Patent Publication Number: US-11643887-B2

Title: Robotic pipe handler systems

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Application No. 63/048,503, entitled “ROBOTIC PIPE HANDLER SYSTEMS,” by Anthony G. PETRELLO et al., filed Jul. 6, 2020, which application is assigned to the current assignee hereof and incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present invention relates, in general, to the field of drilling and processing of wells. More particularly, present embodiments relate to a system and method for manipulating tubulars or other equipment. 
     BACKGROUND 
     In subterranean operations, a segmented tubular string can be used to access hydrocarbon reserves in an earthen formation. The segmented tubular string can be made up of individual tubular segments or stands of tubular segments. As tubular segments or tubular stands are assembled together to form the tubular string, the tubular string can be extended further into the wellbore at the well site, which can be referred to as “tripping in” the tubular string. When the tubular string needs to be at least partially removed from the wellbore, individual tubular segments or tubular stands can be removed from the top end of the tubular string as the tubular string is pulled up from the wellbore. This can be referred to as “tripping out” the tubular string. 
     Due to the large number of tubular segments needed during the tripping operations, tubular storage areas near or on the rig can be utilized to improve the efficiency of rig operations. Many rigs can have a horizontal storage area positioned on a V-door side of the rig with tubulars stored in a horizontal orientation. The rigs can also include a fingerboard vertical storage normally on the rig floor for holding tubulars in a vertical orientation. As used herein, a “horizontal orientation” or “horizontal position” refers to a horizontal plane that is generally parallel to a horizontal plane of a rig floor, where the horizontal plane can be any plane that is within a range of “0” degrees +/−10 degrees from the horizontal plane of the rig floor. As used herein, a “vertical orientation” or “vertical position” refers to a vertical plane that is generally perpendicular to the horizontal plane of the rig floor, where the vertical plane can be any plane that is within a range of 90 degrees +/−10 degrees from the horizontal plane of the rig floor. As used herein, an “inclined orientation” or “inclined position” refers to a plane that is generally angled relative to the horizontal plane of the rig floor, where the inclined plane can be any plane that is within a range from 10 degrees up to and including 80 degrees rotated from the horizontal plane of the rig floor. 
     Pipe handler systems are used to move the tubulars between the horizontal storage area, the vertical storage area, and the well center as needed during rig operations. The efficiency of these pipe handler systems can greatly impact the overall efficiency of the rig during subterranean operations. Therefore, improvements in these pipe handler systems are continually needed. 
     SUMMARY 
     A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. 
     One general aspect includes a pipe handling system that can include a bridge disposed in an inclined position, the bridge may include 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. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a pipe handling system that can include a bridge disposed in an inclined position from a horizontal storage area to a rig floor; a tubular lift positioned in the horizontal storage area and configured to rotate a tubular between a horizontal orientation and an inclined orientation; and an arm coupled to the bridge and configured to move along the bridge, where the arm is configured to engage the tubular in the inclined orientation and lift the tubular from the tubular lift or configured to deliver the tubular to the tubular lift in the inclined orientation. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a method that can include operations of gripping a tubular in a horizontal storage area via an arm coupled to a bridge, the bridge may include first and second rails with a space therebetween; lifting the tubular from the horizontal storage area and through the space; and moving the tubular along the bridge via the arm, with the bridge being inclined from the horizontal storage area to a rig floor. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a method that can include operations of gripping a tubular at a well center on a rig floor via an arm coupled to a bridge, the bridge may include 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. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a catwalk system that can include a bridge disposed within a horizontal storage area and coupled to a guide rail; an equipment basket contained within the horizontal storage area, with the equipment basket having an internal storage area; a crane coupled to the bridge, the crane being configured to transport the equipment basket between a first location and an elevated location in the horizontal storage area; and a pipe handler coupled to the bridge and configured to move along the bridge. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a catwalk system that can include a first bridge and a second bridge disposed within a horizontal storage area and coupled to a guide rail, with the first bridge and the second bridge configured to move along the guide rail in a first direction; a pipe handler coupled to the first bridge and configured to move along the first bridge in a second direction; and a shuttle coupled to the second bridge and configured to move along the second bridge in the second direction, where the pipe handler is configured to selectively couple to the shuttle and drive the shuttle in the second direction. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a method of operating a tubular handling system that can include operations of lifting an equipment basket, via a crane coupled to a bridge, from a first storage location in a horizontal storage area; transporting the equipment basket to an elevated storage location in the horizontal storage area; gripping, via an arm coupled to the bridge, equipment in an internal storage area of the equipment basket; lifting, via the arm, the equipment from the equipment basket; and transporting the equipment, via the arm, to a well center on a rig floor. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a catwalk system that can include a guide rail; a bridge disposed over a horizontal storage area, coupled to a guide rail, and configured to move along the guide rail in a first direction, with one end of the bridge configured to couple to a rig floor and the bridge configured to move in a second direction with the rig floor when the rig floor moves relative to the horizontal storage area; and a pipe handler coupled to the bridge and configured to move along the bridge in the second direction. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a catwalk system that can include a bridge disposed in a horizontal orientation above a horizontal storage area; a tubular lift system configured to transport a tubular in a horizontal orientation between the horizontal storage area and an intermediate storage location; and a pipe handler moveably coupled to the bridge, the pipe handler configured to transport the tubular between the intermediate storage location and a rig floor. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a tubular handling system that can include a bridge disposed in a horizontal position proximate a drill floor, the bridge may include first and second bridge rails with a space between; an arm coupled to the first and second bridge rails, the arm configured to manipulate a tubular through the space between the first and second bridge rails and to move back and forth along the bridge; and a tubular lift system that raises or lowers the tubular in a horizontal orientation between a horizontal storage and an intermediate storage location, the arm being configured to collect the tubular from the intermediate storage location and present the tubular to a well center on the drill floor or collect the tubular from the well center and deposit the tubular in the intermediate storage location. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a method that can include operations of lifting a tubular, via a vertically oriented tubular lift system, from a horizontal storage area to an intermediate storage location while maintaining the tubular in a horizontal orientation; engaging the tubular at the intermediate storage location with a pipe handler; transporting the tubular, via the pipe handler, along a bridge to a rig floor; rotating the tubular, via the pipe handler, from the horizontal orientation to a vertical orientation; and presenting, via the pipe handler, the tubular in the vertical orientation to a well center. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a method that can include operations of retrieving, via a pipe handler, a tubular in a vertical orientation from a rig floor; transporting the tubular, via the pipe handler, from the rig floor along a bridge; rotating the tubular, via the pipe handler, from the vertical orientation to a horizontal orientation; disengaging the tubular, via the pipe handler, into an intermediate storage location; and lowering the tubular, via a vertically oriented tubular lift system, from the intermediate storage location to a horizontal storage area while maintaining the tubular in the horizontal orientation. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     One general aspect includes a method that can include operations of, in a horizontal orientation, lifting, via a tubular conveyance, a tubular from a horizontal storage to an intermediate storage location; gripping, via an arm, the tubular in the intermediate storage location, the arm being coupled to a bridge that is disposed in a horizontal orientation, the bridge may include first and second bridge rails with a space between; lifting, via the arm, the tubular from the intermediate storage location and manipulating the tubular through the space between the first and second bridge rails; and moving, via the arm, the tubular from the intermediate storage location to a well center on a rig floor. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and other features, aspects, and advantages of present embodiments will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG.  1    is a representative view of a rig, in accordance with certain embodiments; 
         FIG.  2    is a representative perspective view of a pipe handler that operates over a horizontal storage area on a rig, in accordance with certain embodiments; 
         FIG.  3    is another representative perspective view of a pipe handler that engages a piece of equipment (e.g., a BHA) contained in a horizontal storage area on a rig, in accordance with certain embodiments; 
         FIG.  4    is a representative perspective view of a pipe handler, that operates over a horizontal storage area, transferring equipment to a pipe handler on a rig floor of a rig, in accordance with certain embodiments; 
         FIGS.  5 - 7    are representative perspective views of a pipe handler and associated shuttle, that operates over a horizontal storage area, transferring equipment to a rig floor of a rig, in accordance with certain embodiments; 
         FIG.  8    is a representative perspective detailed view of a pipe handler and associated shuttle, that operates over a horizontal storage area, in accordance with certain embodiments; 
         FIG.  9    is a representative perspective detailed view of a pipe handler coupled to an associated shuttle, that operates over a horizontal storage area, in accordance with certain embodiments; 
         FIG.  10    is a representative perspective detailed view of a pipe handler coupled to an associated shuttle, that operates over a horizontal storage area, the shuttle having a locking mechanism, in accordance with certain embodiments; 
         FIGS.  11 A,  11 B,  12 A, and  12 B  are representative side views of a catwalk system with a pipe handler operating along an incline from a horizontal storage area to a rig floor, in accordance with certain embodiments; 
         FIG.  13    is a representative side view of a pipe handler in a stowed configuration, in accordance with certain embodiments; 
         FIGS.  14 , and  15 A- 15 C  are representative perspective views of a pipe handler operating at an incline from a horizontal storage area to a rig floor, in accordance with certain embodiments; 
         FIGS.  16 A- 16 B  are representative side views of a pipe handler operating at an incline from a horizontal storage area to a rig floor, in accordance with certain embodiments; 
         FIGS.  17 - 19    are representative perspective views of a pipe handler operating at an incline from a horizontal storage area to a rig floor, in accordance with certain embodiments; 
         FIGS.  20 - 24    are representative perspective views of a pipe handler operating along a horizontal bridge above a horizontal storage area, with a horizontal lift system that transfers tubulars between the pipe handler and the horizontal storage area, in accordance with certain embodiments; 
         FIG.  25    is a representative side view of a pipe handler operating along a horizontal bridge over a deep horizontal storage area, where the bridge can extend toward a well center, in accordance with certain embodiments; 
         FIGS.  26 A- 26 B  are representative side views of a pipe handler operating along a horizontal bridge over a deep horizontal storage area; 
         FIGS.  27 A- 27 C  are representative end views of a pipe handler operating along a horizontal bridge and the bridge operating along guide rails over a deep horizontal storage area, with the bridge including a crane for lifting tubular baskets, in accordance with certain embodiments; 
         FIG.  28    is a representative perspective view of a pipe handler operating along a horizontal bridge and the bridge operating along guide rails over a deep horizontal storage area, where a portion of the bridge can extend to a well center in a rig floor, in accordance with certain embodiments; 
         FIGS.  29 A- 29 B  are representative perspective views of a pipe handler operating along a horizontal bridge, the bridge operating along guide rails over a horizontal storage area, and the bridge moveable in an X-Y plane to accommodate movements of a rig floor, in accordance with certain embodiments; 
         FIGS.  30 A- 30 B  are representative perspective views of a pipe handler operating along a horizontal bridge and the bridge operating along guide rails over a deep horizontal storage area, where a portion of the bridge can extend to a well center in a rig floor, in accordance with certain embodiments; and 
         FIGS.  31 - 33    are representative top views of a pipe handler operating along a horizontal bridge, with the bridge including two pairs of bridge extensions for extending the reach of the pipe handler to a well center on a rig floor, in accordance with certain embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     The following description in combination with the figures is provided to assist in understanding the teachings disclosed herein. The following discussion will focus on specific implementations and embodiments of the teachings. This focus is provided to assist in describing the teachings and should not be interpreted as a limitation on the scope or applicability of the teachings. 
     As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having,” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of features is not necessarily limited only to those features but may include other features not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive-or and not to an exclusive-or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present). 
     The use of “a” or “an” is employed to describe elements and components described herein. This is done merely for convenience and to give a general sense of the scope of the invention. This description should be read to include one or at least one and the singular also includes the plural, or vice versa, unless it is clear that it is meant otherwise. 
     The use of the word “about,” “approximately,” or “substantially” is intended to mean that a value of a parameter is close to a stated value or position. However, minor differences may prevent the values or positions from being exactly as stated. Thus, differences of up to ten percent (10%) for the value are reasonable differences from the ideal goal of exactly as described. A significant difference can be when the difference is greater than ten percent (10%). 
       FIG.  1    is a representative view of a rig  10  that can be used to perform subterranean operations. The rig  10  is shown as an offshore rig, but it should be understood that the principles of this disclosure are equally applicable to onshore rigs as well. The example rig  10  can include a platform  12  with a derrick  14  extending above the platform  12  from the rig floor  16 . The platform  12  and derrick  14  provide the general super structure of the rig  10  from which the rig equipment is supported. The rig  10  can include a horizontal storage area  18 , pipe handlers  100 ,  32 ,  34 , a drill floor robot  20 , an iron roughneck  40 , a crane  19 , and fingerboards  80 . The equipment on the rig  10 , can be communicatively coupled to a rig controller  50  via a network  54 , with the network  54  being wired or wirelessly connected to the equipment and other rig resources. 
