Control system and methods for adjusting traction of a pipe navigation apparatus

A pipe navigation system for use in navigating a pipe, said pipe navigation system comprising:

• a tether assembly comprising a tether guide device and a releasable tether coupled to said tether guide device, said tether assembly further comprising a tether sensor configured to detect release of said tether from said tether guide device;
• a navigation apparatus coupled to said tether, said navigation apparatus comprising a body, a wheel, and a traction control assembly coupling said wheel to said body, said traction control assembly configured to adjust a traction force applied by said wheel on the pipe, said navigation apparatus further comprising a traction sensor configured to detect a detected traction force of said navigation apparatus;
• and
• a controller in communication with said tether sensor and said traction sensor, said controller configured to automatically control the traction control assembly based on the detected release of said tether from said tether guide device.

A method for controlling a pipe navigation apparatus in a pipe, said method comprising:

• detecting, by a tether sensor, release of a tether from a tether guide device, the tether extending from the tether guide device to the pipe navigation apparatus;
• detecting, by a traction sensor, a detected traction force between the pipe navigation apparatus and the pipe;
• transmitting the detected traction force and the detected release of the tether to a controller;
• and
• controlling, automatically by the controller, the pipe navigation apparatus to adjust a traction force between the pipe navigation apparatus and the pipe based on the detected release of the tether from the tether guide device.