A pipe storage system can include a plurality of pipe storage bays established between adjacent pipe storage arms, a plurality of protrusions extending from the pipe storage arms into each pipe storage bay, the plurality of protrusions establishing a plurality of channels, wherein each channel is established between a pair of adjacent protrusions, and a plurality of latches, wherein the latches are movable from between a retracted position in which the latches are retracted to establish series of first pipe storage openings between opposing channels and an extended position in which the latches extend into the pipe storage bay to establish a series of second pipe storage openings between opposing protrusions.

A method includes accessing a domain model plan that includes a time independent initial state and a time independent goal state and sequences of events that include a sequence of a first event, a second event and a third event with conditional interrelationships; accessing operational data that include a failure condition for the third event and a time constraint for the failure condition; issuing a control instruction to rigsite equipment to perform a drilling-related action for generating the third event; during performance of the drilling-related action for generating the third event, receiving sensor data germane to the failure condition; upon occurrence of the failure condition, timing a duration of the occurrence of the failure condition; comparing the duration to the time constraint for the failure condition; and, based on the comparing, deciding to re-plan the domain model plan or to continue execution of the domain model plan.

A method includes accessing a domain model plan that includes a time independent initial state and a time independent goal state and sequences of events that include a sequence of a first event, a second event and a third event with conditional interrelationships; accessing operational data that include a failure condition for the third event and a time constraint for the failure condition; issuing a control instruction to rigsite equipment to perform a drilling-related action for generating the third event; during performance of the drilling-related action for generating the third event, receiving sensor data germane to the failure condition; upon occurrence of the failure condition, timing a duration of the occurrence of the failure condition; comparing the duration to the time constraint for the failure condition; and, based on the comparing, deciding to re-plan the domain model plan or to continue execution of the domain model plan.

A sensor unit for a fingerboard latch assembly that comprises a latch bracket and a latch rotatably supported on the latch bracket is mountable on the latch. The sensor unit comprises a sensor configured to sense an adjacent tubular, and a processor that processes the output of the sensor to provide a tubular monitor signal representing the presence or absence of an adjacent tubular A wireless communication unit wirelessly communicates the tubular monitor signal. This allows a wireless sensor unit to be provided that is suitable for operation in remote locations and can verify the presence or absence of tubular to ensure it is securely stored in a fingerboard.

A sensor unit for a fingerboard latch assembly that comprises a latch bracket and a latch rotatably supported on the latch bracket is mountable on the latch. The sensor unit comprises a sensor configured to sense an adjacent tubular, and a processor that processes the output of the sensor to provide a tubular monitor signal representing the presence or absence of an adjacent tubular A wireless communication unit wirelessly communicates the tubular monitor signal. This allows a wireless sensor unit to be provided that is suitable for operation in remote locations and can verify the presence or absence of tubular to ensure it is securely stored in a fingerboard.

A drilling rig is adapted to perform drilling and/or other wellbore related activities. The drilling rig includes a drilling tower, a drill floor with a well center, a slip device arranged at the well center, a tubulars connection makeup and breaking device near the well center, and a top drive system. The top drive system includes a traveling carriage that is vertically mobile along one or more vertical rails of the drilling tower by a vertical motion drive. The system also includes a top drive unit supported by said carriage and including a top drive motor and a rotary torque output member. The system further includes a tripping operation elevator that is adapted to be engageable with a drilling tubulars string or drilling tubulars stand, e.g. with the top end thereof, in order to perform tripping operations. The top drive unit and the tripping operation elevator are each mobile relative to the traveling carriage, and wherein the top drive system is provided with one or more actuators adapted to cause said relative motion of the top drive unit and of the tripping operation elevator so as to provide a drilling mode and a tripping mode.

The systems, devices, and methods described herein relate to tubular detection on a gripperhead system for a drilling rig. The gripperhead system includes a grabber and a gripper each having first and second grabber arm and pistons connected to the first and second arms. Each arm may also include an inwardly facing gripping surface forming at least a portion of a chamber sized to receive a portion of a cylindrical tubular. One or more sensors may be disposed on the gripperhead system, including proximity sensors disposed on the arms, inductive sensors disposed within the pistons, and ultrasonic sensors disposed on other features of gripperhead system. The one or more sensors may be configured to determine the position of the tubular in relation to the arms, measure the size of the tubular, measure the compression force of the grabber, and ensure that the tubular is secured within the grabber.

The systems, devices, and methods described herein relate to tubular detection on a gripperhead system for a drilling rig. The gripperhead system includes a grabber and a gripper each having first and second grabber arm and pistons connected to the first and second arms. Each arm may also include an inwardly facing gripping surface forming at least a portion of a chamber sized to receive a portion of a cylindrical tubular. One or more sensors may be disposed on the gripperhead system, including proximity sensors disposed on the arms, inductive sensors disposed within the pistons, and ultrasonic sensors disposed on other features of gripperhead system. The one or more sensors may be configured to determine the position of the tubular in relation to the arms, measure the size of the tubular, measure the compression force of the grabber, and ensure that the tubular is secured within the grabber.

A large diameter injection water well is drilled using a drilling derrick and rotary drilling techniques. After snubbing in and drilling a short distance with drilling mud, a temporary drilling header is installed below the blowout preventers. Extending downward from the temporary drilling header is a drop pipe with a valve on the lower end thereof. Drilling pipe with attachments on the lower end thereof, are lowered into the drop pipe with the valve closed. After sealing to the drilling pipe, the valve is opened and the drilling pipe and attachments are lowered to the bottom of the well for the normal drilling operation. Thereafter, the drilling pipe and attachments are removed reversing the process of retracting into the drop pipe and closing the valve before removing the seal from the drilling pipe. The repeated insertion of the drilling pipe with various attachments on the end thereof in the drilling procedure occurs without having to kill or suppress the well until the final step when removing the drop pipe. Large diameter drillable centering guides insures pilot holes are being drilled in the bottom center of the large diameter injection water well.

A large diameter injection water well is drilled using a drilling derrick and rotary drilling techniques. After snubbing in and drilling a short distance with drilling mud, a temporary drilling header is installed below the blowout preventers. Extending downward from the temporary drilling header is a drop pipe with a valve on the lower end thereof. Drilling pipe with attachments on the lower end thereof, are lowered into the drop pipe with the valve closed. After sealing to the drilling pipe, the valve is opened and the drilling pipe and attachments are lowered to the bottom of the well for the normal drilling operation. Thereafter, the drilling pipe and attachments are removed reversing the process of retracting into the drop pipe and closing the valve before removing the seal from the drilling pipe. The repeated insertion of the drilling pipe with various attachments on the end thereof in the drilling procedure occurs without having to kill or suppress the well until the final step when removing the drop pipe. Large diameter drillable centering guides insures pilot holes are being drilled in the bottom center of the large diameter injection water well.