A differential pipeline geomagnetic distortion defect detection system and method

Abstract

The application discloses a differential pipeline geomagnetic distortion defect detection system and method, and relates to the field of pipeline defect detection.The system comprises a probe module, a motion control and positioning module, and a signal processing and analysis module;the signal processing and analysis module is electrically connected with the probe module and the motion control and positioning module;the probe module comprises at least two atomic magnetometers with consistent performance, and the atomic magnetometers are rigidly connected along the pipeline axial direction at a preset fixed interval;the motion control and positioning module is used for driving the probe module to move synchronously along the pipeline and recording position information;and the signal processing and analysis module is used for processing the probe signal of the probe module and identifying defects.The probe module of the application can effectively suppress common-mode noise through an innovative differential structure design, significantly improve the signal-to-noise ratio and detection sensitivity, and thus realize non-contact, high-precision and quantitative detection of pipeline defects.

Description

Technical Field

[0001] This invention relates to the field of nondestructive testing technology, and in particular to a differential pipeline geomagnetic distortion defect detection system and method. Background Technology

[0002] As a critical facility for transporting important resources such as oil and gas, the structural integrity of pipelines is of paramount importance. Due to long-term exposure to factors such as corrosion, stress fatigue, and mechanical damage, pipeline walls can develop defects such as cracks, pits, and thinning. These defects alter the magnetic permeability of the pipeline, and when placed in the Earth's magnetic field environment, the defective areas can induce localized distortions in the geomagnetic field, known as "magnetic anomalies."

[0003] Traditional pipeline inspection technologies, such as magnetic flux leakage (MFL) and ultrasonic testing (UT), typically require direct contact with the pipe wall or complex coupling operations. For buried or in-service pipelines with insulation layers, this is difficult and costly. Therefore, non-contact, high-sensitivity geomagnetic distortion detection methods have become a promising solution. However, geomagnetic distortion signals are extremely weak, typically on the order of pT or even fT. Traditional fluxgate magnetometers and Hall effect magnetometers lack sufficient sensitivity to effectively capture such signals. Although atomic magnetometers have extremely high theoretical sensitivity, their performance in practical engineering applications is severely limited by the following factors: Environmental magnetic noise interference: Electromagnetic noise generated by power frequency interference, vehicle movement, and power facilities in urban environments is far greater than the defect signal, drowning out effective magnetic anomaly information. Geomagnetic field fluctuations: The geomagnetic field is not absolutely stable; it exhibits background fluctuations that vary with time and space. These fluctuations overlap with the defect signal, making them difficult to separate. Common motion noise: During the movement of the detection system, additional magnetic interference will be generated due to changes in posture, vibration, etc. These interferences are similar in frequency to the defect signal and are difficult to filter out.

[0004] In the existing technology, there is a scheme that uses a single high-sensitivity magnetometer for scanning, but its detection results have a low signal-to-noise ratio, poor ability to identify weak defects, high false alarm rate, and cannot achieve accurate quantification of defects. Summary of the Invention

[0005] This invention provides a differential pipeline geomagnetic distortion defect detection system and method to solve the problems of low signal-to-noise ratio, susceptibility to environmental interference, and inability to accurately quantify defects in existing geomagnetic distortion detection methods.

[0006] In a first aspect, embodiments of the present invention provide a differential pipeline geomagnetic distortion defect detection system, comprising: a probe module, a motion control and positioning module, and a signal processing and analysis module; The signal processing and analysis module is electrically connected to both the probe module and the motion control and positioning module. The probe module includes at least two atomic magnetometer probes with identical performance, which are rigidly connected along the axial direction of the pipe at a preset fixed interval; the motion control and positioning module is used to drive the probe module to move synchronously along the pipe and record position information; the signal processing and analysis module is used to process the probe signals of the probe module and identify defects.

