CN111262635B - Sound wave communication method for oil-water well - Google Patents
Sound wave communication method for oil-water well Download PDFInfo
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- CN111262635B CN111262635B CN202010044385.7A CN202010044385A CN111262635B CN 111262635 B CN111262635 B CN 111262635B CN 202010044385 A CN202010044385 A CN 202010044385A CN 111262635 B CN111262635 B CN 111262635B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 46
- 238000004891 communication Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 19
- 235000019198 oils Nutrition 0.000 claims abstract description 48
- 235000019476 oil-water mixture Nutrition 0.000 claims abstract description 17
- 239000000919 ceramic Substances 0.000 claims description 24
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 13
- 239000002184 metal Substances 0.000 claims description 10
- 239000004568 cement Substances 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 239000011435 rock Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 3
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 239000000969 carrier Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 3
- 230000000737 periodic effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000003129 oil well Substances 0.000 description 2
- 102100029469 WD repeat and HMG-box DNA-binding protein 1 Human genes 0.000 description 1
- 101710097421 WD repeat and HMG-box DNA-binding protein 1 Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
- E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
- E21B47/16—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the drill string or casing, e.g. by torsional acoustic waves
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
- E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
- E21B47/18—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/382—Monitoring; Testing of propagation channels for resource allocation, admission control or handover
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Geophysics (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- Remote Sensing (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Transducers For Ultrasonic Waves (AREA)
Abstract
The invention discloses a self-adaptive sound wave communication method for an oil-water well. A sending device and a receiving device of sound waves/ultrasonic waves are respectively arranged at a wellhead and underground, water or an oil-water mixture in an oil-water well, an oil pipe and a sleeve are used as transmission media, the sound waves or the ultrasonic waves are used as information carriers, the sending device modulates information in the sound waves or the ultrasonic waves and transmits the information to the underground, and the receiving device receives and demodulates the information through a sensor to realize the transmission of the information from the wellhead to the underground. The method can be effectively used for automatic application of oil exploitation and has good application prospect.
Description
Technical Field
The invention relates to a sound wave or ultrasonic wave communication method, in particular to a sound wave communication method used in an oil-water well.
Background
Oil is buried deep in the ground up to several kilometers, and as an important strategic resource controls economic life-lines in various countries of the world. At present, the difficulty of oil exploitation is increasing day by day, reliable wireless communication is realized in an oil-water well, underground instruments and production equipment are conveniently controlled, and the wireless communication is an important factor for improving the exploitation efficiency. The traditional communication mode of the oil-water well mainly adopts a wired cable transmission mode, and the cable is easy to wear and is difficult to arrange in the working process, the equipment maintenance cost is high, and the expansion compatibility is poor. Therefore, the adoption of the underground wireless communication technology based on the sound wave or the ultrasonic wave has important practical significance.
Disclosure of Invention
In order to solve the problems in the background art, the invention discloses a self-adaptive sound wave communication method for an oil-water well. A communication method for transmitting information from well head to underground is realized by using sound wave or ultrasonic wave as information carrier, using oil-water well with macroscopic periodic structure as transmission channel, and placing transmitting and receiving devices at well head and underground respectively. Can be effectively used for the automatic communication of oil exploitation.
The technical scheme adopted by the invention comprises the following steps:
the oil-water well comprises an oil pipe and a casing pipe, wherein the cement sheath is sleeved in the rock stratum, the casing pipe is coaxially sleeved in the cement sheath, the oil pipe is coaxially sleeved in the casing pipe, the oil pipe is formed by coaxially and sequentially connecting a plurality of sub pipes along the upper part and the lower part, the ports of the adjacent sub pipes are coaxially and fixedly connected through a coupling, and the upper coupling and the lower coupling are arranged at unequal intervals; the transmitting device is arranged in the sub-pipe which extends out of the uppermost end above the ground, the outer side wall of one sub-pipe below the ground is locally thickened to form a metal cavity, the receiving device is arranged in the metal cavity and is filled with non-conductive liquid, and the non-conductive liquid filled in the metal cavity is not communicated with external water or oil-water mixture; the method comprises the following steps:
(1) before communication, filling water or an oil-water mixture in the oil pipe and an inner cavity between the oil pipe and the sleeve, controlling the sending device to select an initial frequency to send out sound waves or ultrasonic waves, transmitting the sound waves or the ultrasonic waves to the receiving device along the oil pipe, the sleeve and the water or the oil-water mixture in the oil pipe and the sleeve, and receiving by the receiving device to obtain a receiving signal;
(2) repeating the step (1) for multiple measurements, adopting different frequencies each time, and analyzing and processing the transmitting signals used in the multiple measurements by using the acoustic characteristics obtained by the measurement to obtain the final transmitting working frequency;
the acoustic characteristics of the oil-water well caused by the quasi-periodic coupling are measured by the transmitting device, the transmitting working frequency is obtained according to the frequency band with smaller loss in the obtained acoustic characteristics, the sound wave or the ultrasonic wave with the communication information modulated on the transmitting working frequency is transmitted to the oil-water well, and the sound wave or the ultrasonic wave is received by the receiving device to finish the self-adaptive communication.
