Methods and systems for optimizing timing for drilling and tripping operation. An example method may include receiving a plurality of sensor data characterizing rig equipment and tripping status. The method may include identifying a plurality of multi-thread rig states based on the plurality of sensor data. The method calculates a plurality of optimal rig state characteristics (RSCs), wherein the plurality of optimal RSCs are calculated based on the plurality of sensor data as it relates to the plurality of multi-thread rig states. The method also performs a tripping operation with the rig equipment after applying the plurality of optimal RSCs. The method may also gather a plurality of updated sensor data from the rig equipment during the tripping operation for a recalculation of the plurality of optimal RSCs.

Disclosed embodiments relate to systems and methods for locating, measuring, counting or aiding in the handling of drill pipes 106. The system 100 comprises at least one camera 102 capable of gathering visual data 150 regarding detecting, localizing or both, pipes 106, roughnecks 116, elevators 118 and combinations thereof. The system 100 further comprises a processor 110 and a logging system 114 for recording the gathered visual data 150. The method 200 comprises acquiring visual data 150 using a camera 106, analyzing the acquired data 150, and recording the acquired data 150.

Disclosed embodiments relate to systems and methods for locating, measuring, counting or aiding in the handling of drill pipes 106. The system 100 comprises at least one camera 102 capable of gathering visual data 150 regarding detecting, localizing or both, pipes 106, roughnecks 116, elevators 118 and combinations thereof. The system 100 further comprises a processor 110 and a logging system 114 for recording the gathered visual data 150. The method 200 comprises acquiring visual data 150 using a camera 106, analyzing the acquired data 150, and recording the acquired data 150.

A pipe handling apparatus, for handling drill tubes on a drilling platform, has an upper guide member comprising a retention head mounted on an arm. The arm can extend telescopically so as to position it to allow the retention head to engage a drill tube for placement in and removal from a rack.

A pipe handling apparatus, for handling drill tubes on a drilling platform, has an upper guide member comprising a retention head mounted on an arm. The arm can extend telescopically so as to position it to allow the retention head to engage a drill tube for placement in and removal from a rack.

A method can include, in a runtime environment of compiled multi-domain code for multiple different domains that describe physical operations performed using equipment, responsive to input, issuing a call to a planning domain definition language planner; responsive to the call, receiving a plan that includes at least one action; and dispatching at least one of the at least one action to call for performance of at least a portion of at least one of the physical operations.

This invention relates generally to geotechnical rig systems and methods. In one embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor.

This invention relates generally to geotechnical rig systems and methods. In one embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor.

A pipe handling system can include a bridge disposed in an inclined position, having first and second rails with a space therebetween, and an arm coupled to the first and second rails, the arm being configured to manipulate a tubular through the space between the first and second rails. A method that can include gripping a tubular at a well center on a rig floor via an arm coupled to a bridge, the bridge comprising first and second rails with a space therebetween, moving the tubular from the well center and through the space, and moving the tubular along the bridge via the arm, with the bridge being inclined from a horizontal storage area to the rig floor.

A positionable carriage assembly is disclosed. In one aspect, the positionable carriage assembly includes an actuation device, such as one or more linear hydraulic cylinders, that is linked to a linear drive element. The linear drive element can include a first and second gear racks. The positionable carriage assembly may also include a first carriage member having a third gear rack and a second carriage member having a fourth gear rack. A first gear structure may be provided that operably intermeshes with the first and third racks while a second gear structure may be provided that operably intermeshes with the second and fourth racks. In operation the actuation device imparts a linear movement in a first direction onto the linear drive element which in turn imparts a synchronized linear movement in a second direction orthogonal the first direction onto the carriage members via the intermediate first and second gear structures.