A horizontal directional drilling machine having a modular pipe loader system. The system comprises a first and second pipe loader assembly supported on a drill frame. Each assembly supports a shuttle arm. The shuttle arms are configured to move independently of one another along a shuttle path that is traverse to a longitudinal axis of the drill frame. Movement of each shuttle arm is powered by an actuator supported on each pipe loader assembly. Each pipe loader assembly includes a sensor used to measure parameters related to the position of each shuttle arm relative to the drill frame. A controller analyzes the measured parameters and directs operation of each actuator in order to keep the shuttle arms moving in unison during operation.

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 drilling rig includes a drill floor with a well center opening, a derrick having a drilling machine which is suspended above the well center opening, a pipe supply area which is arranged adjacent to the well center opening on the drill floor, and a pipe handling machine. The pipe supply area has at least one pipe rack which horizontally stores pipe sections. The pipe handling machine moves at least one of the pipe sections between a horizontal storage position in the at least one pipe rack and a vertical position or a substantially vertical position above the well center opening.

A drilling rig includes a drill floor with a well center opening, a derrick having a drilling machine which is suspended above the well center opening, a pipe supply area which is arranged adjacent to the well center opening on the drill floor, and a pipe handling machine. The pipe supply area has at least one pipe rack which horizontally stores pipe sections. The pipe handling machine moves at least one of the pipe sections between a horizontal storage position in the at least one pipe rack and a vertical position or a substantially vertical position above the well center opening.

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 robotic apparatus (1) for performing drill floor operations comprises a support arrangement (2) and at least one manipulator arm (6). The at least one manipulator arm (6) is configured to carry an end effector (11) configured to manipulate one or more of tubing, tools and/or equipment on a drill floor (d) or pipe deck of an oil and gas rig in order to perform a given drill floor operation.

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 of determining a drilling activity includes receiving a set of measurements at different times. The set of measurements includes a depth of a wellbore, a depth of a drill bit, and a position of a travelling block. The method also includes identifying a connection by determining when the position of the travelling block changes but the depth of the drill bit does not change. The method also includes determining when the depth of the wellbore does not increase between two different connections. The method also includes determining a direction that the drill bit moves between the two connections.