     It should be understood that the rig controller  50  can include one or more processors, non-transitory memory storage that can store data and executable instructions, where the one or more processors are configured to execute the executable instructions, a graphical user interface (GUI), one or more input devices, a display, and a communication link to a remote location. The rig controller  50  can also include processors disposed in the robots for local control of the robots or distributed about the rig  10 . Each processor can include non-transitory memory storage that can store data and executable instructions. 
     Some of the equipment that can be used during subterranean operations is shown in the horizontal storage area  18  and the fingerboards  80 , such as the tubulars  60 , the tools  62 , and the bottom hole assembly (BHA)  64 , etc. The tubulars  60 , BHA  64 , tools  62 , or other rig equipment known in the art can be stored in the horizontal storage area in vertical, inclined, or horizontal orientations. The tubulars  60 , BHA  64 , tools  62 , or other rig equipment known in the art can be stored in the horizontal storage area  18  in one or more equipment baskets  130  that can be used to transport rig equipment in to, out of, and within the horizontal storage area  18 . Shorter tubulars  60  can be stored in a vertical orientation in an equipment basket  130 , such as on a magazine of pins extending vertically from a base structure carried in the equipment basket  130 , similar to the tools  62  shown in  FIGS.  1 - 3   . As used herein, “equipment basket” refers to any support structure that can be transported (e.g., via a conveyance such as a crane) to, from, or within the horizontal storage area  18 , the equipment basket having an interior storage area in which rig equipment (e.g., tubulars  60 , BHA  64 , tools  62  or other rig equipment known in the art) can be stored. The tubulars  60  can include drilling tubular segments, casing tubular segments, and tubular stands that are made up of multiple tubular segments, as well as short tubulars. The tools  62  can include centralizers, subs, slips, subs with sensors, adapters, etc. The BHA  64  can include drill collars, instrumentation, and a drill bit. 
       FIG.  2    is a representative perspective view of a catwalk system  140  that can include a pipe handler  100  and a bridge  90 , where the pipe handler  100  operates over a horizontal storage area  18  on a rig  10  used to perform subterranean operations (e.g., drilling, treating, completing, producing, killing, etc.). The bridge  90  can move along guide rail  116  and guide rail  118  (not shown) in an X-direction (arrows M 1 ). The pipe handler  100  can move along the bridge  90  relative to the guide rails  116 ,  118  in a Y-direction (arrows M 2 ). The bridge  90  can also move relative to the guide rails  116 ,  118  in a Y-direction (arrows M 30 ), for example, to extent toward or retract from the well center  82 . This allows the pipe handler  100  access to the full horizontal storage area  18  and to transport equipment between the horizontal storage area  18  and any other desired location. 
       FIG.  3    is another representative perspective view of the catwalk system  140  that can include the pipe handler  100  and the bridge  90 , where the pipe handler  100  can engage a piece of equipment (e.g., a BHA  64 ) contained in a horizontal storage area  18  on a rig  10  used to perform subterranean operations. The pipe handler  100  can engage a particular piece of equipment (e.g., a BHA  64  in this example) in the horizontal storage area  18  with one or more grippers  36  and transport the piece of equipment to a delivery location, such as the rig floor, pipe handlers  32 ,  34 , a well center  82 , storage, etc. The bridge  90  can include bridge rails  102 ,  104  that span over the horizontal storage area  18  from guide rail  116  to guide rail  118 . The bridge rails  102 ,  104  span between bridge ends  106 ,  108 , with the bridge ends  106 ,  108  being moveably coupled to the guide rails  116 ,  118 , respectively. Therefore, the bridge  90  is configured to move in the X-direction (arrows M 1 ) along the guide rails  116 ,  118  via a drive mechanism (not shown) in each of the bridge ends  106 ,  108  which interacts with the guide rails  116 ,  118  to move the bridge in the X-direction. 
     The pipe handler  100  is moveably coupled between the bridge rails  102 ,  104 . A drive mechanism (not shown) can be used to move the pipe handler  100  in the Y-direction along the bridge  90  and between the bridge rails  102 ,  104 . The bridge rails  102 ,  104  can be separated by a space  114  of length L 1 . The pipe handler  100  can engage a piece of equipment (e.g., a tubular  60 , BHA  64 , etc.) in the horizontal storage area  18 , grip the equipment via one or more grippers  36 , lift the equipment up through the space  114  between the bridge rails  102 ,  104 , and present the equipment to the rig floor  16 . If the bridge rails  102 ,  104  are lengthened to extend past the ends  106 ,  108 , then the bridge rails  102 ,  104  and be moved in a Y-direction (arrows M 30 ) relative to the ends  106 ,  108  and guide rails  116 ,  118 . The bridge rails  102 ,  104  can also have bridge rail extensions (not shown and described in more detail below) that are disposed between the bridge rails  102 ,  104 , and the pipe handler  100 , such that the pipe handler  100  can move along the bridge rail extensions, while the bridge rails extensions can extend out of or retract into the bridge rails  102 ,  104  (please refer to  FIGS.  28 - 33    for a more detailed description of bridge rail extensions). This allows the bridge to be extended to well center  82  without requiring significant clearance past the guide rail  118  (for example, if the rig were enclosed and the bridge rails  102 ,  104  could not extend too far past the guide rail  118 ). 
       FIG.  4    is a representative perspective view of the pipe handler  100  transferring a piece of equipment (e.g., a BHA  64 , or tubular  60 ) to a pipe handler  32  on a rig floor  16 . In a particular example of transporting tubulars (e.g. BHA  64 , tubulars  60 , etc.), the pipe handler  100  can 1) grip the piece of equipment with one or more grippers  36 , 2) lift the piece of equipment from a first horizontal orientation in the horizontal storage area  18 , 3) lift the piece of equipment through the space  114  between the bridge rails  102 ,  104 , 4) rotate the piece of equipment (e.g. BHA  64 , tubular  60 , etc.) through a vertical position to a second horizontal orientation above the rig floor  16  and hand-off the piece of equipment to a pipe handler  32  (or pipe handler  34 ) on the rig floor  16 , or 5) rotate the piece of equipment (e.g. BHA  64 , tubular  60 , etc.) through a vertical position to a second horizontal orientation above the rig floor  16  and lay the piece of equipment down on the rig floor  16  (such as in a crib or other holder, not shown) to allow the pipe handler  32  (or pipe handler  34 ) to then pick up the piece of equipment from the rig floor  16 , or 6) rotate the piece of equipment (e.g. BHA  64 , tubular  60 , etc.) to a vertical position and hand off the piece of equipment to a pipe handler  32 ,  34 , top drive, or elevator in a substantially vertical orientation, or 7) rotate the piece of equipment (e.g. BHA  64 , tubular  60 , etc.) to an inclined position and hand off the piece of equipment to a pipe handler  32 ,  34 , top drive, or elevator in an inclined orientation, or 8) rotate the piece of equipment (e.g. BHA  64 , tubular  60 , tools, etc.) to a vertical position and set it down on the rig floor  16  in a substantially vertical orientation (e.g. on storage pins, in a setback storage area, etc.), or 9) grip the piece of equipment with one or more grippers  36  in a vertical, inclined, or horizontal orientation, lift the piece of equipment from the horizontal storage area  18  and through the space  114  between the bridge rails  102 ,  104 , and deliver the piece of equipment to the rig floor  16  in a vertical, inclined, or horizontal orientation. These operations can also be reversed when transporting equipment from these delivery locations (e.g., pipe handlers  32 ,  34 , fingerboards (or setback storage area)  80 , vertical storage pins, drill floor robot  20 , rig floor  16 , etc.) and to the horizontal storage area  18 . 
     In transporting tools from a tool storage area in the horizontal storage area  18 , the pipe handler  100  can 1) grip the tool with one or more grippers  36  in a vertical, inclined, or horizontal orientation, 2) lift the tool from the storage area and up through the space  114  between the bridge rails  102 ,  104 , 3) rotate the tool (e.g., BHA  64 , tubular  60 , etc.) to an appropriate orientation (i.e., vertical, inclined, or horizontal orientation) above the rig floor  16  and hand-off the tool to another pipe handler (e.g., drill floor robot  20 , pipe handlers  32 ,  34 , vertical or inclined storage bins, etc.), or place the tool on the rig floor  16  to allow the other pipe handler, top drive, or elevator to then pick up the tool from the rig floor  16 . 
     It may be necessary for the delivery location to be the rig floor  16  when the equipment being manipulated by the pipe handler  100  has limited gripping zones and the pipe handler  100  must release the equipment before another pipe handler (e.g., top drive, pipe handlers  32 ,  34 , drill floor robot  20 , elevator, etc.) can engage the equipment to further manipulate the piece of equipment. Therefore, it is not a requirement that the pipe handler  100  hand off the equipment directly to another pipe handler. In this case, the pipe handler  100  can 1) grip the piece of equipment with one or more grippers  36 ,  2 ) lift the piece of equipment from a first horizontal, inclined, or vertical orientation in the horizontal storage area  18 ,  3 ) lift the piece of equipment through the space  114  between the bridge rails  102 ,  104 ,  4 ) rotate the piece of equipment (e.g., BHA  64 , tubular  60 , etc.) through non-horizontal orientations to a second horizontal, inclined, or vertical orientation above the rig floor  16  and release the piece of equipment to rest on the rig floor  16  or a structure coupled to the rig floor  16  (such as a horizontal or inclined crib, vertical storage pins, etc.). Another pipe handler (e.g., top drive, elevator, pipe handlers  32 ,  34 , drill floor robot  20 , etc.) can then engage and lift the piece of equipment from the rig floor  16  to further manipulate the piece of equipment. The delivery location can also be a dedicated fixture where the pipe handler  100  delivers the piece of equipment (e.g., BHA  64 , tubular  60 , tools, subs, etc.) to the dedicated fixture and hands off the piece of equipment to the dedicated fixture in a substantially horizontal orientation, an inclined orientation, or a substantially vertical orientation. 
       FIGS.  5 - 7    are representative perspective views of a catwalk system  140  with a pipe handler  100  and an associated shuttle  150 , that operates over a horizontal storage area  18 , and can be used to transfer equipment to a rig floor  16 . When a piece of equipment is too large or heavy for the pipe handler  100  to grip and manipulate (e.g., a large riser segment), or when the piece of equipment is bulky, oddly shaped, or otherwise not suited for manipulation by the pipe handler  100  (such as magazines with subs, machine parts for the drill floor, etc.), then a shuttle  150  can be deployed to assist in transporting the piece of equipment to/from the well center  82  or other location on the rig floor  16 . The shuttle  150  can include a bridge  92  that spans between guide rails  116 ,  118 , similar to the bridge  90  coupled to the pipe handler  100 . The bridge  92  can include bridge rails  152 ,  154  with a space  164  between them of length L 2 . The bridge rails  152 ,  154  can span between bridge ends  156 ,  158 , which are moveably coupled to the guide rails  116 ,  118 , respectively. The bridge ends  156 ,  158  allow the bridge  92  to be moved in the X-direction (arrows M 1 ) along the guide rails  116 ,  118 . The shuttle  150  can be slideably coupled to the bridge rails  152 ,  154  to allow for movement of the shuttle  150  along the bridge  92  in the Y-direction (arrows M 3 ). The bridge rails  152 ,  154  of the bridge  92  can also be extended past the guide rails  116 ,  118  to allow for extension of the bridge  92  to accommodate long distances to the rig floor (e.g., in cases where the rig floor moves in the X-Y plane to access wellbores in a wellbore array). In this case, the bridge rails  152 ,  154  can be moveable in the Y-direction relative to the ends  156 ,  158 , and the guide rails  116 ,  118 . The bridge  92  can also include bridge rail extensions (not shown) that allow the bridge rails  152 ,  154  to remain stationary relative to the ends  156 ,  158  and the bridge rail extensions can extend and retract relative to the end  156  to allow for a longer reach of the shuttle  150  toward the rig floor  16 . 
     Normally, the shuttle  150  can be parked (or stowed) at a location  120  that is out of the way of normal operation of the pipe handler  100  over the horizontal storage area  18 . However, when the shuttle  150  is needed to transport the oversized or overweight piece of equipment to the well center  82 , a crane  19  (see  FIG.  1   ) can transport the piece of equipment from a storage location (e.g., a delivery vessel) and lay the equipment on the shuttle  150 . The shuttle  150  can receive the piece of equipment while it is stowed at location  120 , or it can receive the piece of equipment at any other location along the guide rails  116 ,  118 . 
     The pipe handler  100  and the bridge  90  can be maneuvered along the guide rails  116 ,  118  into engagement with the shuttle  150  and, after engagement, transport the shuttle along the guide rails  116 ,  118  as needed to transport the piece of equipment. The pipe handler  100  can engage an arm of the shuttle  150  for moving the shuttle  150  along the bridge  92  in the Y-direction (arrows M 3 ). The bridge  90  can engage the bridge  92  to unlock a locking mechanism and allow the bridge  92  to be moved from the stowed location  120 . Therefore, with the bridge  92  unlocked from the guide rail  116  or  118  and latched to the bridge  90 , and the shuttle  150  latched to the pipe handler  100 , the pipe handler  100  and bridge  90  are free to move the shuttle  150  in either the X-direction (arrows M 1 ) or the Y-direction (arrows M 3 ), or both. 