(3) The sending device is controlled to send out sound waves or ultrasonic waves at the emission working frequency, the sound waves or the ultrasonic waves are modulated with communication information, the sound waves or the ultrasonic waves are transmitted to the receiving device along the oil pipe, the sleeve and water or oil-water mixture in the oil pipe and the sleeve, the receiving device receives and obtains receiving signals, and the receiving signals are demodulated to obtain the communication information.
The receiving device receives signals by adopting a broadband or multiband sound wave or ultrasonic sensor and demodulates information.
The invention uses the sound wave or ultrasonic wave in the oil well two-dimensional sound wave guide composed of a multi-layer columnar structure consisting of water or oil-water mixture in the oil pipe, the sleeve, the water or oil-water mixture between the oil pipe and the sleeve and a cement sheath outside the sleeve to carry out communication, and uses the oil-water well as the oil well two-dimensional sound wave guide to carry out sound wave transmission communication.
The transmitting device comprises a transmitting single chip microcomputer, a transmitting sound wave amplifier, a transmitting piezoelectric ceramic element and a transmitting real-time clock, wherein the output end of the transmitting single chip microcomputer is connected with the transmitting piezoelectric ceramic element after passing through the transmitting sound wave amplifier, and the transmitting single chip microcomputer is connected with the transmitting real-time clock; the control signal is input to the sending singlechip, amplified by the sending sound wave amplifier and then input to the sending piezoelectric ceramic element, and the sending piezoelectric ceramic element is controlled to send out vibration ultrasonic waves with set frequency; the output end of the transmitting sound wave amplifier is led out at the same time and then grounded through a matched load;
the receiving device comprises a receiving single chip microcomputer, a receiving sound wave amplifier, a receiving piezoelectric ceramic element and a receiving real-time clock, wherein the output end of the receiving piezoelectric ceramic element is connected with the input end of the receiving single chip microcomputer after passing through the receiving sound wave amplifier, and the receiving single chip microcomputer is connected with the receiving real-time clock; the vibration ultrasonic wave is transmitted to the receiving piezoelectric ceramic element, is received and converted into an electric signal to be output, and is amplified by the receiving sound wave amplifier and then is input into the receiving singlechip.
The step (2) is specifically as follows:
in each measurement process, measuring an output current value and an output voltage value of the output end of the transmitting sound wave amplifier through a voltage or current measuring circuit; and calculating the ratio of the output current value or the output voltage value of the transmitting sound wave amplifier to the output current value or the output voltage value of the transmitting sound wave amplifier when the matching load is connected as a judgment basis, and selecting the corresponding frequency when the ratio is maximum as the working frequency for communication. The output current value and the output voltage value of the transmitting acoustic wave amplifier when the matching load is connected are known parameters obtained in the design stage of the transmitting end. Therefore, the invention obtains the acoustic characteristics of the oil-water well through the measurement of the reflection coefficient, and determines the transmitting working frequency of the required sound wave or ultrasonic wave.
The matched load is realized by adopting a resistor.
For sound waves or ultrasonic waves with different frequencies, a loading material such as piezoelectric ceramics is adopted for a sound source element of the transmitting device, and sound wave transmitting transducers with low frequency and high frequency are respectively obtained.
The oil pipe and the sleeve are both made of steel materials.
The shell is made of the same material as the oil pipe.
The invention respectively places a sending device and a receiving device of sound wave/ultrasonic wave at a well mouth and a well, takes water or oil-water mixture, an oil pipe and a sleeve in an oil-water well as a transmission medium, takes the sound wave or the ultrasonic wave as an information carrier, the sending device modulates information in sound wave or ultrasonic wave carrier waves and transmits the information to the well, and the receiving device receives and demodulates the information through a sensor, thereby realizing the transmission of the information from the well mouth to the well.
The invention has the following beneficial effects:
the oil-water well communication method can utilize sound waves or ultrasonic waves to carry out underground communication, can improve the transmission rate of data, simplifies the structure, reduces the system cost and realizes remote information transmission.
For the oil-water well with different characteristic parameters, selecting the optimal sound wave or ultrasonic working frequency for communication according to the ratio of the output current value or the output voltage value of the sound wave transmitting amplifier to the output current value or the output voltage value of the sound wave transmitting amplifier when the matched load is connected as a judgment basis; the receiving device can also realize independent receiving of a plurality of different frequency band broadband sound waves or ultrasonic signals, has certain flexibility, and is suitable for communication in all or most of oil-water wells.
Drawings
FIG. 1 is a schematic cross-sectional structure of an oil-water well;
FIG. 2 is a schematic structural diagram of an oil-water well communication system;
FIG. 3 is a functional block diagram of a transmitting device;
FIG. 4 is a functional block diagram of a receiving device;
FIG. 5 is a graph of the relationship f-cos (kd) for an ideal oil pipe; f represents frequency, k represents wave number, d represents the sum of tubing and coupling lengths;
FIG. 6 is a graph of ideal tubing string velocity versus frequency.
