Speed control devices for a smart pipeline inspection gauge

1. A pipeline inspection tool, comprising:

a plurality of sections arranged in a line and tethered together via tow links, the plurality of sections including a forward section with a first tow link coupled to a rear side of the first section, the forward section including:

a body with at least one annular cup arranged on the body such that the body is configured to be moved by a compressible product moving through a pipeline; and

a speed control mechanism supported by the body, the speed control mechanism including (i) a contact surface configured to be positioned against an inner surface of the pipeline, (ii) a controller configured to determine when a speed of the body deviates from a predetermined range of speeds, (iii) a first actuator configured to act on the contact surface to adjust the speed of the body when the speed of the body deviates from the predetermined range of speeds, and (iv) a second actuator configured to position the contact surface between (a) a first position in which the contact surface is disposed against the inner surface of the pipeline and (b) a second position in which the contact surface is spaced from the inner surface of the pipeline.

2. The pipeline inspection tool of claim 1 , wherein the second actuator is configured to selectively dispose the contact surface against the inner surface of the pipeline only when the speed of the body deviates from the predetermined range of speeds.

3. The pipeline inspection tool of claim 1 , wherein the contact surface is included on a wheel oriented for rolling contact with the inner surface and, when the speed of the body deviates from the predetermined range, the first actuator is configured to generate a torque on the wheel such that the wheel adjusts the speed of the body towards the predetermined range.

4. The pipeline inspection tool of claim 3 , wherein:

when the speed of the body is below the predetermined range, the first actuator generates the torque on the wheel in a first direction such that the wheel increases the speed of the body, and

when the speed of the body is above the predetermined range, the first actuator generates the torque on the wheel in a second direction such that the wheel decreases the speed of the body.

5. The pipeline inspection tool of claim 4 , wherein the first actuator is a rotary electric machine configured to operate in a drive mode in which the machine generates the torque on the wheel in the first direction and a regenerative mode in which the machine generates the torque on the wheel in the second direction.

6. The pipeline inspection tool of claim 5 , wherein the first actuator includes an electric motor and a brake, the electric motor configured to generate the torque on the wheel in the first direction and the brake configured to generate the torque on the wheel in the second direction.

7. The pipeline inspection tool of claim 1 , wherein:

the contact surface is included on a track mechanism that includes a track and a drive wheel, the track oriented for rolling contact with the inner surface of the pipeline and the drive wheel configured to move the track in a track path, and

when the speed of the body deviates from the predetermined range, the first actuator is configured to generate a torque on the drive wheel such that the track adjusts the speed of the body towards the predetermined range.

8. The pipeline inspection tool of claim 7 , wherein:

when the speed of the body is below the predetermined range, the first actuator generates the torque on the drive wheel in a first direction such that the track increases the speed of the body, and

when the speed of the body is above the predetermined range, the first actuator generates the torque on the drive wheel in a second direction such that the track decreases the speed of the body.

9. The pipeline inspection tool of claim 8 , wherein the first actuator is a rotary electric machine configured to operate in a drive mode in which the machine generates the torque on the drive wheel in the first direction and a regenerative mode in which the machine generates the torque on the drive wheel in the second direction.

10. A method of moving a pipeline inspection tool including a plurality of tethered sections through a pipeline, the method comprising:

positioning the pipeline inspection tool in the pipeline, the pipeline inspection tool including:

a body with at least one annular cup arranged on the body such that the body is configured to be moved by a compressible product moving through the pipeline; and

a speed control mechanism supported by the body, the speed control mechanism including (i) a contact surface, (ii) a controller configured to determine when a speed of the body deviates from a predetermined range of speeds, (iii) a first actuator coupled to the contact surface and configured to act on the contact surface to adjust a speed of the body when the speed of the body deviates from a predetermined range of speeds, and (iv) a second actuator configured to position the contact surface between (a) a first position in which the contact surface is disposed against an inner surface of the pipeline and (b) a second position in which the contact surface is spaced from the inner surface of the pipeline;

determining that the speed of the pipeline inspection tool within the pipeline is less than the predetermined speed;

in response to the speed of the pipeline inspection tool being less than the predetermined speed, driving the second actuator in order to move the contact surface into the first position wherein the contact surface is in engagement with the inner surface of the pipeline, the contact surface included on a forwardmost section of the plurality of tethered sections of the pipeline inspection tool;

driving the first actuator coupled to the contact surface when the contact surface is engaged with the inner surface of the pipeline in order to propel the pipeline inspection tool within the pipeline and increase the speed of the pipeline inspection tool within the pipeline;

determining that the speed of the pipeline inspection tool is greater than the predetermined speed; and

in response to the speed of the pipeline inspection tool being greater than the predetermined speed, driving the second actuator in order to move the contact surface out of engagement with the inner surface of the pipeline.

11. The method of claim 10 wherein the contact surface is provided on a wheel and wherein driving the actuator causes the wheel to rotate.

12. The method of claim 10 wherein the contact surface is provided on a track of a track mechanism that includes the track and a wheel configured to drive the track, and wherein driving the actuator causes the track to rotate.

13. The method of claim 10 wherein the contact surface is provided by a clamp member configured to be clamped against an inner surface of the pipeline, the clamp member supported by a guide member configured to be moved axially relative to the forwardmost section.

14. The method of claim 13 wherein a clamp member and guide member provide a drive mechanism configured execute a movement sequence with the clamp member and the guide member in order to move the forwardmost section past the problematic feature in the pipeline when the forwardmost section stops unexpectedly in the pipeline because of the problematic feature.