     To move a large piece of equipment using the shuttle  150 , a crane  19  can lift and place the large piece of equipment on the shuttle  150  (e.g., when the shuttle is at the stowed location  120 ). The bridge  90  and pipe handler  100  can be moved over to engage the shuttle  150  and unlock the bridge  92 . With the bridge  92  latched to the bridge  90  and the shuttle latched to the pipe handler  100 , the large piece of equipment can be moved over to horizontal storage area  18  in the X and Y directions to present an end of the large piece of equipment proximate the well center  82 . If the large piece of equipment is a sub-sea riser, an elevator or top drive can lift one end of the large piece of equipment from the shuttle  150  and raise the large piece of equipment vertically until is it removed from the shuttle  150 . 
     A moveable carriage  160  can be used to allow the other end of the large piece of equipment (e.g., subsea riser) to slide along the shuttle  150  as the large piece of equipment is raised vertically by another pipe handler (e.g., an elevator or top drive). When the large piece of equipment is removed from the shuttle  150 , the shuttle  150  can again be moved to a location over the horizontal storage area  18  to receive another large piece of equipment or the shuttle  150  can again be moved to the stowed location  120  and disengaged from the bridge  90  and pipe handler  100 . 
       FIG.  8    shows the bridge  90  and pipe handler  100  prior to them being engaged with the bridge  92  and the shuttle  150 . The body  101  of the pipe handler  100  is moveably coupled to the bridge  90  and rationally coupled to the pipe handler arms. The bridge  92  is locked in position at the stowed location  120  by a locking mechanism described in more detail below. The pipe handler  100  has been moved into position on the bridge  90  so as to align the latch  172  of the pipe handler  100  with the extension  162  and retainer  170  of the shuttle  150 . The end  108  of the bridge  90  can include a retainer  180  that extends toward a latch  182  in the end  158  of the bridge  92 . As the bridge  90  moves toward the bridge  92 , the latch  172  can receive and retain the retainer  170 , thereby locking the shuttle  150  into following the pipe handler  100  in the X-direction as the pipe handler  100  moves along the bridge  90 . 
     As the bridge  90  moves toward the bridge  92 , the latch  182  can receive and retain the retainer  180 , thereby locking the shuttle bridge  92  to the bridge  90 , such that the bridge  92  follows the bridge  90  as the bridge  90  is moved in the Y-direction. Engagement of the retainer  180  with the latch  182  can actuate the locking mechanism and unlock the end  158  from the guide rail  118  and allow freedom of travel of the end  158  along the guide rail  118 . It should be understood that a similar latch and retainer interface can be included between the end  106  of the bridge  90  and the end  156  of the bridge  92 . Therefore, engaging a retainer of the end  106  with a latch of the end  156  can also couple the bridge  90  to the bridge  92  and unlock the end  156  from the guide rail  116 . However, it is not a requirement that both ends  106 ,  108  of the bridge  90  engage with both ends  156 ,  158  of the bridge  92  to couple the bridge  90  to the bridge  92  for moving the bridge  92  in the X-direction. 
       FIG.  9    shows the retainer  170  of the pipe handler  100  engaged with the latch  172  of the shuttle  150 , and the retainer  180  of the bridge end  108  engaged with the latch  182  of the bridge end  158 . The engagement of the retainer  180  with the latch  182  can actuate the locking mechanism (not shown) to release the bridge  92  from the stowed location  120 . The engagement of the retainer  170  with the latch  172  can couple the shuttle  150  to the pipe handler  100 , such that movement in the X-direction of the pipe handler  100  along the bridge  90  also moves the shuttle  150  in the X-direction along the bridge  92 . The shuttle  150  can be moveably coupled to the bridge rails  152 ,  154  of the bridge  92  to allow X-direction movement of the shuttle  150  along the bridge  92 . 
       FIG.  10    is a representative perspective view of the end  108  engaged with the end  158  via the retainer  180  and the latch  182 . The locking mechanism  190  can be used to selectively enable movement of the bridge  92  relative to the guide rails  116 ,  118 , and movement of the shuttle  150  relative to the bridge  92 . If the locking mechanism  190  is engaged with the guide rail  118  (e.g., a rod  188  engaged with the retention feature  194 ), then X-direction movement of the bridge  92  relative to the guide rail  118  is prevented. However, if the locking mechanism  190  is disengaged from the guide rail  118  (e.g., the rod  188  disengaged from the retention feature  194 ), then X-direction movement of the bridge  92  relative to the guide rail  118  is permitted. 
     If the locking mechanism  190  is engaged with the shuttle  150  (e.g., a rod  186  engaged with the retention feature  192 ), then Y-direction movement of the shuttle  150  relative to the bridge  92  is prevented. However, if the locking mechanism  190  is disengaged from the shuttle  150  (e.g., the rod  186  disengaged from the retention feature  192 ), then Y-direction movement of shuttle  150  relative to the bridge  92  is permitted. 
     The locking mechanism  190  can be actuated by receiving the retainer  180  into the latch  182 . For example, as the retainer  180  is received in the latch  182 , the retainer  180  can move the rod  184  (arrows M 4 ) to drive a gear in the locking mechanism  190 . The gear can be rotated by the movement of the rod  184  and thereby move the rod  186  (arrows M 5 ) and the rod  188  (arrows M 6 ). Moving the rod  184  to the left relative to the view in  FIG.  10    can rotate the gear counterclockwise, thereby moving the rod  186  away from the retention feature  192  and moving the rod  188  away from the retention feature  194 . 
     With the retainer  180  remaining in engagement with the latch  182 , the shuttle  150  can be moved away from the end  158  allowing the latch actuator  196  to move upward (arrows M 7 ) along the ramp feature  198 , thereby securing the retainer  180  in the latch  182 . With the locking mechanism  190  disengaged from both the shuttle  150  and the guide rail  118 , the bridge  92  and the shuttle  150  can be free to move in the X and Y directions above the horizontal storage area  18 . The movement of the bridge  92  and the shuttle  150  is controlled by the engagement of the bridge  90  to the bridge  92  and the engagement of the shuttle  150  with the pipe handler  100 . 
       FIG.  11 A  is a representative side view of the pipe handler  200  holding a tubular  60 . The pipe handler  200  can include an arm  212  rotationally coupled at pivot  210  to a body  201  of the pipe handler  200 . An arm  222  can be rotationally coupled at pivot  220  to the arm  212 . The pivots  210 ,  220  can be generally centered on a central longitudinal axis  94  of the bridge  90  (see  FIG.  3    for central axis  94  position), where the longitudinal axis  94  is generally positioned in the center of the space L 1  between the bridge rails (e.g., bridge rails  202 ,  204 , bridge rail extensions  206 ,  208 ). The arm  222  or grippers  36  can include sensors (e.g., ultrasonic sensors, Light Detection and Ranging (LiDAR) sensors, cameras, etc.) that can measure one or more parameters (e.g., inclination, diameter, length, etc.) of the tubular  60  (or other equipment) as the pipe handler  200  is positioned to engage and lift the tubular  60  (or other equipment). 
     It should be understood that the positions of the pivots in the other embodiments described in this disclosure can also be positioned generally centered on a central longitudinal axis  94  of the bridge  90 . This can minimize stress and strain on the pipe handling components (e.g., arms  212 ,  222 , pivots  210 ,  220 , coupling of pipe handler  200  to the bridge  90 , the bridge  90 , etc.) since the weight of the equipment being moved by the pipe handler  200  can generally be distributed equally between the bridge rails  202 ,  204  or bridge rail extensions  206 ,  208 . If the load engaged by the pipe handler  200  were offset from the central longitudinal axis  94 , then additional stress and strain on the catwalk system  240  can be caused due to the rotational force applied by the load to the pipe handler  200 . By maintaining the load volume centered on the central axis  94  of the bridge  90 , rotational forces can be minimized and stress and strain on the catwalk system can be minimized. It should be understood that the other catwalk systems described in this disclosure are also configured to center a load relative to the central axis  94  of the bridge  90 . This allows the catwalk systems in this disclosure to carry heavier loads since the stress and strain are minimized. 
     The arm  222  can include two grippers  36  spaced apart for gripping and transporting objects such as tubulars  60 , but each individual gripper can also be used to grip and transport other objects such as tools, subs, short tubulars  60 , etc. that do not require both grippers to engage the object.  FIG.  11 B  illustrates the movement of the pipe handler  200  along the inclined bridge  90  as the pipe handler  200  carries a tubular  60  from the horizontal storage area  230  to the well center  82  on the rig floor  16 . It should be understood that the process depicted in  FIG.  11 B  can also be used to illustrate movement of the pipe handler  200  along the inclined bridge  90  as the pipe handler  200  carries a tubular  60  from the well center  82  to the horizontal storage area  230 . 
       FIG.  11 B  is a representative perspective view of a catwalk system  240  that can include a pipe handler  200  operating along a bridge  90  that is inclined from a horizontal storage area  230  to a rig floor  16 . The pipe handler  200  is similar to the pipe handler  100  in  FIGS.  1 - 10   , except that it moves along an inclined bridge  90 . The bridge  90  can include bridge rails  202 ,  204 , and bridge rail extensions  206 ,  208 . The bridge rail extensions  206 ,  208  can extend a reach of the pipe handler  200  to the well center  82  on the rig floor  16 . The bridge rail extensions  206 ,  208  can be unfolded from a stowed position or telescopically extended to allow the pipe handler  200  access to the well center  82 . 
     An actuator  232  (e.g., one or more hydraulic cylinders) can be used to raise the bridge  90  from a stowed position to an appropriate height so that the bridge  90  can extend above the rig floor  16  and the pipe handler  200  can access the well center  82 . The bridge  90  can rotate (arrows M 8 ) around a pivot axis when the actuator  232  is extended or retracted. With the actuator  232  retracted to its minimum length, the bridge  90  can be in a stowed position that is generally parallel to the horizontal storage area  230 . This stowed position can be used to transport the catwalk system  240  from one location to another. In the stowed position, the bridge rail extensions  206 ,  208  of the bridge  90  can be retracted to shorten the bridge  90  length for transport, or the bridge rail extensions  206 ,  208  can be folded over as in  FIG.  13    for transport. 
     At the positions  210   a ,  220   a , the respective pivots  210 ,  220  are rotated down to position the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to engage a tubular  60   a  in the horizontal storage area  230 . At the positions  210   b ,  220   b , the respective pivots  210 ,  220  are rotated to move the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to begin lifting the tubular  60   a  from the horizontal storage area  230  and rotating the tubular  60   a  from a horizontal orientation. At the positions  210   c ,  220   c , the respective pivots  210 ,  220  are rotated to move the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to further lift the tubular  60   a  and rotate the tubular  60   a  toward a more vertical orientation. At the positions  210   d ,  220   d , the respective pivots  210 ,  220  are rotated to move the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to further lift the tubular  60   a  and further rotate the tubular  60   a  toward a more vertical orientation. At positions  210   d ,  220   d , the tubular  60   a  can begin moving through the space  214  between the bridge rails  202 ,  204  of the bridge  90 . 
     At the positions  210   e ,  220   e , the respective pivots  210 ,  220  are rotated to move the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to further lift the tubular  60   a  and further rotate the tubular  60   a  toward a more vertical orientation. At positions  210   e ,  220   e , the arms  212 ,  222 , and grippers  36  are moving through the space  214  between the bridge rails  202 ,  204  and between the bridge rail extensions  206 ,  208 . At the positions  210   f ,  220   f , the respective pivots  210 ,  220  are rotated to move the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to further lift the tubular  60   a  and further rotate the tubular  60   a  toward a more vertical orientation. At positions  210   f ,  220   f , the arms  212 ,  222 , and grippers  36  have moved through the space  214  between the bridge rails  202 ,  204  and between the bridge rail extensions  206 ,  208 . At the positions  210   g ,  220   g , the respective pivots  210 ,  220  are rotated to move the arms  212 ,  222 , and grippers  36  of the pipe handler  200  to further lift the tubular  60   a  and rotate the tubular  60   a  to a vertical orientation. At positions  210   g ,  220   g , the arms  212 ,  222 , and grippers  36  have moved through the space  214  between the bridge rails  202 ,  204  and between the bridge rail extensions  206 ,  208 , and a bottom end of the tubular  60   a  can remain extended between the bridge rail extensions  206 ,  208  while being held in the vertical orientation. 
     At positions  210   h ,  220   h , the arms  212 ,  222 , and grippers  36  can hold the tubular  60   a  in the vertical orientation while the pipe handler  200  moves farther up the bridge  90  toward the well center  82 . At positions  210   j ,  220   j , the respective pivots  210 ,  220  can be rotated to move the arms  212 ,  222 , and grippers  36  to move the tubular  60   a  to the vertically orientated tubular  60   b  position at the well center  82 . The pivots  210 ,  220  can be rotated to maintain the vertically orientated tubular  60   b  while threading the tubular  60   b  into a tubular string that can extend into a wellbore at well center  82 . As mentioned above, this process can be reversed to remove a tubular  60   b  from a tubular string at well center  82  and transport it to the horizontal storage area  230  through positions  210   j - 201   a ,  220   j - 220   a  of the respective pivots  210 ,  220 . 
