A three-dimensional coordinate extraction method for the circle center, based on the random Hough transform, is proposed, aiming at the problem that the central three-dimensional coordinates of the circular target cannot be obtained directly from the two-dimensional image. The random Hough transform method can quickly detect and locate the feature points of the collected circular target image's circular center. Further, according to the binocular vision algorithm, the two-dimensional coordinates of the obtained feature points are stereo matched, and finally the three-dimensional coordinate information of the center of the circular target is obtained. The proposed method is mainly used in the field of oil drilling for an intelligent single drill pipe positioning joint operation. The experimental results for drill pipe joint image positioning show that, when compared with the traditional Hough transform method, the calculation time of the random Hough transform method is greatly reduced and the efficiency of feature point detection can be significantly improved. Simultaneously, when combined with a binocular vision algorithm, it can accurately extract the three-dimensional coordinates of the center of the circular target with high precision and good stability.