see FIG. 6) a known diameter and length of the coupling 22, and the image processor 36 can use this information to identify a group of vectors 22a corresponding to this diameter and length as a vector field 22b representing the coupling displacement. Similarly, the reduced diameter components are typically expected to be positioned on opposite sides of the coupling 22, so that the processor of Petition 870260016594, dated 23 / 02 / 2026, page 25 / 66 13 / 22 image 36 can use this information to identify a group of vectors 14a, 20a corresponding to this reduced diameter as being vector fields 14b, 20b representing displacements of the respective tubes 14, 20. Similarly, rotor 30 is expected to typically be positioned above the connection and have a larger diameter than tube 20, so image processor 36 can use this information to identify a group of vectors 30a corresponding to this diameter and position as being a vector field 30b representing the rotor displacement.

[0047] The above examples are merely examples of possible ways in which the image processor 36 can be instructed, programmed, or trained to detect the various components and component displacements represented in the image data output by the camera 28. Other techniques known to those skilled in optical image processing may be used in accordance with the principles of this disclosure. Neural networks, fuzzy logic, and other artificial intelligence techniques or programmed capabilities may be particularly useful in detecting the various components and component displacements represented in the image data output by the camera 28.

[0048] With further reference now to FIG. 6, control system 46 is illustrated representatively in schematic form. Control system 46 can be used with example system 10 of FIG. 1 and the method examples of FIGS. 2A-5, or the control system can be used with other systems and methods.

[0049] The control system 46 includes the controller 38 Petition 870260016594, dated 23 / 02 / 2026, page 26 / 66 14 / 22 to control the operation of various components of system 10. In this example, the controller 38 is connected to the rotary clamp 24 to control the rotation of the tubular 20. In the examples described above, the controller 38 can terminate or stop the rotation of the tubular 20 by the rotary clamp 24 or top drive 40 when a suitable threaded connection has been achieved (e.g., to avoid excessive torque of the threaded connection, to avoid human error, to achieve a higher level of efficiency, etc.).The controller may terminate the rotation of tubular 20 when a suitable threaded connection cannot be achieved (for example, due to slippage between claws 32 and tubular 20 or slippage between claws 34 and tubular 14), or the controller may terminate the rotation of tubular 20 when a suitable non-threaded or disassembled connection cannot be achieved (for example, due to slippage between claws 32 and tubular 20, slippage between claws 34 and tubular 14, or unscrewing of coupling 24 from tubular 14). The scope of this disclosure is not limited to any specific purpose or benefit obtained by using the controller 38 in the control system 46.

[0050] The controller 38 may include various components designed to facilitate the operation of the system 46. For example, the controller 38 may include volatile and non-volatile memory (such as RAM, ROM, EPROM, a hard disk or solid-state drive, etc.), a database and instructions stored in memory, data ports, input devices (such as a keyboard, numeric keypad, touch screen, mouse, etc.), output devices (such as a monitor, a printer, etc.), communication devices (such as a Petition 870260016594, dated 23 / 02 / 2026, p. 27 / 66 15 / 22 satellite link, a fiber optic connection, a WiFi or Bluetooth transceiver, etc.), a computer processor, a programmable logic controller (PLC), or any other component or combination of components. The scope of this disclosure is not limited to any particular configuration, structure, or capability of the controller 38.

[0051] As shown in FIG. 6, at least one camera 28 is connected to the image processor 36. The image processor 36 receives image data from camera 28 and, based on the image data, identifies or recognizes tubular column components (such as tubulars 14, 20, coupling 22 and / or rotor 30 or 42) as represented in the image data. In addition, the image processor 36 identifies or recognizes the movements of the components as represented in the image data.

[0052] The image processor 36 may include various components and features designed to facilitate the identification or recognition of components and their movements. For example, the image processor 36 may include neural or neuronal networks, fuzzy logic, artificial intelligence, or other programmed capabilities that can be trained to identify or recognize particular tubular column components. The image processor 54 may include or comprise elements known to those skilled in the art as an image processing engine, an image processing unit, or an image signal processor. Optical flow techniques may be used to identify, recognize, and quantify movements (such as longitudinal displacements). Petition 870260016594, dated 23 / 02 / 2026, page 28 / 66 16 / 22 and / or rotations) of the components. The scope of this disclosure is not limited to any particular configuration, structure or capability of the image processor 36.

[0053] It can now be fully appreciated that the above disclosure provides significant advances in the technique of assembling threaded connections in tubular columns. In several examples described above, methods are provided that produce properly assembled threaded connections in a way that reduces or eliminates human error and improves the efficiency of the threaded connection assembly process.

[0054] More specifically, the above disclosure provides the technique with a method for assembling tubular string components for use in an underground well. In one example, the method may include the steps of: threading the first and second tubulars 20, 22 together while a first camera 28 obtains images of the first and second tubulars 20, 22; outputting image data from the first camera 28 to an image processor 36; the image processor 36 detecting optical flow vector fields from the image data, the optical flow vector fields representing first and second displacements of the respective first and second tubulars 20, 22 during threading; and controlling the threading in response to a difference between the first and second displacements.