       FIG.  12 A  is a representative side view of the pipe handler  200  holding a tubular  60 . The pipe handler  200  can include an arm  212  rotationally coupled at pivot  210  to a body  201  of the pipe handler  200 . An arm  222  can be rotationally coupled at pivot  220  to the arm  212 . The arm  222  can include two grippers  36  spaced apart for gripping and transporting objects such as tubulars  60 , but each individual gripper can also be used to grip and transport other objects such as tools, subs, short tubulars  60 , etc. that do not require both grippers to engage the object.  FIG.  12 B  illustrates the movement of the pipe handler  200  along the inclined bridge  90  as the pipe handler  200  carries a tubular  60  (which in this case is a larger and longer tubular  60  than the one shown in  FIGS.  11 A and  11 B , such as a 50-60 ft. casing segment) from the horizontal storage area  230  to the well center  82  on the rig floor  16 . It should be understood that the process depicted in  FIG.  12 B  can also be used to illustrate movement of the pipe handler  200  along the inclined bridge  90  as the pipe handler  200  carries a tubular  60  from the well center  82  to the horizontal storage area  230 . 
     As similarly described above regarding  FIGS.  11 A,  11 B , the pipe handler  200  can lift a tubular  60   a  from the horizontal storage area  230  via moving the arms  212 ,  222 , and the grippers  36  and transport it to a vertically oriented tubular  60   b  position above well center  82 , or move the tubular  60  from the vertically oriented tubular  60   b  position at the well center  82 , to a horizontally oriented tubular  60   a  position at the horizontal storage area  230 . The pivots  210 ,  220  can move through the respective positions  210   a - 210   j ,  220   a - 220   j  when transporting the tubular  60  between the vertically oriented tubular  60   b  position and the horizontally oriented tubular  60   a  position. The catwalk system  240  shown in  FIGS.  11 A- 12 B  is a more robust and efficient way to move tubulars between the well center  82  and the horizontal storage area  230 , than traditional catwalk systems that have to be lifted and lowered for each tubular transported between the well center and a horizontal storage area. 
       FIG.  13    is a representative side view of the catwalk system  240  in a stowed position ready for transport to a new location. The actuator  232  has been retracted to lower the bridge  90  to the horizontal position shown. The bridge rail extensions  206 ,  208 , are shown rotated (arrows M 9 ) about a rotational axis from the positions  206 ′,  208 ′ to fold the bridge rail extensions  206 ,  208  back onto the bridge rails  202 ,  204  in preparation for transport. The pipe handler  200  can be moved to the end of the bridge  90  to allow clearance for folding the bridge rail extensions  206 ,  208 . 
       FIG.  14    is a representative perspective view of a catwalk system  290  with a pipe handler  250  operating at an incline from a horizontal storage area  276  to a rig floor  16 . The catwalk system  290  is similar to the catwalk system  240  of  FIGS.  11 A- 12 B , except that the inclined bridge  90  rests on a support  265  on the ground next to the horizontal storage area  276 , the bridge  90  is positioned in a rig floor cutout  256 , and the horizontal storage area  276  has a tubular lift  274  to lift tubulars  60  (or other equipment) from the horizontal storage area  276  to the pipe handler  250  or receive and lower the tubular  60  (or other equipment) when the pipe handler  250  is returning the tubular  60  (or other equipment) to the horizontal storage area  276 . 
     The catwalk system  290  includes a pipe handler  250  that operates along the bridge  90  (arrows M 10 ) to transport tubulars  60  between the horizontal storage area  276  and the well center  82 . The pipe handler  250  can include an arm  262  rotationally coupled to a body  251  at pivot  260 , with the body moveably coupled to the bridge rails  252 ,  254  of the bridge  90 . The arm  272  with spaced apart grippers  36  can be rotationally coupled to the arm  262  at the pivot  270 . The bridge  90  is positioned in a rig floor cutout  256  that allows the pipe handler  250  to be closer to the rig floor at the top of the bridge  90 . The bridge  90  can be coupled to the rig via a coupling  278 , which secures the bridge  90  to the rig  10 . 
       FIGS.  15 A- 15 C  are representative perspective views of the catwalk system  290  with a pipe handler  250  transporting a tubular  60  from a horizontal storage area  276  to a well center  82  on the rig floor  16 . The tubular lift  274  can receive a tubular  60  from the horizontal storage area  276  in a horizontal orientation and lift the tubular  60  at one end to present the tubular  60  to the pipe handler  250 . The pipe handler  250  can retrieve the tubular  60  from the tubular lift  274  and rotate it up through the space  264  (via the arms  262 ,  272 , and respective pivots  260 ,  270 ) between the bridge rails  252 ,  254 . The pipe handler  250  can transport the tubular  60  up along the inclined bridge  90  and present the tubular  60  to the well center  82  in a vertical orientation for connecting to a tubular string at the well center  82 . The grippers  36  can be used to spin the tubular  60  into a connection to the tubular string, or another pipe handler (e.g., top drive, elevator, etc.) can be used to attach the tubular  60  to the tubular string. The arm  262  or grippers  36  can include sensors (e.g., ultrasonic sensors, LIDAR sensors, cameras, etc.) that can measure one or more parameters (e.g., inclination, diameter, length, etc.) of the tubular  60  (or other equipment) as the pipe handler  250  is positioned to engage and lift the tubular  60  (or other equipment). 
     The tubular lift  274  can be used to adjust the axial position of the tubular  60  so the pipe handler  200  knows the distance from the gripper to an end of the tubular  60 . The tubular lift  274  can include sensors for measuring one or more parameters (e.g., length) of each tubular  60  being carried by the tubular lift  274 . The tubular lift  274  can also measure and report the weight of the tubular  60  to the rig controller  50 , as well as measure and report the diameter of the tubular  60  to the rig controller  50 . The tubular lift  274  can also measure and report the dimensions of the pin or box end of the tubular  60  to the rig controller  50 . The tubular lift  274  can also include a doping device for doping either the pin end or box end of the tubular  60  before the pipe handler  200  receives the tubular  60  from the tubular lift  274 . 
       FIGS.  16 A- 16 B  are representative side views of the catwalk system  290  with a pipe handler  250  engaging a tubular  60  in a horizontal storage area  276 . The tubular  60  has been elevated by the tubular lift  274 . This allows the pipe handler  250  to engage and lift the tubular  60  at a location on the tubular that is closer to the center of the tubular  60 . The pipe handler  250  can engage and lift the tubular  60  directly from a horizontal orientation in the horizontal storage area  276  without the tubular  60  being lifted by the lift  274 . However, this may alter the available positions at which the pipe handler  250  can engage the tubular  60 . 
     When larger, bulky, or oddly shaped equipment needs to be transported to the well center  82 , then a shuttle  280  can be used to cradle the equipment and carry the larger, bulky, or oddly shaped equipment (not shown) to the well center  82 , where the equipment can be manipulated by an elevator, top drive, crane, or other pipe handler. The shuttle  280  can be slidingly coupled to the bridge rails  252 ,  254  of the bridge  90 . When the shuttle  280  is positioned at a lower position on the bridge  90 , the large equipment can be deposited onto the shuttle  280  by handling equipment (e.g., a crane). With the large equipment on the shuttle  280 , the shuttle  280  can then be slide up the inclined bridge  90  such that the large equipment can be accessed by rig floor handling equipment. A cable system can be used to pull the shuttle  280  up the bridge  09  and allow the shuttle  280  to slide down the bridge  90 . Alternatively, or in addition to, the pipe handler  250  can be configured to manipulate the shuttle  280  along the bridge  90 , similar to the shuttle  150  being manipulated by the pipe handler  100  in  FIGS.  5 - 7   . However, in this configuration, the shuttle  280  is in line with the pipe handler  250  on the bridge  90  as opposed to alongside the pipe handler  100  on a separate bridge  92 , as in  FIGS.  5 - 7   . This shuttle  280  can be used on any of the catwalk systems described in this disclosure, as well as on the pipe handler  100  system in  FIGS.  5 - 7   . 
       FIGS.  17 - 19    are representative perspective views of a catwalk system  340  which can include a pipe handler  300  operating on an inclined bridge  90  from a horizontal storage area  326  to a rig floor  16 . The catwalk system  340  is similar in functionality to the catwalk system  290  of  FIGS.  14 - 16 B  inclined bridge  90  configurations, except that the length of the body  301  of the pipe handler  300  can be varied, the connection to the rig floor  16  does not require a rig floor cutout, and the extension of the bridge  90  over the rig floor can be varied. Therefore, multiple variables can be adjusted to provide access of the pipe handler  300  to the well center  82 , while optimizing other parameters. For example, with an increased length of the body  301  of the pipe handler  300 , the end of the bridge  90  can be extended a minimal distance over the rig floor  16 , providing more open rig floor space when the pipe handler  300  is not at the top of the bridge  90 . 
     The pipe handler  300  can have a body  301  that is moveably coupled to the bridge rails  302 ,  304  and the bridge rail extensions  306 ,  308  of the bridge  90 . The bridge  90  can include a space  314  between the bridge rails  302 ,  304  and between the bridge rail extensions  306 ,  308 . The bridge rails  302 ,  304  can be rigidly coupled to the bridge rail extensions  306 ,  308  at the bridge connection  316 . The lower end of the bridge  90  can be supported by the support  318  which can rest on the ground. The upper end of the bridge  90  can be coupled to the rig floor via an attachment mechanism  328 . The height of the attachment mechanism  328  can be varied to accommodate various height rig floors  16  to maintain the desired position of the pipe handler  300  when it is at the top of the bridge  90  and to maintain the pipe handler&#39;s  300  position relative to the well center  82  and the rig floor  16 . An arm  312  can be rotationally coupled to the body  301  at the pivot  310 . An arm  322  can be rotationally coupled to the arm  312  at the pivot  320 . The arm  322  can have spaced apart grippers  36  for engaging and gripping equipment, such as tubulars  60 . A tubular lift  324  can hoist a tubular  60  from the horizontal storage area  326  to present it to the pipe handler  300 . The arm  312  or grippers  36  can include sensors (e.g., ultrasonic sensors, LIDAR sensors, cameras, etc.) that can measure one or more parameters (e.g., inclination, diameter, length, etc.) of the tubular  60  (or other equipment) as the pipe handler  300  is positioned to engage and lift the tubular  60  (or other equipment). 
     The tubular lift  324  can be used to adjust the axial position of the tubular  60  so the pipe handler  300  knows the distance from the gripper to an end of the tubular  60 . The tubular lift  324  can include sensors for measuring one or more parameters (e.g., length) of each tubular  60  being carried by the tubular lift  324 . The tubular lift  324  can also measure and report the weight of the tubular  60  to the rig controller  50 , as well as measure and report the diameter of the tubular  60  to the rig controller  50 . The tubular lift  324  can also measure and report the dimensions of the pin or box end of the tubular  60  to the rig controller  50 . The tubular lift  324  can also include a doping device for doping either the pin end or box end of the tubular  60  before the pipe handler  300  receives the tubular  60  from the tubular lift  324 . 
     Referring to  FIG.  18   , the pipe handler  300  can move along the bridge  90  (arrows M 12 ) to transport equipment between the horizontal storage area  326  and the well center  82 . As mentioned above, parameters can be varied to accommodate various rig configurations. If the length L 3  of the body  301  is reduced, then the length L 4  of the end of the bridge  90  (as measured from the attachment mechanism  328  to the end of the bridge  90 ) may need to be increased to allow the pipe handler  300  to access the well center  82 . Also, the height of the attachment mechanism  328  can also influence the determination of the lengths L 3 , L 4 .  FIG.  18    shows a pipe handler  300  with a body  301  that is longer than the previously described similar pipe handlers. The length L 3  is defined as the length from the end of the body  301  to the pivot  310 . 
     Making the body  301  of the pipe handler  300  longer than the other configurations allows the bridge  90  overlap over the rig floor  16  to be minimized, thereby providing more clearance on the rig floor  16  when the pipe handler  300  is not over the rig floor  16 . If the tubular  60  being manipulated by the pipe handler  300  is heavier than other equipment, then the pipe handler  300  can rotate the arm  312  to a more vertical orientation to minimize strain on the pivot  310  and the arm  312 . The elongated body  301  and the upper end of the bridge  90  can be designed to allow the body  301  to get closer to the well center  82  to allow the arm  312  to be in a more vertical orientation when the tubular  60  is spun into of out of a connection joint with the tubular string  330 . 