[0007] Optionally, the signal processing and analysis module includes: a differential operation unit, a defect feature extraction unit, and a defect identification and localization unit; the differential operation unit is electrically connected to the defect feature extraction unit, and the defect feature extraction unit is electrically connected to the defect identification and localization unit. The differential operation unit is used to receive probe signals from the two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time; the defect feature extraction unit is used to extract quantization feature parameters from the real-time difference signal; the defect identification and location unit is used to identify defects and determine their locations based on the quantization feature parameters and location information.

[0008] Optionally, the probe signal includes a real-time magnetic field strength signal; The quantized characteristic parameters include magnetic anomaly amplitude, gradient peak value, anomaly width, and anomaly area.

[0009] Optionally, the signal processing and analysis module further includes a noise suppression unit; the noise suppression unit is connected in series between the difference operation unit and the defect feature extraction unit; The noise suppression unit is used to filter the real-time difference signal.

[0010] Optionally, the noise suppression unit includes a bandpass filter; The bandpass filter is used to filter the real-time difference signal.

[0011] Optionally, the atomic magnetometer probe is a spin-free exchange-relaxed atomic magnetometer, an optically pumped atomic magnetometer, or a coherent population-trapped magnetometer.

[0012] Optionally, the preset fixed spacing ranges from 10cm to 50cm.

[0013] Optionally, the motion control and positioning module includes a mobile mounting platform; The mobile mounting platform is used to drive the probe module to move at a constant height and speed along the top or side of the pipeline.

[0014] Secondly, embodiments of the present invention also provide a differential pipeline geomagnetic distortion defect detection method, applicable to the differential pipeline geomagnetic distortion defect detection system described in the first aspect, comprising: The motion control and positioning module is controlled to move the probe module along the pipeline; The signal processing and analysis module is controlled to process the probe signals of the probe module and identify defects.

[0015] Optionally, the signal processing and analysis module includes: a differential operation unit, a defect feature extraction unit, and a defect identification and localization unit; The control signal processing and analysis module processes the probe signals from the probe module and identifies defects, including: The differential operation unit is controlled to receive probe signals from the two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time. The defect feature extraction unit is controlled to extract quantized feature parameters from the real-time difference signal; The defect identification and localization unit is controlled to identify defects and determine their locations based on the quantified feature parameters and location information. The signal processing and analysis module further includes a noise suppression unit, which, after controlling the differential operation unit to receive the probe signals from the two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes, also includes: The noise suppression unit filters the real-time difference signal between the probe signals of the two atomic magnetometer probes.

[0016] The solution in this embodiment has the following beneficial effects: Extremely high common-mode noise suppression capability: The core of this invention lies in the differential measurement principle. Wide-area magnetic noise in the environment (such as power frequency interference and geomagnetic field background fluctuations) is highly correlated in space and can be regarded as a "common-mode signal." When two identical probes move synchronously at a fixed interval, the common-mode noise signals they receive are approximately the same. By calculating the difference between the two probe signals, the common-mode noise is largely canceled out. Magnetic anomalies caused by defects are highly localized, and their magnetic field gradients produce different responses on the two probes, thus being preserved and amplified as "differential-mode signals." This structure fundamentally improves the system's signal-to-noise ratio. Excellent detection sensitivity: Thanks to the inherent high sensitivity of the atomic magnetometer and the effective noise suppression of the differential structure, the system can detect extremely weak magnetic anomalies on the order of petabytes (pT) or even femts (fT), thereby enabling the discovery of earlier and smaller pipeline defects and achieving preventative maintenance. Effective elimination of common motion noise: Magnetic interference generated by vibration and tilt during system movement is also common-mode for rigidly connected differential probe pairs, and will be canceled out by differential operations, ensuring signal stability under dynamic detection. Achieving quantitative defect assessment: The system can not only detect the presence or absence of defects, but also analyze the amplitude, gradient, and morphology of the differential signal and compare it with a pre-established defect database to achieve a preliminary quantitative assessment of defect type (such as corrosion, cracks) and severity, providing more accurate data support for maintenance decisions. Non-contact and high-efficiency: The entire detection process does not require contact with the pipe surface, nor does it require stripping the insulation layer or excavating the soil, making it particularly suitable for rapid general surveys and accurate detection of in-service pipelines, greatly reducing detection costs and operational risks.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a differential pipeline geomagnetic distortion defect detection system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a probe module provided in an embodiment of the present invention; Figure 3This is a schematic diagram of another differential pipeline geomagnetic distortion defect detection system provided in an embodiment of the present invention; Figure 4 This is a comparison diagram of the response waveforms of a single probe signal and a differential signal above a defect, provided in an embodiment of the present invention. Figure 5 This is a flowchart of a differential pipeline geomagnetic distortion defect detection method provided by an embodiment of the present invention; Figure 6 This is a flowchart of another differential pipeline geomagnetic distortion defect detection method provided by an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Figure 1 This is a schematic diagram of a differential pipeline geomagnetic distortion defect detection system provided in an embodiment of the present invention. (Refer to...) Figure 1 The system includes: a probe module 100, a motion control and positioning module 200, and a signal processing and analysis module 300; the signal processing and analysis module 300 is electrically connected to both the probe module 100 and the motion control and positioning module 200; the probe module 100 includes at least two atomic magnetometer probes with identical performance, which are rigidly connected along the axial direction of pipe A at a preset fixed distance D; the motion control and positioning module 200 is used to drive the probe module 100 to move synchronously along pipe A and record position information; the signal processing and analysis module 300 is used to process the probe signals of the probe module 100 and identify defects.