[0055] The threading step may involve screwing together the first and second tubulars 20, 22, for example, to form a threaded connection. Alternatively, the threading step may involve unscrewing the first and second tubulars 20, 22 from each other, for example, to disassemble the threaded connection. Petition 870260016594, dated 23 / 02 / 2026, page 29 / 66 17 / 22

[0056] The first camera 28 can obtain images of a third threaded tube 14 during the threading step. The second and third tubes 22, 14 can be threaded together before the threading step.

[0057] The first camera 28 can obtain images of a rotor 30 of a rotary clamp 24 or a rotor 42 of a top drive 40 during the threading step.

[0058] The control stage may include controlling the threading in response to a difference between the first displacement of the first tubular 20 and a third displacement of the rotor 30 or 42. The first and third displacements may comprise rotations of the respective first tubular 20 and rotor 30 or 42.

[0059] The control step may include controlling the threading in response to the second displacement of the second tubular 22 being greater than zero. The second displacement may comprise a rotation of the second tubular 22.

[0060] The control step may include controlling the threading in response to the first displacement of the first tubular 20 being within a predetermined range. The first displacement may comprise a longitudinal displacement of the first tubular 20.

[0061] The control step may include controlling the threading in response to the first displacement of the first tubular 20 being within a predetermined range. The first displacement may comprise a rotation of the first tubular 20.

[0062] The control stage may include controlling the threading in response to optical flux vector fields representing a predetermined difference between the first Petition 870260016594, dated 23 / 02 / 2026, page 30 / 66 18 / 22 and second displacements.

[0063] The method may include a second camera 28 obtaining images of a third threaded tube 14 and at least one of the first and second tubes 20, 22 during threading. The optical flow vector fields may represent a third displacement of the third tube 14 and at least one of the first and second displacements during the threading step.

[0064] The method may include a second camera 28 obtaining images of a rotor 30, 42, a rotary clamp 24 or a top drive 40 and at least one of the first and second tubulars 20, 22. The optical flow vector fields may represent a third displacement of the rotor 30, 42 and at least one of the first and second displacements during the threading step.

[0065] Another method of assembling tubular column components for use in an underground well is provided to the art by the disclosure above. In this example, the method may include: positioning a first camera 28 at a first location, the first camera 28 thus simultaneously observing at least the first and second threaded tubulars 20, 22; threading the first and second tubulars 20, 22 together; emitting image data from the first camera 28 to an image processor 36; the image processor 36 detecting optical flow vector fields from the image data, the optical flow vector fields representing first and second displacements of the respective first and second tubulars 20, 22 during threading; and controlling the threading in response to the image processor 36 detecting the vector fields of Petition 870260016594, dated 23 / 02 / 2026, page 31 / 66 19 / 22 optical flux.

[0066] The threading step may involve screwing together the first and second tubulars 20, 22, for example, to form a threaded connection. Alternatively, the threading step may involve unscrewing the first and second tubulars 20, 22 from each other, for example, to disassemble the threaded connection.

[0067] The positioning step may include positioning the first camera 28 in the first location, the first camera 28 simultaneously observing at least the first and second tubulars 20, 22 and a third threaded tubular 14. The second and third tubulars 22, 14 may be threaded together before the threading step.

[0068] The positioning step may include positioning the first camera 28 in the first location, the first camera 28 simultaneously observing at least the first and second tubulars 20, 22 and a rotor 30 of a rotary clamp 24 or a rotor 42 of a top drive 40.

[0069] The control stage may include controlling the threading in response to a difference between the first displacement of the first tubular 20 and a third displacement of the rotor 30, 42. The first and third displacements may comprise rotations of the respective first tubular 20 and rotor 30, 42.

[0070] The control step may include controlling the threading in response to the second displacement of the second tubular 22 being greater than zero. The second displacement may comprise a rotation of the second tubular 22.

[0071] The control stage may include controlling the threading in response to the first displacement of Petition 870260016594, dated 23 / 02 / 2026, page 32 / 66 20 / 22 first tubular 20 being within a predetermined range. The first displacement may comprise a longitudinal displacement of the first tubular 20.

[0072] The control step may include controlling the threading in response to the first displacement of the first tubular 20 being within a predetermined range. The first displacement may comprise a rotation of the first tubular 20.

[0073] The control stage may include controlling the threading in response to optical flux vector fields representing a predetermined difference between the first and second displacements.

[0074] The method may include positioning a second camera 28 at a second location, the second camera 28 thus simultaneously observing a third threaded tube 14 and at least one of the first and second tubes 20, 22. The optical flux vector fields may represent a third displacement of the third tube 14 and at least one of the first and second displacements during threading.

[0075] The method may include positioning a second camera 28 at a second location, the second camera 28 simultaneously observing a rotor 30 or 42 of a rotary clamp 24 or a top drive 40 and at least one of the first and second tubulars 20, 22. The optical flux vector fields representing a third displacement of the rotor 30 and at least one of the first and second displacements during threading.