     Referring to  FIG.  19   , the pipe handler  300  is positioned on the bridge  90  to collect a tubular  60  from or deposit a tubular  60  into the tubular lift  324  in the horizontal storage area  326 . The descriptions of the other catwalk system embodiments in this disclosure can generally apply also to the catwalk system  340 . The differences of the pipe handler  300  can be applied to the other pipe handler embodiments described in this disclosure. The tubular lift  324  can include one or more sensors  342  that can be used to determine or measure parameters of the tubular  60  (e.g., length, weight, diameter, etc.). The tubular lift  324  can receive tubulars from either side of the horizontal storage area  326  or deliver tubulars to either side of the horizontal storage area  326 . The pipe handler  300  can collect the tubular  60  from the tubular lift  324  and transport the tubular along the inclined bridge  90  to the bridge end  332  of the bridge  90 . The end of each bridge rail extension  306 ,  308  at the bridge end  332  can have a reduced height, with the bottom of each bridge rail extension  306 ,  308  curved from a common height at the attachment mechanism  328  to the reduced height at the top end of the bridge  90 . 
       FIGS.  20 - 24    are representative perspective views of catwalk system  390  that can include a pipe handler  350  operating along a horizontal bridge  90  above a horizontal storage area  376 , with a horizontal lift system  374  that transfers tubulars between the pipe handler  350  and the horizontal storage area  376 . The horizontal bridge  90  can be elevated above the horizontal storage area  376  to a height above the rig floor  16  of the rig  10 . One or more vertical supports  398  can be used to support the horizontal bridge  90  at the elevated height. The horizontal lift system  374  can be used to raise or lower tubulars  60  in a horizontal orientation between the horizontal storage area  376  and a horizontal support  382 , where the horizontal support  382  is accessible by the pipe handler  350  to collect or deposit tubulars  60 . The pipe handler  350  can be any one of the pipe handlers described in this disclosure. 
     Referring to  FIG.  21   , the horizontal bridge  90  can include bridge rails  352 ,  354  with a space  364  therebetween. The body  351  of the pipe handler  350  is moveably coupled to the horizontal bridge  90 , and the pipe handler  350  can rotate the arms  362 ,  372  through the space  364  to collect tubulars  60  from or deposit tubulars  60  onto the horizontal support  382 . The pipe handler  350  can transport the tubulars  60  (arrows M 13 ) between the horizontal support  382  and the well center during tripping in or tripping out operations. The horizontal lift system  374  transports the tubulars  60  between the horizontal support  382  and the horizontal storage area  376  in a horizontal orientation. The horizontal bridge  90  can include bridge rail extensions  356 ,  358  that can couple the respective bridge rails  352 ,  354  to the rig floor. The horizontal bridge  90  can also include additional bridge rail extensions (not shown), similar to those described in  FIG.  17   , to allow the horizontal bridge  90  to be broken down into shorter portions for transport between well sites. The arm  372  or grippers  36  can include sensors (e.g., ultrasonic sensors, LIDAR sensors, cameras, etc.) that can measure one or more parameters (e.g., inclination, diameter, length, etc.) of the tubular  60  (or other equipment) as the pipe handler  350  is positioned to engage and lift the tubular  60  (or other equipment). 
     Additionally, the bridge rail extensions  356 ,  358  can be slidingly engaged with the bridge rails  352 ,  354 , such that when the platform  12  “walks” to another wellbore location in an array of wellbore locations, then the bridge rail extensions  356 ,  358  can travel with the rig floor  16  and provide an extension of the bridge  90  to access the rig floor  16  when the rig floor moves without requiring the catwalk system  390  to move along with the platform  12 . The horizontal storage area  376  and the vertical supports  398 ,  399  can also be outfitted with a “walking” mechanism to walk along with the platform  12  when it moves to a new wellbore. 
     When tripping a tubular string into a wellbore at the well center  82  of the rig floor  16 , the horizontal lift system  374  can lift tubulars from either side of the horizontal storage area  376  while maintaining a horizontal orientation of the tubulars  60 . The horizontal lift system  374  can deposit a tubular  60  onto the horizontal support  382  at the top of the horizontal lift system  374 . The pipe handler  350  can then engage the tubular  60  at the horizontal support  382 , lift the tubular  60  up through the space  364  between the bridge rails  352 ,  354  of the horizontal bridge  90 , transport the tubular  60  along the horizontal bridge  90  to the well center  82  and spin the tubular  60  onto the tubular string that sticks up through the well center  82  or hand the tubular off to another pipe handler (e.g., top drive, elevator, pipe handler  392 , etc.) for connection to the tubular string or storage in the fingerboard vertical tubular storage  394 . The tubulars  60  can also be assembled into tubulars  396 , which can be tubular stands of two or more tubulars  60 . Optionally, the pipe handler  350  can apply dope to one or both ends of the tubular  60  prior to spinning the tubular  60  onto the tubular string or handing the tubular  60  off to another pipe handler. As way of example, the pipe handler  350  can rotate the tubular  60  to a vertical orientation and extend an end (e.g., a pin end) of the tubular  60  into the doping device  384 . As the pipe handler  350  rotates the tubular  60 , the doping device can apply a doping layer to the tubular end. Then the pipe handler  350  can retract the tubular  60  from the doping device  384  and proceed to the well center  82  or to hand off the tubular to another pipe handler. 
     When tripping a tubular string out of a wellbore at the well center  82  of the rig floor  16 , the pipe handler  350  spin the tubular  60  out of connection with the tubular string at the well center after an iron roughneck has untorqued the connection. Optionally, the pipe handler  350  can apply dope to one or both ends of the tubular  60  after spinning the tubular  60  out of connection to the tubular string or receiving the tubular  60  from another pipe handler. As way of example, the pipe handler  350  can maintain the tubular  60  in a vertical orientation and extend an end (e.g., a pin end) of the tubular  60  into the doping device  384 . As the pipe handler  350  rotates the tubular  60 , the doping device can clean the threads and apply a doping layer to the threads and shoulder of the tubular end. Then the pipe handler  350  can retract the tubular  60  from the doping device  384  and proceed to transport the tubular  60  from the well center, through the space  364  between the bridge rails  352 ,  354 , and deposit the tubular  60  onto the horizontal support  382 . The horizontal lift system  374  can then transport the tubular  60  in a horizontal orientation from the horizontal support  382  to the horizontal storage area  376 . The vertical supports  399  can be used to support the horizontal support  382  at an elevated height that allows the pipe handler  350  to access the horizontal support  382  to collect or deposit tubulars  60 . It should be understood that the doping device (e.g.,  384 ) can be used with any embodiment of a catwalk system (e.g., catwalk systems  140 ,  240 ,  290 ,  340 ,  390 ,  440 ) and can include one or more doping devices, for cleaning and doping the threads and shoulder of one or both ends of the tubulars  60 . The doping devices (e.g.,  384 ) can also be disposed in any orientation to accommodate cleaning and doping the ends of the tubulars  60  as the tubulars  60  are manipulated by pipe handlers. 
     Referring to  FIG.  22   , this is a more detailed view of the interaction between the pipe handler  350  and the horizontal lift system  374 . The horizontal lift system  374  can include a front horizontal lift  378  with lift actuators  388  that can raise and lower the tubulars  60  between the front portion of the horizontal storage area  376  and the horizontal support  382 . The horizontal lift system  374  can also include a rear horizontal lift  379  with lift actuators  389  that can raise and lower the tubulars  60  between the rear portion of the horizontal storage area  376  and the horizontal support  382 . The longitudinal groove  380  can be equipped with sensors to determine or measure various parameters of the tubulars  60  (e.g., weight, length, diameter, etc.). An arm  362  can be rotationally coupled to the body  351  at the pivot  360 . An arm  372  can be rotationally coupled to the arm  362  at the pivot  370 . The arm  372  can have spaced apart grippers  36  for engaging and gripping equipment, such as tubulars  60  (e.g., tubulars  60   a ,  60   b ,  60   c ). The arm  362  or grippers  36  can include sensors (e.g., ultrasonic sensors, LIDAR sensors, cameras, etc.) that can measure one or more parameters (e.g., inclination, diameter, length, etc.) of the tubular  60  (or other equipment) as the pipe handler  350  is positioned to engage and lift the tubular  60  (or other equipment). 
     When the tubular  60   a  is removed from a longitudinal groove  380  in the top of the horizontal support  382  by the pipe handler  350 , a tubular  60   b  can be rolled into the longitudinal groove  380  from the front horizontal lift  378 , or a tubular  60   c  can be rolled into the longitudinal groove  380  from the rear horizontal lift  379 . 
     When the tubular  60   a  is being deposited in the longitudinal groove  380  by the pipe handler  350 , a previously deposited tubular  60   b  can be rolled out of the longitudinal groove  380  to the front horizontal lift  378  for descending to the front portion of the horizontal storage area  376 , or a previously deposited tubular  60   c  can be rolled out of the longitudinal groove  380  to the rear horizontal lift  379  for descending to the rear portion of the horizontal storage area  376 . 
     Referring to  FIG.  23   , the pipe handler  350  has engaged the tubular  60  in the longitudinal groove  380 , lifted and rotated the tubular  60  into the space  364  between the bridge rails  352 ,  354 , and transported the tubular  60  along the bridge  90  toward the well center  82 . 
     Referring to  FIG.  24   , the pipe handler  350  has lifted and rotated the tubular  60  to a vertical orientation and positioned the tubular  60  over the doping device  384 . The pipe handler  350  can extend the lower end of the tubular  60  through the top of the doping device  384  and rotate the tubular  60  while the doping device deposits dope onto the threads of the end of the tubular  60 . This figure is showing how one end (e.g., a pin end) of the tubular  60  can be doped before being connected to the tubular string  386  at the well center  82 . After the end is doped (if doping is desired), the pipe handler  350  can move the tubular  60  to a vertical orientation above the tubular string  386  and spin the tubular into a connection to the top end of the tubular string  386 . It should be understood that the operations described above regarding  FIGS.  22 - 24    can be reversed to trip the tubular string  386  out of the wellbore at well center  82 . 
       FIG.  25    is a representative side view of catwalk system  440  that can include a pipe handler  400  operating along a horizontal bridge  90  over a deep horizontal storage area  426 , where the bridge  90  can be extended toward and retracted from a well center  82 . The catwalk system  440  can be used to transport (via the pipe handler  400 ) tubulars  60  or other equipment (e.g., tools, subs, etc.) between the horizontal storage area  426  and the rig floor  16 . The pipe handler  400  can receive or hand off the tubulars or equipment to other equipment on the rig floor  16 , such as pipe handlers  32 ,  34  on a vertical support structure  30  which is rotationally attached to the rig floor  16 , or a drill floor robot  20 , or an iron roughneck  40 , or a top drive (not shown), or an elevator (not shown), or other pipe handling equipment. 
     The pipe handler  400  is similar to the pipe handler  100  in  FIGS.  1 - 10    and can similarly interface with a shuttle  150 . The pipe handler  400  can include a body  401  that is moveably coupled to bridge rails  402 ,  404  (and bridge rail extensions  406 ,  408  if bridge rail extensions are used) and can move in a Y-direction along the bridge  90 . The bridge  90  can be moveably coupled to guide rails  416 ,  418  and can move in an X-direction along the guide rails  416 ,  418  as well as in the Y-direction relative to the guide rails  416 ,  418 . The pipe handler  400  can include an arm  412  that is rotationally coupled to the body  401  at a pivot  410 , and an arm  422  that is rotationally coupled to the arm  412  at a pivot  420 , with the arm  422  having a gripper  36  positioned at opposite ends. These grippers  36  can be used to engage tubulars  60  as well as other equipment (e.g., tools, subs, etc.) and manipulate the equipment about the horizontal storage  426  and the rig floor  16 . The arm  412  or grippers  36  can include sensors (e.g., ultrasonic sensors, LIDAR sensors, cameras, etc.) that can measure one or more parameters (e.g., inclination, diameter, length, etc.) of the tubular  60  (or other equipment) as the pipe handler  400  is positioned to engage and lift the tubular  60  (or other equipment). 
     Referring to  FIGS.  26 A,  26 B , some horizontal storage areas, like the horizontal storage area  426  may have tubulars stored at a depth that is inaccessible by the pipe handler  400 , directly. The depth L 6  below the bridge  90  that is accessible by the grippers  36  is limited by the length L 8  of the arm  412 . If the depth L 5  of the horizontal storage area  426  is deeper than the accessible depth L 6 , then equipment, such as tubulars  60  and other equipment, stored in the depth indicated by depth L 7 , is inaccessible to the pipe handler  400 , directly. The current catwalk system  440  can include crane lifts  452 ,  454 , with the crane lift  452  positioned proximate the guide rail  418  and the crane lift  454  positioned proximate the guide rail  416 . The crane lifts  452 ,  454  can be used to lift tubular baskets  430  or other equipment baskets to a depth in the horizontal storage area  426  that is accessible by the pipe handler  400 . Therefore, by using the crane lifts  452 ,  454 , the full capacity of the horizontal storage area  426  can be utilized, even if the depth L 5  is deeper than the accessible depth L 6 . The equipment baskets  430  can include crane attachment points  434 ,  436  for attaching to the crane lifts  452 ,  454 , respectively. 
