Geotechnical rig systems and methods

1. A rig for cone penetration testing, the rig comprising:

a frame;

at least one cassette including:

at least one guide channel;

at least one rotatable reel that rotates within the at least one cassette relative to the at least one guide channel; and

at least one docking base that releasably engages to the frame,

wherein the at least one guide channel is configured to facilitate retraction and/or extension of at least one tube relative to the at least one rotatable reel.

2. The rig of claim 1 , further comprising:

at least one continuous track propulsion system.

3. The rig of claim 1 , further comprising:

an umbilical cord.

4. The rig of claim 1 , wherein the at least one cassette is removable.

5. The rig of claim 1 , wherein the frame further comprises a funnel mount, the funnel mount configured to guide the at least one cassette into position.

6. The rig of claim 1 , further comprising:

at least one camera.

7. The rig of claim 1 , further comprising:

at least one proximity sensor.

8. The rig of claim 1 , further comprising:

at least one contact sensor.

9. The rig of claim 1 , wherein the at least one guide channel comprises:

at least one roller.

10. The rig of claim 1 , further comprising:

at least one movable roller opposing at least one idler roller.

11. The rig of claim 1 , further comprising:

at least one radius control system.

12. The rig of claim 1 , wherein the at least one cassette includes a circumference wall that at least partially encloses the at least one rotatable reel.

13. The rig of claim 1 , wherein at least one sensor is positioned on an inside surface of a circumference wall to detect bend radius information associated with the at least one tube.

14. The rig of claim 1 , wherein the at least one cassette includes a sidewall that at least partially encloses the at least one rotatable reel and wherein the at least one tube is extendable and/or retractable via an opening in the sidewall.

15. The rig of claim 1 , wherein the at least one docking base includes at least one protrusion that lockably engages one or more mating recesses within the frame.

16. The rig of claim 1 , further comprising:

at least one drive system configured to extend and/or retract the at least one tube from the at least one cassette.

17. The rig of claim 1 , wherein the at least one guide channel is positioned offset from the at least one rotatable reel.

18. A cone penetration testing system, the system comprising:

a frame; and

a cassette releasably coupled to the frame, the cassette including at least one rotatable reel for tubing and at least one guide channel for the tubing, wherein the at least one rotatable reel rotates within the at least one cassette relative to the at least one guide channel to facilitate retraction and/or extension of the tubing.

19. A device for cone penetration testing, the device comprising:

a cassette including:

at least one guide channel;

at least one rotatable reel for tubing, the at least one rotatable reel configured to rotate relative to the at least one guide channel; and

at least one tube having a cone penetration head, wherein the at least one guide channel is configured to facilitate retraction and/or extension of the at least one tube relative to the at least one rotatable reel,

wherein the cassette is configured to releasably couple to a frame.

20. The cone penetration system of claim 19 , wherein the reel mount comprises a funnel mount.

21. The cone penetration system of claim 19 , wherein the reel mount comprises a conical head.

22. The cone penetration system of claim 19 , wherein the reel mount comprises a head that guidably receives the rotatable reel into locking position.