[0023] Figure 2 This is a schematic diagram of the structure of a probe module provided in an embodiment of the present invention. For details, please refer to... Figure 2 The probe module 100 includes at least two identical atomic magnetometer probes, namely a first probe 110 and a second probe 120. The two probes are rigidly connected at a predetermined fixed distance D along a direction parallel to the axis of pipe A, forming a differential probe pair. Exemplarily, the first probe 110 integrates an atomic gas chamber, a heating assembly, a pump optics module, and a detection optics module. The atomic gas chamber is located in the central region of the first probe 110. The heating assembly is tightly enclosed around the atomic gas chamber, providing it with a constant temperature environment. The pump optics module is located on the side of the atomic gas chamber. The detection optics module is located on the front of the atomic gas chamber, with a glass window on its outer side. The second probe 120 has the same structure as the first probe.

[0024] The preset fixed spacing D is optimized based on the typical defect size and geomagnetic field gradient characteristics of the pipe A being measured, and is usually set between 10 cm and 50 cm. The atomic magnetometer probe can be a spin-free exchange relaxation (SERF) state atomic magnetometer, an optically pumped atomic magnetometer, or a coherent population trapping (CPT) magnetometer.

[0025] The solution in this embodiment has the following beneficial effects: Extremely high common-mode noise suppression capability: The core of this invention lies in the differential measurement principle. Wide-area magnetic noise in the environment (such as power frequency interference and geomagnetic field background fluctuations) is highly correlated in space and can be regarded as a "common-mode signal." When two identical probes move synchronously at a fixed interval, the common-mode noise signals they receive are approximately the same. By calculating the difference between the two probe signals, the common-mode noise is largely canceled out. Magnetic anomalies caused by defects are highly localized, and their magnetic field gradients produce different responses on the two probes, thus being preserved and amplified as "differential-mode signals." This structure fundamentally improves the system's signal-to-noise ratio. Excellent detection sensitivity: Thanks to the inherent high sensitivity of the atomic magnetometer and the effective noise suppression of the differential structure, the system can detect extremely weak magnetic anomalies on the order of petabytes (pT) or even femts (fT), thereby enabling the discovery of earlier and smaller pipeline defects and achieving preventative maintenance. Effective elimination of common motion noise: Magnetic interference generated by vibration and tilt during system movement is also common-mode for rigidly connected differential probe pairs, and will be canceled out by differential operations, ensuring signal stability under dynamic detection. Achieving quantitative defect assessment: The system can not only detect the presence or absence of defects, but also analyze the amplitude, gradient, and morphology of the differential signal and compare it with a pre-established defect database to achieve a preliminary quantitative assessment of defect type (such as corrosion, cracks) and severity, providing more accurate data support for maintenance decisions. Non-contact and high-efficiency: The entire detection process does not require contact with the pipe surface, nor does it require stripping the insulation layer or excavating the soil, making it particularly suitable for rapid general surveys and accurate detection of in-service pipelines, greatly reducing detection costs and operational risks.