       FIGS.  27 A- 27 C  are representative end views of a pipe handler operating along a horizontal bridge  90  and the bridge  90  operating along guide rails  416 ,  418  over a deep horizontal storage area  426 , with the bridge  90  including a crane  452 ,  454  for lifting tubular baskets  430  to a depth accessible by the pipe handler  400 . 
     Referring to  FIG.  27 A , an end view of the horizontal storage area  426  and the catwalk system  440  illustrates tubular baskets  430  stored in the horizontal storage area  426  below an accessible depth, and additional tubular baskets  430 ′ stored beside the deep storage area of the horizontal storage area  426 . The tubular baskets  430 ′ may be directly accessible by the pipe handler  400  since the guide rails  416 ,  418  extend over the area the baskets  430 ′ are stored and the baskets  430 ′ are within an accessible depth by the pipe handler  400 . The ends  456 ,  458  of the bridge  90  are coupled to the respective guide rails  416 ,  418 . However, the tubular baskets  430 ,  432  in the horizontal storage area  426  are not yet accessible by the pipe handler  400 , directly. If it is desired to utilize tubulars (or other equipment) from one of the baskets in the horizontal storage area  426 , then the crane lifts  452 ,  454  can be connected to the desired basket (e.g., basket  432 ) to lift the basket  432  (arrows M 14 ) from its storage location to a carrying location near the bridge  90  (see  FIG.  27 B ). 
     Referring to  FIG.  27 C , the basket  432  has been raised to the carrying position just below the bridge  90  and carried in the X-direction to a position above the supports  460 ,  462 . The basket  432  can then be lowered by the crane lifts  452 ,  454  to allow the basket  432  to rest on the supports  460 ,  462 , and the crane lifts  452 ,  454  disengaged (if desired) from the basket  432  to allow the pipe handler  400  to move relative to the basket  432  as it accesses the storage area within the basket  432 . The supports  460 ,  462  are positioned at a depth in the horizontal storage area  426  that allows the pipe handler  400  to access all equipment stored in the basket  432 , such as tubulars, tools, subs, etc. When the basket  432  is empty (or another basket is desired), the catwalk system  440 , via the use of the crane lifts  452 ,  454  can lift the basket  432  off of the supports  460 ,  462 , carry the basket  432  to another storage location out of the way of another desired basket  430 , and then, via the crane lifts  452 ,  454 , move the next desired basket  430  to rest on the supports  460 ,  462 . This allows the catwalk system  440  to access the full storage space in the horizontal storage area  426 , without deploying a crane that is separate from the bridge  90 . 
     It should be understood that the pipe handler  400  can access the storage area within the basket  432  while the basket  432  is suspended by crane lifts  452 ,  454  to retrieve equipment from or store equipment in the basket  432  storage area. It is not required that the basket  432  be deposited onto the supports  460 ,  462  to retrieve equipment from or store equipment in the basket  432  storage area. For example, if a basket  432  contained only a BHA  64 , then the crane lifts  452 ,  454  can engage the basket  432  in the horizontal storage area  18 , lift the basket  432  up to a position just below the bridge  90 , while moving the bridge  90  to the desired location the pipe handler  400  can access the basket  432  storage area, engage the BHA  64 , lift the BHA  64  from the storage area, rotate the BHA  64  through the space  414  between the bridge rails  402 ,  404 , and deliver the BHA to another pipe handler (e.g., top drive, elevator, pipe handlers  32 ,  34 ) or the rig floor  16 , then lower the basket  432  back to a storage location in the horizontal storage area  18 . 
       FIG.  28    is a representative perspective view of a catwalk system  440  that can include a pipe handler  400  operating along a horizontal bridge  90  with the bridge rails  402 ,  404  of the bridge  90  operating along guide rails  416 ,  418  over a deep horizontal storage area  426 , where bridge rail extensions  406 ,  408  of the bridge  90  can extend to a well center  82  in a rig floor  16 .  FIG.  28    illustrates the basket  432  positioned on the supports  460 ,  462 . The basket  432  is also shown still attached to the crane lifts  452 ,  454 , by crane connections  434 ,  436 , respectively, as the pipe handler  400  works at collecting tubulars  60  from the basket  432 , or depositing tubulars  60  into the basket  432 . When the basket  432  is emptied or full, the crane lifts  452 ,  454  can lift the basket  432  from the supports  460 ,  462 , deposit it in the horizontal storage area  426 , and if desired, pick up another basket to position on the supports  460 ,  462 . It should be understood that the crane lifts  452 ,  454  can be detached from the basket  432  while the pipe handler  400  is accessing the storage space in the basket  432 . It should also be understood that the crane lifts  452 ,  454  can remain attached to the basket  432  while the pipe handler  400  is accessing the storage space in the basket  432 . 
     As similarly described in  FIGS.  1 - 10   , the bridge  90  can include bridge rails  402 ,  404  that are coupled to the guide rails  416 ,  418 , by bridge ends  456 ,  458 , respectively. The ends  456 ,  458  are moveably coupled to the respective guide rails  416 ,  418  and can transport the bridge  90  along the guide rails  416 ,  418  in the X-direction over the horizontal storage area  426 . In certain embodiments, the bridge  90  can also include bridge rail extensions  406 ,  408  that allow the bridge  90  to be extended to the well center  82 . It should be understood that ends of the bridge rails  402 ,  404 , and the extensions  406 ,  408  can extend past the bridge ends  456 ,  458  as illustrated. Similar to the other pipe handlers, the pipe handler  400  can include a body  401  moveably coupled to the bridge  90  to transport the pipe handler  400  in a Y-direction along the bridge  90 . The pipe handler  400  can also include the arm  412  rotationally coupled to the body  401  at pivot  410 , and the arm  422  rotationally coupled to the arm  412  at pivot  420 , with grippers positioned at opposite ends of the arm  422  which can engage equipment, such as tubulars, tools, subs, etc. The arms  412 ,  422  can be rotated to lift and rotate a tubular  60  to transport the tubular  60  between the basket  432  and the well center  82  (or another pipe handler including an iron roughneck  40 , a drill floor robot  20 , pipe handlers  32 ,  34 , etc.). 
     Referring to  FIG.  29 A , the catwalk system  490  can include a pipe handler  400  operating along a bridge  90  with bridge rails  402 ,  404 . In this example, the derrick  14  is moveable in the X direction (arrows M 32 ) and the Y direction (arrows M 31 ) relative to the platform  12  and the horizontal storage area  18 . The bridge  90  is coupled to the guide rails  416 ,  418  through ends  456 ,  458 , respectively. The ends  456 ,  458  are moveable along the respective guide rails  416 ,  418  in the X-direction (arrow M 1 ). The pipe handler  400  is moveable along the bridge  90  in the Y-direction (arrows M 2 ). The bridge  90  can be moveable in the Y-direction (arrows M 30 ) relative to the guide rails  416 ,  418 , and the ends  456 ,  458 . Therefore, if the derrick  14  moves in the Y-direction (arrows M 31 ), then, with the bridge rails  402 ,  404  can be moved in the Y-direction (arrows M 30 ) to maintain access to the rig floor  16 . In this example, the guide rail  416  is rigidly attached to the rig floor  16 , and therefore, moves with the derrick  14 . As the derrick  14  is moved in the Y-direction away from the horizontal storage area  18 , then the bridge  90  can be extended in the Y-direction toward the derrick  14  to maintain the coupling of the bridge  90  with the end  456 . If the derrick  14  moves in the X-direction, then the bridge  90  can be moved along the guide rails  416 ,  418  as needed to access the desired location at or above the rig floor  16 . The bridge  90  can be coupled to the end  456 , such that when the derrick  14  moves, the bridge  90  will move with it (e.g., the derrick  14  will push or pull the bridge  90  as the derrick  14  moves in the Y-direction). Alternatively, or in addition to, the bridge  90  can actively control its position relative to the end  456  to maintain the coupling with the end  456 . 
     The pipe handler  400  can access equipment in the horizontal storage area  18  (e.g., equipment in baskets  430 ), transport the equipment along the bridge  90  to the rig floor  16  where the pipe handler  400  can hand-off the equipment as in the other embodiments (such as hand-off to pipe handlers  32 ,  34 , top drive, elevator, rig floor, storage bins, etc.) in any of vertical, inclined, or horizontal orientations. The bridge rails  402 ,  404  can be configured to allow for extension of the bridge  90  over the rig floor to access the well center  82 , which means that the bridge  90  would extend over the end  456  and be cantilevered over the rig floor  16 . 
     Referring to  FIG.  29 B , the derrick  14  has been moved in the Y-direction (arrows M 31 ) away from the horizontal storage area  18 , with the guide rail  416  moving with the derrick  14 . The length of the bridge  90  that extended past the guide rail  418  has been reduced to compensate for the extension length of the bridge  90  toward the derrick  14 . The bridge  90  has been adjusted toward the derrick  14  (arrows M 31 ) to span the distance between the horizontal storage area  18  and the rig floor  16 . The derrick  14  has also been moved in the X-direction (arrows M 32 ), and the bridge  90  can be moved along the guide rails  416 ,  418  to accommodate X-direction movements of the derrick  14 . This bridge configuration works well unless the rig is enclosed with walls and a roof to protect the rig and its equipment from a harsh environment. In this case, the bridge  90  may not be allowed to extend very far past the guide rail  418 , which is different than in  FIG.  29 A , where there are no obstructions outside the guide rail  418 . In the configuration with the enclosed rig  10 , the bridge may include one or more pairs of bridge rail extensions. 
     Referring to  FIG.  30 A , the catwalk system  440  has the pipe handler  400  moved to a position proximate the end of the bridge rails  402 ,  404  closest to the well center  82 . The bridge rail extensions  406 ,  408  are fully retracted into the bridge rails  402 ,  404 , which might be the position needed when the pipe handler  400  is accessing the storage space within the basket  432 , which has been positioned on the supports  460 ,  462 . The shuttle  150  is stowed at the storage position  120 . The ends  456 ,  458  have moved the bridge  90  in line with the well center  82  or in line with a hand-off position for handling equipment to another pipe handler operating over the rig floor  16 . This allows the bridge  90  to be extended toward and retracted from the well center  82 , without requiring the bridge  90  to extend very far past the guide rail  418  (reference to the  FIG.  30 A ) when the bridge  90  is retracted from the well center  82 . 
     Referring to  FIG.  30 B , the catwalk system  440  has extended the bridge rail extensions  406 ,  408  (arrows M 16 ) by an appropriate distance to deliver or retrieve equipment (e.g., a tubular  60 ) from the well center  82 , or from another pipe handler. The bridge rail extensions  406 ,  408  can be extended or retracted as needed to allow the pipe handler  400  to access the well center or the horizontal storage area  426 . Even though it may be preferred to have the bridge rail extensions  406 ,  408  retractable from the rig floor  16 , it should be understood that the bridge rail extensions  406 ,  408  can be attached to an end of the bridge rails  402 ,  404  such that they are not retractable. They can be removably attached to the rig floor  16  and the respective bridge rails  402 ,  404 . This will also allow the pipe handler  400  to access the rig floor area, but the bridge rail extensions  406 ,  408  would occupy precious space on the rig floor  16  even when the pipe handler  400  is not transported onto the bridge rail extensions  406 ,  408 . 
       FIGS.  31 - 33    are representative top views of catwalk system  440  that can include a pipe handler  400  operating along a horizontal bridge  90 , with the bridge  90  including first bridge rail extensions  406 ,  408  and second bridge rail extensions  466 ,  468  for extending access of the pipe handler  400  to the rig floor  16 , well center  82 , and the horizontal storage area  426 . The first bridge rail extensions  406 ,  408  are moveably coupled to the respective bridge rails  402 ,  404  and are configured to move in the Y-direction (arrows M 19 ) within the space  414  between the bridge rails  402 ,  404 . When the catwalk system  440  is installed to the well site, it may be preferred that the first bridge rail extensions  406 ,  408  be extended a distance L 9  to allow the bridge rail extensions  406 ,  408  to be coupled to an end  424  (similar to ends  456 ,  458 ) that is moveably coupled to the guide rail  428 . If the rig floor  16  moves in the X-direction (arrows M 31 ), then the bridge rail extensions  406 ,  408  can be moved along the bridge rails  402 ,  404  to compensate for the movement of the rig floor  16  in the X-direction. 