[0076] Although several examples have been described above, with each example having certain particularities, it should be understood that it is not necessary that a particularity Petition 870260016594, dated 23 / 02 / 2026, page 33 / 66 21 / 22 specific to an example is used exclusively with that example. Instead, any of the features described above and / or represented in the drawings may be combined with any of the examples, in addition to or in substitution for any of the other features of those examples. The features of one example are not mutually exclusive to the features of another example. Instead, the scope of this disclosure covers any combination of any of the features.

[0077] Although each example described above includes a certain combination of features, it should be understood that it is not necessary for all the features of an example to be used. Instead, any of the features described above can be used, without any other specific feature or features also being used.

[0078] It should be understood that the various modalities described in this document can be used in various orientations and configurations, without departing from the principles of this disclosure. The modalities are described merely as examples of useful applications of the disclosure principles, which are not limited to any specific details of those modalities.

[0079] In the description above of the representative examples, directional terms (such as above, below, top, bottom, up, down, etc.) are used for convenience when referring to the attached drawings. However, it should be clearly understood that the scope of this disclosure is not limited to any specific guidance described in this document. Petition 870260016594, dated 23 / 02 / 2026, p. 34 / 66 22 / 22

[0080] The terms including, includes, comprising, comprises and similar terms are used in a non-limiting sense in this descriptive report. For example, if a system, method, apparatus, device, etc., is described as including a particular feature or element, the system, method, apparatus, device, etc., may include that feature or element, and may also include other features or elements. Similarly, the term comprises is considered to mean includes, but is not limited to.

[0081] Obviously, a person skilled in the art, after careful consideration of the above description of representative embodiments of the disclosure, would readily appreciate that many modifications, additions, substitutions, deletions, and other alterations can be made to the specific embodiments, and such changes are contemplated by the principles of this disclosure. For example, structures disclosed as being formed separately may, in other examples, be formed integrally and vice versa. Consequently, the foregoing detailed description should be clearly understood as being given only by way of illustration and example, the spirit and scope of the invention being limited only by the appended claims and their equivalents. Petition 870260016594, dated 23 / 02 / 2026, page 35 / 66

Claims

1 / 3 CLAIMS 1. A method for assembling or disassembling tubular column components for use in an underground well, the method characterized in that it comprises: threading first and second tubulars (20, 22) together while a first camera (28) obtains images of the first and second tubulars; transmitting image data from the first camera to an image processor (36); the image processor detecting optical flow vector fields from the image data, the optical flow vector fields representing the first and second displacements of the respective first and second tubulars during threading; controlling the threading in response to a difference between the first and second displacements; a second camera (28) obtaining images of a third threaded tubular (14) and at least one of the first and second tubulars during threading;and the optical flux vector fields representing a third displacement of the third tubular and at least one of the first and second displacements during threading.

2. Method according to claim 1, characterized in that the first camera (28) obtains images of the third threaded tube (14) during threading and the second and third tubes (22, 14) are threaded together before threading.

3. Method according to claim 1, characterized in that the first camera (28) obtains images of a rotor (30, 42) during threading.

4. Method, according to claim 1, characterized Petition 870260016594, dated 23 / 02 / 2026, page 36 / 66 2 / 3 by the fact that the control comprises controlling the threading in response to the second displacement of the second tubular (22) being greater than zero, and the second displacement comprises a rotation of the second tubular.

5. Method according to claim 1, characterized in that the control comprises controlling the threading in response to the first displacement of the first tubular (20) within a predetermined range, and the first displacement comprises a longitudinal displacement of the first tubular.

6. Method of assembling or disassembling tubular column components for use in an underground well, characterized in that it comprises: threading the first and second tubulars (20, 22) together while a first camera (28) obtains images of the first and second tubulars; emitting image data from the first camera to an image processor (36); the image processor detecting optical flow vector fields from the image data, the optical flow vector fields representing the first and second displacements of the respective first and second tubulars during threading; controlling the threading in response to a difference between the first and second displacements; a second camera (28) obtaining images of a rotor (30, 42) and at least one of the first and second tubulars; and the optical flow vector fields representing a third displacement of the rotor and at least one of the first and second displacements during threading.Petition 870260016594, dated 23 / 02 / 2026, page 37 / 66 3 / 3.

7. Method according to claim 6, characterized in that the first camera (28) obtains images of a third threaded tube (14) during threading and the second and third tubes (22, 14) are threaded together before threading.

8. Method according to claim 6, characterized in that the first camera (28) obtains images of the rotor (30, 42) during threading.

9. Method according to claim 6, characterized in that the control comprises controlling the threading in response to the second displacement of the second tubular (22) being greater than zero, and the second displacement comprises a rotation of the second tubular.

10. Method according to claim 6, characterized in that the control comprises controlling the threading in response to the first displacement of the first tubular (20) within a predetermined range, and the first displacement comprises a longitudinal displacement of the first tubular. Petition 870260016594, dated 23 / 02 / 2026, p. 38 / 66

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