[0026] Figure 3 This is a schematic diagram of another differential pipeline geomagnetic distortion defect detection system provided in an embodiment of the present invention. Optionally, based on the above embodiment, refer to... Figure 3 The signal processing and analysis module 300 includes: a differential operation unit 310, a defect feature extraction unit 330, and a defect identification and localization unit 340; the differential operation unit 310 is electrically connected to the defect feature extraction unit 330, and the defect feature extraction unit 330 is electrically connected to the defect identification and localization unit 340; the differential operation unit 310 is used to receive probe signals from two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time; the defect feature extraction unit 330 is used to extract quantization feature parameters from the real-time difference signal; the defect identification and localization unit 340 is used to identify defects and determine their locations based on the quantization feature parameters and location information.

[0027] Understandably, the differential operation unit 310 receives real-time magnetic field strength signals B1(t) and B2(t) from the first probe 110 and the second probe 120, respectively, and calculates their difference. .

[0028] Specifically, when the system passes through a defect in pipe A, the geomagnetic field background is distorted at the defect location, generating a local magnetic anomaly. The first probe 110 and the second probe 120, due to their different spatial positions, will sense this magnetic anomaly sequentially. Due to the localized nature of the defect, the magnetic field change curves B1(t) and B2(t) sensed by the two probes differ in amplitude and phase. The signal processing and analysis module 300 acquires B1(t) and B2(t) in real time. Its internal differential operation unit first calculates the differential signal ΔB(t). This process can be expressed as: Wherein, B_background represents the static background of the geomagnetic field, B_noise(t) represents the environmental noise, and B_defect1(t) and B_defect2(t) represent the defect signals. The static background of the geomagnetic field and the environmental noise are effectively canceled out as common-mode signals, and the difference between the defect signals B_defect1(t) and B_defect2(t) is highlighted. Figure 4 This is a comparison diagram of the response waveforms of a single probe signal and a differential signal above a defect, provided in an embodiment of the present invention. Figure 4 As shown, compared to the broad and gentle magnetic anomaly signal measured by a single probe, the differential signal ΔB(t) exhibits a sharp peak with alternating positive and negative peaks. This waveform characteristic is obvious and easier to identify. The defect feature extraction unit 330 calculates parameters such as the peak value (corresponding to the maximum value of the magnetic field gradient), the zero-crossing point (corresponding to the defect center), the half-maximum width (related to the defect size), and the area under the curve (related to the defect magnetic moment). Finally, the defect identification and localization unit 340 fuses the extracted feature parameters with the precise location information provided by the motion control and localization module 200. By comparing the feature parameters with a pre-established "defect feature-type / size" mapping database established through experiments or simulations, the system can determine the type of defect (such as pitting or cracks) and estimate its equivalent size or depth, while accurately marking the defect location on the pipeline map, achieving high detection accuracy.

[0029] Optionally, based on the above embodiments, the probe signal includes a real-time magnetic field strength signal; the quantized characteristic parameters include magnetic anomaly amplitude, gradient peak value, anomaly width, and anomaly area.

[0030] Optionally, based on the above embodiments, the signal processing and analysis module 300 further includes a noise suppression unit 320; the noise suppression unit 320 is connected in series between the differential operation unit 310 and the defect feature extraction unit 330; the noise suppression unit 320 is used to filter the real-time difference signal.

[0031] Understandably, the noise suppression unit 320 performs subsequent processing on ΔB(t), and the processed pure differential signal is sent to the defect feature extraction unit 330.