     The bridge rails  402 ,  404  can be moveably coupled at one end  458  to a guide rail  418  and at an opposite end  456  to a guide rail  416 . The ends  456 ,  458 ,  424  coupled to respective guide rails  416 ,  418 ,  428  allow the bridge  90  to move in the X-direction over the horizontal storage area  18  and over the space L 9  that separates the horizontal storage area  18  and the rig floor  16 . With the bridge rails  402 ,  404  positioned over the horizontal storage area  18  and the bridge rail extensions  406 ,  408  slidably coupled to the bridge rails  402 ,  404  and coupled to the rig floor  16  via the guide rail  428 , the pipe handler  400 , via movement of the second bridge rail extensions  466 ,  468  along the bridge rails  402 ,  404  and movement of the pipe handler  400  along the second bridge rail extensions  466 ,  468 , the pipe handler  400  can access the full width of the horizontal storage area  18  and the rig floor  16 . The bridge  90  can move along guide rails  416 ,  418 ,  428  in the X-direction (arrows M 17 ) to access the full length of the horizontal storage area  426 . 
     In  FIG.  31   , the body  401  of the pipe handler  400  has been moved to a right side of the horizontal storage area  18  (or horizontal storage area  426 ), the first bridge rail extensions  406 ,  408  have been extended a distance L 9  past the horizontal storage area  18  to couple to the rig floor  16  via the guide rail  428 . The second bridge rail extensions  466 ,  468  have been extended over the rig floor a desired distance to support access to the rig floor  16  by the pipe handler  400 . 
     Referring to  FIG.  32   , the pipe handler  400  has been moved to the end of the second bridge rail extensions  466 ,  468  to access areas on the rig floor  16  (e.g., well center  82 , another pipe handler, tool storage, etc.) 
     Referring to  FIG.  33   , the second bridge rail extensions  466 ,  468  have been moved along the bridge rails  402 ,  404  to a left side of the horizontal storage area  18 , and the pipe handler  400  has been moved to the left end of the second bridge rail extensions  466 ,  468 . As can be seen, this configuration of extendable bridge rail extensions  406 ,  408 ,  466 ,  468  can allow the pipe handler  400  to access the full horizontal storage area  426  and areas on the rig floor  16 , even with the rig floor being moveable in the X and Y directions. 
     VARIOUS EMBODIMENTS 
     Embodiment 1. A pipe handling system comprising: a bridge disposed in an inclined position, the bridge comprising 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. 
     Embodiment 2. The system of embodiment 1, wherein the arm comprises one or more sensors that measure one or more parameters of the tubular, and wherein the parameters comprise weight, length, diameter, tubular damage, inclination, or combinations thereof. 
     Embodiment 3. The system of embodiment 1, wherein the bridge is inclined from a horizontal storage area to a rig floor. 
     Embodiment 4. The system of embodiment 3, wherein the rig floor is vertically elevated relative to the horizontal storage area. 
     Embodiment 5. The system of embodiment 1, wherein the arm is configured to manipulate the tubular through the space while moving along the bridge. 
     Embodiment 6. The system of embodiment 1, wherein an actuator is configured to rotate the bridge between a horizontal position and the inclined position. 
     Embodiment 7. The system of embodiment 1, wherein the bridge further comprises first and second extension rails which are configured to extend the bridge above a rig floor. 
     Embodiment 8. The system of embodiment 7, wherein the first and second extension rails extend to increase a length of the bridge or retract to decrease the length of the bridge. 
     Embodiment 9. The system of embodiment 7, wherein the first and second extension rails rotate between a stowed position, which decreases a length of the bridge, and a deployed position, which increases the length of the bridge. 
     Embodiment 10. The system of embodiment 7, wherein the first and second extension rails are rigidly attached to an end of the first and second rails, respectively, to increase a length of the bridge. 
     Embodiment 11. The system of embodiment 1, wherein the bridge is disposed in a cutout in a rig floor. 
     Embodiment 12. The system of embodiment 1, further comprising a shuttle that is slidably coupled to the bridge, wherein the shuttle is configured to carry large, bulky, or oddly shaped equipment along the bridge to and from a rig floor. 
     Embodiment 13. The system of embodiment 12, wherein the shuttle is slid along the bridge via a cable drive system. 
     Embodiment 14. The system of embodiment 12, wherein the shuttle is coupled to the arm, and wherein the shuttle is slid along the bridge via movement of the arm along the bridge. 
     Embodiment 15. The system of embodiment 1, wherein a horizontal storage area further comprises a tubular lift, and wherein the tubular lift hoists a tubular from a horizontal orientation to an inclined orientation. 
     Embodiment 16. A pipe handling system comprising: a bridge disposed in an inclined position from a horizontal storage area to a rig floor; a tubular lift positioned in the horizontal storage area and configured to rotate a tubular between a horizontal orientation and an inclined orientation; and an arm coupled to the bridge and configured to move along the bridge, wherein the arm is configured to engage the tubular in the inclined orientation and lift the tubular from the tubular lift or configured to deliver the tubular to the tubular lift in the inclined orientation. 
     Embodiment 17. The system of embodiment 16, wherein the tubular lift comprises one or more sensors that measure one or more parameters of the tubular. 
     Embodiment 18. The system of embodiment 17, wherein the one or more parameters comprise weight, length, diameter, tubular damage, inclination, or combinations thereof. 
     Embodiment 19. The system of embodiment 16, wherein the arm comprises one or more sensors that measure one or more parameters of the tubular, and wherein the parameters comprise weight, length, diameter, tubular damage, inclination, or combinations thereof. 
     Embodiment 20. A method for conducting a subterranean operation, the method comprising: gripping a tubular in a horizontal storage area via an arm coupled to a bridge, the bridge comprising first and second rails with a space therebetween; lifting the tubular from the horizontal storage area and through the space; and moving the tubular along the bridge via the arm, with the bridge being inclined from the horizontal storage area to a rig floor. 
     Embodiment 21. The method of embodiment 20, further comprising delivering the tubular, via the arm, to a well center on the rig floor in a vertical orientation. 
     Embodiment 22. The method of embodiment 21, further comprising spinning the tubular to: connect the tubular to a tubular string at the well center; or connect the tubular to a top drive. 
     Embodiment 23. The method of embodiment 21, further comprising: stabbing the tubular into a stickup at the well center; or stabbing the tubular into a top drive; or handing the tubular to another pipe handler; or storing the tubular in a vertical storage location on the rig floor. 
     Embodiment 24. The method of embodiment 20, further comprising lifting the tubular through the space while moving the tubular along the bridge. 
     Embodiment 25. The method of embodiment 20, wherein the arm comprises a plurality of grippers, and the method further comprises gripping the tubular with the plurality of grippers. 
     Embodiment 26. A method for handling a tubular comprising: 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. 
     Embodiment 27. The method of embodiment 26, further comprising delivering the tubular, via the arm, to the horizontal storage area in a horizontal orientation. 
     Embodiment 28. The method of embodiment 27, further comprising spinning the tubular to: disconnect the tubular from a tubular string at the well center; or disconnect the tubular from a top drive. 
     Embodiment 29. The method of embodiment 27, further comprising: retrieving the tubular from another pipe handler; or retrieving the tubular from a vertical storage location on the rig floor. 
     Embodiment 30. The method of embodiment 26, further comprising moving the tubular through the space while moving the tubular along the bridge. 
     Embodiment 31. The method of embodiment 26, wherein the arm comprises a plurality of grippers, and the method further comprises gripping the tubular with the plurality of grippers. 
     Embodiment 32. A catwalk system comprising: a bridge disposed within a horizontal storage area and coupled to a guide rail; an equipment basket contained within the horizontal storage area, with the equipment basket having an internal storage area; a crane coupled to the bridge, the crane being configured to transport the equipment basket between a first location and an elevated location in the horizontal storage area; and a pipe handler coupled to the bridge and configured to move along the bridge. 
     Embodiment 33. The system of embodiment 32, wherein the pipe handler is configured to access the internal storage area of the equipment basket. 
     Embodiment 34. The system of embodiment 32, wherein the pipe handler is configured to collect equipment from the internal storage area or deposit the equipment into the internal storage area. 
     Embodiment 35. The system of embodiment 34, wherein the equipment comprises a bottom hole assembly, a magazine, a tubular, a tool, a sub, or combinations thereof. 
     Embodiment 36. The system of embodiment 32, wherein the bridge is configured to move from a first bridge position to a second bridge position along the guide rail and over the horizontal storage area. 
     Embodiment 37. The system of embodiment 36, wherein the guide rail comprises first and second guide rails, with the first guide rail positioned proximate to an opposite end of the bridge from the second guide rail. 
     Embodiment 38. The system of embodiment 32, wherein the pipe handler comprises a body coupled to the bridge and an arm rotationally coupled to the body. 
     Embodiment 39. The system of embodiment 38, wherein the arm engages equipment and transports the equipment into or out of the internal storage area. 
     Embodiment 40. The system of embodiment 39, wherein the arm comprises a plurality of grippers. 
     Embodiment 41. The system of embodiment 39, wherein the bridge comprises first and second bridge rails with a space therebetween. 
     Embodiment 42. The system of embodiment 41, wherein the arm transports the equipment through the space. 
     Embodiment 43. The system of embodiment 32, wherein the bridge comprises: first and second bridge rails, with a space therebetween; and first and second bridge rail extensions coupled to the first and second bridge rails, respectively. 
     Embodiment 44. The system of embodiment 43, wherein the pipe handler is coupled to the first and second bridge rail extensions and configured to move along the first and second bridge rail extensions. 
     Embodiment 45. The system of embodiment 44, wherein the first and second bridge rail extensions selectively extend to lengthen the bridge toward a well center on a rig floor or retract to shorten the bridge away from a well center on a rig floor. 
     Embodiment 46. The system of embodiment 44, wherein the first and second bridge rail extensions selectively extend to lengthen the bridge or retract to shorten the bridge. 
     Embodiment 47. The system of embodiment 43, wherein the bridge further comprises first and second additional bridge rail extensions coupled to the first and second bridge rails, respectively. 
     Embodiment 48. The system of embodiment 47, wherein the first and second additional bridge rail extensions selectively extend to lengthen the bridge toward a well center on a rig floor or retract to shorten the bridge away from a well center on a rig floor. 
     Embodiment 49. The system of embodiment 48, wherein the first and second bridge rail extensions move along the first and second bridge rails to allow the pipe handler to access a full length of the bridge when the bridge is extended to or over the rig floor. 
     Embodiment 50. The system of embodiment 32, further comprising a shuttle coupled to a second bridge within the horizontal storage area, the bridge being coupled to the guide rail. 
     Embodiment 51. The system of embodiment 50, wherein engagement of the bridge with the second bridge unlocks the second bridge and enables movement of the second bridge along the guide rail, the movement of the second bridge being driven by the bridge. 
     Embodiment 52. The system of embodiment 50, wherein engagement of the pipe handler with the shuttle unlocks the shuttle and enables movement of the shuttle along the second bridge, the movement of the shuttle being driven by the pipe handler. 
     Embodiment 53. The system of embodiment 52, wherein the shuttle carries large, bulky, or oddly shaped equipment between the horizontal storage area and a rig floor. 
     Embodiment 54. A catwalk system comprising: a first bridge and a second bridge disposed within a horizontal storage area and coupled to a guide rail, with the first bridge and the second bridge configured to move along the guide rail in a first direction; a pipe handler coupled to the first bridge and configured to move along the first bridge in a second direction; and a shuttle coupled to the second bridge and configured to move along the second bridge in the second direction, wherein the pipe handler is configured to selectively couple to the shuttle and drive the shuttle in the second direction. 
     Embodiment 55. The system of embodiment 54, wherein the first bridge is configured to selectively couple to the second bridge and drive the second bridge in the first direction. 
     Embodiment 56. The system of embodiment 54, wherein the first direction is generally perpendicular to the second direction. 
     Embodiment 57. The system of embodiment 54, further comprising a bridge lock configured to prevent movement of the second bridge relative to the guide rail when the bridge lock is engaged. 
     Embodiment 58. The system of embodiment 57, wherein when the first bridge couples to the second bridge, the first bridge disengages the bridge lock and allows the second bridge to move relative to the guide rail. 
     Embodiment 59. The system of embodiment 54, further comprising a shuttle lock configured to prevent movement of the shuttle relative to the second bridge when the shuttle lock is engaged. 
     Embodiment 60. The system of embodiment 57, wherein when the pipe handler couples to the shuttle, the pipe handler disengages the shuttle lock and allows the shuttle to move relative to the second bridge. 
     Embodiment 61. A method of operating an equipment handling system comprising: lifting an equipment basket, via a crane coupled to a bridge, from a first storage location in a horizontal storage area; transporting the equipment basket to an elevated storage location in the horizontal storage area; gripping, via an arm coupled to the bridge, equipment in an internal storage area of the equipment basket; lifting, via the arm, the equipment from the equipment basket; and transporting the equipment, via the arm, to a well center on a rig floor. 
     Embodiment 62. The method of embodiment 61, further comprising transporting the equipment basket to an elevated storage location in the horizontal storage area; and then lifting, via the arm, the equipment from the equipment basket. 
     Embodiment 63. The method of embodiment 62, further comprising: moving the tubular along the bridge from the horizontal storage area to the rig floor via the arm; and delivering the tubular, via the arm, to the well center in a vertical, inclined, or horizontal orientation. 
     Embodiment 64. The method of embodiment 62, further comprising: moving the tubular along the bridge from the horizontal storage area to the rig floor via the arm; delivering the tubular, via the arm, to the rig floor proximate the well center in a horizontal orientation; releasing the tubular into a holder on the rig floor in the horizontal orientation; and then engaging and lifting the tubular from the holder on the rig floor via a second pipe handler. 
     Embodiment 65. The method of embodiment 62, further comprising: during the transporting of the tubular, moving the tubular, via the arm, through a space between first and second bridge rails of the bridge. 
     Embodiment 66. The method of embodiment 62, wherein transporting the equipment basket further comprises translating the bridge along a guide rail from a first bridge position to a second bridge position wherein the second bridge position is spaced apart from the first bridge position. 
     Embodiment 67. The method of embodiment 62, further comprising: moving the tubular from a first horizontal position associated with a pick-up position through a vertical position and to a second horizontal position associated with a delivered position. 
     Embodiment 68. The method of embodiment 67, wherein the delivered position is on the rig floor. 
     Embodiment 69. The method of embodiment 62, further comprising: translating the arm along at least a portion of a length of the bridge while rotating the tubular from a first horizontal position, through a vertical position, to a second horizontal position. 
     Embodiment 70. The method of embodiment 69, wherein the first horizontal position is in the equipment basket and the second horizontal position is on or above the rig floor. 
     Embodiment 71. The method of embodiment 69, wherein the second horizontal position is in the equipment basket and the first horizontal position is on or above the rig floor. 
     Embodiment 72. A catwalk system comprising: a guide rail; a bridge disposed over a horizontal storage area, coupled to a guide rail, and configured to move along the guide rail in a first direction, with one end of the bridge configured to couple to a rig floor and the bridge configured to move in a second direction with the rig floor when the rig floor moves relative to the horizontal storage area; and a pipe handler coupled to the bridge and configured to move along the bridge in the second direction. 
     Embodiment 73. The catwalk system of embodiment 72, wherein the first direction is substantially perpendicular to the second direction. 
     Embodiment 74. The catwalk system of embodiment 72, wherein the pipe handler transports equipment between the horizontal storage area and the rig floor or equipment on the rig floor. 
     Embodiment 75. The catwalk system of embodiment 72, wherein the guide rail comprises first and second guide rails, and wherein the first guide rail is positioned along one side of the horizontal storage area and the second guide rail is positioned along a side of the rig floor, the rig floor being positioned on an opposite side of the horizontal storage area, and the second guide rail is configured to move with the rig floor when the rig floor moves. 
     Embodiment 76. The catwalk system of embodiment 72, wherein the guide rail comprises first and second guide rails, and wherein the first guide rail is positioned along one side of the horizontal storage area and the second guide rail is positioned along an opposite side of the horizontal storage area. 
     Embodiment 77. The catwalk system of embodiment 76, wherein the bridge comprises first and second bridge rails, with a space therebetween, and wherein the pipe handler transports equipment through the space. 
     Embodiment 78. The catwalk system of embodiment 77, wherein the bridge further comprises first and second bridge rail extensions, wherein the first and second bridge rail extensions are moveably coupled to the first and second bridge rails, respectively, and wherein the pipe handler is moveably coupled to the first and second bridge rail extensions. 
     Embodiment 79. The catwalk system of embodiment 78, wherein the first and second bridge rail extensions selectively extend toward the rig floor or away from the rig floor to selectively allow the pipe handler access to the rig floor or the rig floor equipment. 
     Embodiment 80. The catwalk system of embodiment 78, wherein the bridge further comprises third and fourth bridge rail extensions that are moveably coupled to the first and second bridge rails and moveably coupled to the first and second bridge rail extensions. 
     Embodiment 81. The catwalk system of embodiment 80, wherein the guide rail further comprises a third guide rail, wherein the third guide rail is positioned along a side of the rig floor, the rig floor being positioned on an opposite side of the horizontal storage area, and the third guide rail is configured to move with the rig floor when the rig floor moves. 
     Embodiment 82. The catwalk system of embodiment 81, wherein the third and fourth bridge rail extensions move relative to the first and second bridge rails when the rig floor moves relative to the horizontal storage area. 
     Embodiment 83. A catwalk system comprising: a bridge disposed in a horizontal orientation above a horizontal storage area; a tubular lift system configured to transport a tubular in a horizontal orientation between the horizontal storage area and an intermediate storage location; and a pipe handler moveably coupled to the bridge, the pipe handler configured to transport the tubular between the intermediate storage location and a rig floor. 
     Embodiment 84. The system of embodiment 83, wherein the bridge comprises first and second bridge rails with a space between. 
     Embodiment 85. The system of embodiment 84, wherein pipe handler is configured to transport the tubular through the space while the tubular is being transported along the bridge. 
     Embodiment 86. The system of embodiment 83, wherein the tubular lift system is configured to simultaneously lift multiple tubulars in a horizontal orientation. 
     Embodiment 87. The system of embodiment 83, wherein the intermediate storage location comprises a longitudinal groove, and wherein the tubular lift system is configured to deliver the tubular to or receive the tubular from the longitudinal groove. 
     Embodiment 88. The system of embodiment 87, wherein the pipe handler is further configured to engage the tubular in the longitudinal groove and lift the tubular from the longitudinal groove, or deliver the tubular to the longitudinal groove and disengage from the tubular. 
     Embodiment 89. The system of embodiment 83, wherein the tubular lift system comprises a front lift system and a rear lift system, wherein the front lift system is configured to transport multiple tubulars in a horizontal orientation between a first portion of the horizontal storage area and the intermediate storage location, and wherein the rear lift system is configured to transport multiple tubulars in a horizontal orientation between a second portion of the horizontal storage area and the intermediate storage location. 
     Embodiment 90. The system of embodiment 89, wherein the front lift system delivers one of the multiple tubulars into a longitudinal groove of the intermediate storage location from a first side of the intermediate storage location, and wherein the rear lift system delivers one of the multiple tubulars into the longitudinal groove from a second side of the intermediate storage location. 
     Embodiment 91. The system of embodiment 90, wherein the first side and the second side are opposite sides of the intermediate storage location. 
     Embodiment 92. The system of embodiment 83, wherein the intermediate storage location comprises: a longitudinal groove that receives the tubular; and one or more sensors that measure a parameter of the tubular that is present in the longitudinal groove. 
     Embodiment 93. The system of embodiment 92, wherein the parameter comprises weight, length, diameter, tubular damage, or combinations thereof. 
     Embodiment 94. The system of embodiment 83, wherein the pipe handler is further configured to lift the tubular from the intermediate storage location, rotate the tubular from the horizontal orientation to a vertical orientation, and deliver the tubular to a well center on the rig floor in the vertical orientation. 
     Embodiment 95. The system of embodiment 94, wherein the pipe handler is further configured to spin the tubular into connection with a tubular string at the well center. 
     Embodiment 96. The system of embodiment 83, wherein the pipe handler is further configured to spin the tubular to disconnect the tubular from a tubular string at a well center. 
     Embodiment 97. The system of embodiment 96, wherein the pipe handler is further configured to rotate the tubular from a vertical orientation at a well center to the horizontal orientation and deliver the tubular to the intermediate storage location in the horizontal orientation. 
     Embodiment 98. The system of embodiment 83, wherein the bridge comprises first and second bridge rails, with first and second bridge rail extensions coupled to the respective first and second bridge rails to extend the bridge over the rig floor. 
     Embodiment 99. The system of embodiment 98, wherein the first and second bridge rail extensions are coupled to the rig floor. 
     Embodiment 100. The system of embodiment 83, wherein the tubular lift system comprises a plurality of lift actuators carried by left and right vertical conveyances that are configured to transport multiple tubulars between the horizontal storage area and the intermediate storage location in a horizontal orientation. 
     Embodiment 101. A tubular handling system comprising: a bridge disposed in a horizontal position proximate a drill floor, the bridge comprising first and second bridge rails with a space between; an arm coupled to the first and second bridge rails, the arm configured to manipulate a tubular through the space between the first and second bridge rails and to move back and forth along the bridge; and a tubular lift system that raises or lowers the tubular in a horizontal orientation between a horizontal storage and an intermediate storage location, the arm being configured to collect the tubular from the intermediate storage location and present the tubular to a well center on the drill floor or collect the tubular from the well center and deposit the tubular in the intermediate storage location. 
     Embodiment 102. The system of embodiment 101, wherein the tubular lift system comprises left and right vertically oriented conveyances, and wherein each of the left and right vertically oriented conveyances comprise multiple actuators that cooperate together to raise or lower the tubular in the horizontal orientation between the horizontal storage and the intermediate storage. 
     Embodiment 103. The system of embodiment 102, wherein the multiple actuators of the left and right vertically oriented conveyances simultaneously raise or lower one or more tubulars. 
     Embodiment 104. The system of embodiment 101, wherein the tubular lift system comprises a front lift system and a rear lift system, wherein the front lift system is configured to vertically transport multiple tubulars in the horizontal orientation between a first portion of a horizontal storage area and an intermediate storage location, and wherein the rear lift system is configured to transport multiple tubulars in the horizontal orientation between a second portion of the horizontal storage area and the intermediate storage location. 
     Embodiment 105. The system of embodiment 104, wherein the front lift system delivers the tubular into a longitudinal groove of the intermediate storage location from a first side of the intermediate storage location, and wherein the rear lift system delivers the tubular into the longitudinal groove from a second side of the intermediate storage location. 
     Embodiment 106. The system of embodiment 105, wherein the first side and the second side are opposite sides of the intermediate storage location. 
     Embodiment 107. The system of embodiment 101, wherein the intermediate storage location comprises: a longitudinal groove that receives the tubular; and one or more sensors that measure a parameter of the tubular that is present in the longitudinal groove. 
     Embodiment 108. The system of embodiment 107, wherein the parameter comprises weight, length, diameter, tubular damage, or combinations thereof. 
     Embodiment 109. A method for handling a tubular comprising: lifting a tubular, via a vertically oriented tubular lift system, from a horizontal storage area to an intermediate storage location while maintaining the tubular in a horizontal orientation; engaging the tubular at the intermediate storage location with a pipe handler; transporting the tubular, via the pipe handler, along a bridge to a rig floor; rotating the tubular, via the pipe handler, from the horizontal orientation to a vertical orientation; and presenting, via the pipe handler, the tubular in the vertical orientation to a well center. 
     Embodiment 110. The method of embodiment 109, wherein the rotating of the tubular further comprises moving the tubular through a space between first and second bridge rails of the bridge. 
     Embodiment 111. The method of embodiment 110, further comprising translating of the pipe handler along the bridge while manipulating the tubular through the space. 
     Embodiment 112. The method of embodiment 109, wherein the lifting the tubular further comprises engaging the tubular with first and second actuators of the vertically oriented tubular lift system and vertically raising the tubular toward the intermediate storage location. 
     Embodiment 113. The method of embodiment 112, further comprising releasing, via the first and second actuators, from the vertically oriented tubular lift system into a longitudinal groove in the intermediate storage location. 
     Embodiment 114. A method for handling a tubular comprising: retrieving, via a pipe handler, a tubular in a vertical orientation from a rig floor; transporting the tubular, via the pipe handler, from the rig floor along a bridge; rotating the tubular, via the pipe handler, from the vertical orientation to a horizontal orientation; disengaging the tubular, via the pipe handler, into an intermediate storage location; and lowering the tubular, via a vertically oriented tubular lift system, from the intermediate storage location to a horizontal storage area while maintaining the tubular in the horizontal orientation. 
     Embodiment 115. The method of embodiment 114, wherein the rotating of the tubular further comprises moving the tubular through a space between first and second bridge rails of the bridge. 
     Embodiment 116. The method of embodiment 115, further comprising translating of the pipe handler along the bridge while manipulating the tubular through the space. 
     Embodiment 117. The method of embodiment 114, wherein the lowering the tubular further comprises engaging the tubular with first and second actuators of the vertically oriented tubular lift system and vertically lowering the tubular toward the horizontal storage area. 
     Embodiment 118. The method of embodiment 117, further comprising releasing, via the first and second actuators, from the vertically oriented tubular lift system into the horizontal storage area. 
     Embodiment 119. A method for handling a tubular comprising: in a horizontal orientation, lifting, via a tubular conveyance, a tubular from a horizontal storage to an intermediate storage location; gripping, via an arm, the tubular in the intermediate storage location, the arm being coupled to a bridge that is disposed in a horizontal orientation, the bridge comprising first and second bridge rails with a space between; lifting, via the arm, the tubular from the intermediate storage location and manipulating the tubular through the space between the first and second bridge rails; and moving, via the arm, the tubular from the intermediate storage location to a well center on a rig floor. 
     While the present disclosure may be susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and tables and have been described in detail herein. However, it should be understood that the embodiments are not intended to be limited to the particular forms disclosed. Rather, the disclosure is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the disclosure as defined by the following appended claims. Further, although individual embodiments are discussed herein, the disclosure is intended to cover all combinations of these embodiments.