[0032] Specifically, the noise suppression unit can be used to perform bandpass filtering and adaptive filtering on the differential signal ΔB(t) to further suppress residual noise, thereby further improving detection accuracy.

[0033] Optionally, based on the above embodiments, the noise suppression unit 320 includes a bandpass filter; the bandpass filter is used to filter the real-time difference signal.

[0034] For example, a bandpass filter that matches the frequency of a typical pipeline defect can be used, and an adaptive filtering algorithm (such as the LMS algorithm) can be used to further suppress residual interference at specific frequencies, thereby further improving detection accuracy.

[0035] Optionally, based on the above embodiments, the atomic magnetometer probe is a spin-free exchange relaxation atomic magnetometer, an optically pumped atomic magnetometer, or a coherent population trapping magnetometer.

[0036] Optionally, based on the above embodiments, the value range of the preset fixed spacing D is 10cm to 50cm.

[0037] Optionally, based on the above embodiments, the motion control and positioning module 200 includes a mobile mounting platform; the mobile mounting platform is used to drive the probe module 100 to move at a constant height and speed along the top or side of the pipe A.

[0038] In one embodiment, when inspecting a buried oil pipeline, two SERF atomic magnetometers were selected as probes, with a fixed spacing D of 30 cm. The inspection platform moved along the pipeline at a speed of 0.5 m / s. During data processing, a typical gradient peak with a peak value of ΔB(t) was found at a certain location. After comparison with the database, this feature was identified as a corrosion pit with an equivalent diameter of approximately 5 mm and a depth of approximately 2 mm. Subsequent excavation verification confirmed the accuracy of the inspection results.

[0039] Figure 5 This is a flowchart of a differential pipeline geomagnetic distortion defect detection method provided by an embodiment of the present invention, applicable to the differential pipeline geomagnetic distortion defect detection system of any of the above embodiments. (Refer to...) Figure 5 The method includes the following steps: S510, the motion control and positioning module 200 drives the probe module 100 to move along the pipeline A.

[0040] It should be noted that before step S510, the probe module 100 needs to be placed near the pipe and the system needs to be started. While the motion control and positioning module 200 moves the probe module 100 along the pipe A, the first probe 110 and the second probe 120 continuously measure the magnetic field strength B1(t) and B2(t) at their respective locations.

[0041] S520, the control signal processing and analysis module 300 processes the probe signals of the probe module 100 and identifies defects.

[0042] Figure 6 This is a flowchart of another differential pipeline geomagnetic distortion defect detection method provided by an embodiment of the present invention. Optionally, based on the above embodiment, the signal processing and analysis module 300 includes: a differential operation unit 310, a defect feature extraction unit 330, and a defect identification and localization unit 340; Reference Figure 6 Step S520 includes: S521, the differential operation unit 310 receives the probe signals from the two atomic magnetometer probes in real time and calculates the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time.

[0043] S522, the control defect feature extraction unit 330 extracts quantization feature parameters from the real-time difference signal.

[0044] S523, the defect identification and location unit 340 identifies defects and determines their location based on quantified feature parameters and location information.

[0045] Understandably, the differential processing unit 310 calculates the difference between the two probe signals in real time. It can suppress common-mode noise. The defect feature extraction unit 330 can extract the feature parameters of magnetic anomalies from the differential signal. The defect identification and positioning unit 340 can compare the feature parameters with the preset defect feature database, identify the defect type and assess its severity, and accurately locate the defect by combining the location information.

[0046] The signal processing and analysis module 300 also includes a noise suppression unit 320. After the control signal processing and analysis module 300 calculates the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time, it also includes: controlling the noise suppression unit 320 to filter the real-time difference signal between the probe signals of the two atomic magnetometer probes.

[0047] Understandably, the noise suppression unit 320 filters the differential signal ΔB(t), which can further suppress noise and improve detection accuracy.

[0048] The differential pipeline geomagnetic distortion defect detection method provided in this embodiment is applicable to the differential pipeline geomagnetic distortion defect detection system provided in the above embodiments and has the same beneficial effects. For contents not described in detail in this embodiment, please refer to the differential pipeline geomagnetic distortion defect detection system provided in the above embodiments.

[0049] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0050] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A differential pipeline geomagnetic distortion defect detection system, characterized in that, include: The module consists of a probe module, a motion control and positioning module, and a signal processing and analysis module. The signal processing and analysis module is electrically connected to both the probe module and the motion control and positioning module. The probe module includes at least two atomic magnetometer probes with identical performance, which are rigidly connected along the axial direction of the pipe at a preset fixed interval; the motion control and positioning module is used to drive the probe module to move synchronously along the pipe and record position information; the signal processing and analysis module is used to process the probe signals of the probe module and identify defects.

2. The differential pipeline geomagnetic distortion defect detection system according to claim 1, characterized in that, The signal processing and analysis module includes: a differential operation unit, a defect feature extraction unit, and a defect identification and localization unit; the differential operation unit is electrically connected to the defect feature extraction unit, and the defect feature extraction unit is electrically connected to the defect identification and localization unit. The differential operation unit is used to receive probe signals from the two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time; the defect feature extraction unit is used to extract quantization feature parameters from the real-time difference signal; the defect identification and location unit is used to identify defects and determine their locations based on the quantization feature parameters and location information.

3. The differential pipeline geomagnetic distortion defect detection system according to claim 2, characterized in that, The probe signal includes a real-time magnetic field strength signal; The quantized characteristic parameters include magnetic anomaly amplitude, gradient peak value, anomaly width, and anomaly area.

4. The differential pipeline geomagnetic distortion defect detection system according to claim 2, characterized in that, The signal processing and analysis module further includes a noise suppression unit; the noise suppression unit is connected in series between the difference operation unit and the defect feature extraction unit. The noise suppression unit is used to filter the real-time difference signal.

5. The differential pipeline geomagnetic distortion defect detection system according to claim 4, characterized in that, The noise suppression unit includes a bandpass filter; The bandpass filter is used to filter the real-time difference signal.

6. The differential pipeline geomagnetic distortion defect detection system according to claim 1, characterized in that, The atomic magnetometer probe is a spin-free exchange-relaxed atomic magnetometer, an optically pumped atomic magnetometer, or a coherent population-trapped magnetometer.

7. The differential pipeline geomagnetic distortion defect detection system according to claim 1, characterized in that, The preset fixed spacing ranges from 10cm to 50cm.

8. The differential pipeline geomagnetic distortion defect detection system according to claim 1, characterized in that, The motion control and positioning module includes a mobile mounting platform; The mobile mounting platform is used to drive the probe module to move at a constant height and speed along the top or side of the pipeline.

9. A differential pipeline geomagnetic distortion defect detection method, applicable to the differential pipeline geomagnetic distortion defect detection system according to any one of claims 1-8, characterized in that, include: The motion control and positioning module is controlled to move the probe module along the pipeline; The signal processing and analysis module is controlled to process the probe signals of the probe module and identify defects.

10. The differential pipeline geomagnetic distortion defect detection method according to claim 9, characterized in that, The signal processing and analysis module includes: a differential operation unit, a defect feature extraction unit, and a defect identification and localization unit; The control signal processing and analysis module processes the probe signals from the probe module and identifies defects, including: The differential operation unit is controlled to receive probe signals from the two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes in real time. The defect feature extraction unit is controlled to extract quantized feature parameters from the real-time difference signal; The defect identification and localization unit is controlled to identify defects and determine their locations based on the quantified feature parameters and location information. The signal processing and analysis module further includes a noise suppression unit, which, after controlling the differential operation unit to receive the probe signals from the two atomic magnetometer probes in real time and calculate the real-time difference signal between the probe signals of the two atomic magnetometer probes, also includes: The noise suppression unit filters the real-time difference signal between the probe signals of the two atomic magnetometer probes.

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