In the figure: the device comprises a sending device (1), a casing pipe 2, an oil pipe 3, water or an oil-water mixture (4), a cement sheath 5, a coupling (6) and a receiving device (7).
Detailed Description
The working principle and the specific implementation mode of the invention are specifically explained in the following with the attached drawings:
as shown in fig. 1 and 2, the oil-water well comprises an oil pipe 3 and a casing 2, wherein a cement sheath 5 is sleeved in a rock stratum, the casing 2 is coaxially sleeved in the cement sheath 5, the oil pipe 3 is coaxially sleeved in the casing 2, the oil pipe 3 is formed by coaxially and sequentially connecting a plurality of sub pipes along the axial direction, ports of the adjacent sub pipes are coaxially and fixedly connected through a coupling 6, and the upper coupling and the lower coupling are arranged at unequal intervals; due to the existence of the coupling, the acoustic characteristics of the oil-water well show the phenomenon that the pass band and the stop band alternately appear, and further the self-adaptive sound wave communication can be realized.
The oil pipe 3 with the uppermost end extending out of the ground is internally provided with the sending device 1, the metal cavity in the locally thickened outer side wall of one oil pipe 3 below the ground is internally provided with the receiving device 7 and is filled with non-conductive liquid, and the non-conductive liquid filled in the metal cavity of the metal cavity is not communicated with the external water or oil-water mixture 4.
As shown in fig. 3, the transmitting device 1 includes a transmitting single chip, a transmitting sound wave amplifier, a transmitting piezoelectric ceramic element and a transmitting real-time clock, wherein the output end of the transmitting single chip is connected with the transmitting piezoelectric ceramic element after passing through the transmitting sound wave amplifier, and the transmitting single chip is connected with the transmitting real-time clock; the control signal is input to the sending singlechip, amplified by the sending sound wave amplifier and then input to the sending piezoelectric ceramic element, and the sending piezoelectric ceramic element is controlled to send out vibration ultrasonic waves with set frequency; the output end of the transmitting sound wave amplifier is simultaneously led out and then grounded through a load;
as shown in fig. 4, the receiving device 7 includes a receiving single chip, a receiving sound wave amplifier, a receiving piezoelectric ceramic element and a receiving real-time clock, wherein the output end of the receiving piezoelectric ceramic element is connected with the input end of the receiving single chip after passing through the receiving sound wave amplifier, and the receiving single chip is connected with the receiving real-time clock; the vibration ultrasonic wave is transmitted to the receiving piezoelectric ceramic element to be received, the vibration signal is converted into an electric signal to be output, and the electric signal is amplified by the receiving sound wave amplifier and then input into the receiving singlechip.
The transmitting device 1 and the receiving device 7 both adopt piezoelectric ceramic elements and are arranged in a high-pressure metal cavity of non-conductive liquid, so that the sensor can be prevented from being damaged due to deep water pressure.
As shown in fig. 4, in the receiving device, the receiving piezoelectric ceramic element is a main functional element, and is used for receiving sound waves or ultrasonic waves in the oil-water well, converting received sound pressure signals into weak electric signals, and demodulating the weak electric signals by the receiving single chip microcomputer after the weak electric signals pass through the receiving sound wave amplifier to obtain control signals.
The embodiment of the invention is concretely as follows:
(1) before communication, water or an oil-water mixture 4 is filled in the oil pipe 3 and an inner cavity between the oil pipe 3 and the casing 2, the sending device 1 is controlled to select an initial frequency to send out sound waves or ultrasonic waves, the sound waves or the ultrasonic waves are transmitted to the receiving device 7 along the oil pipe 3, the casing 2 and the water or the oil-water mixture in the casing, and the receiving device 7 receives and obtains a receiving signal;
(2) repeating the step (1) for multiple measurements, adopting different frequencies each time, adopting a plurality of different frequency bands to receive broadband sound waves or ultrasonic signals, and then analyzing and processing the transmitting signals used in the multiple measurements by using the acoustic characteristics obtained by the measurements to obtain the transmitting working frequency finally used;
in each measurement process, measuring an output current value and an output voltage value of the output end of the transmitting sound wave amplifier through a voltage or current measuring circuit; and calculating the ratio of the output current value or the output voltage value of the transmitting sound wave amplifier to the output current value or the output voltage value of the transmitting sound wave amplifier when the matching load is connected as a judgment basis, and selecting the frequency with the maximum ratio as the working frequency for communication. The output current value and the output voltage value of the transmitting acoustic wave amplifier when the matching load is connected are known parameters obtained in the design stage of the transmitting end.
(3) The sending device 1 is controlled to send out sound waves or ultrasonic waves at the emission working frequency, the sound waves or the ultrasonic waves are modulated with communication information, the sound waves or the ultrasonic waves are transmitted to the receiving device 7 along the oil pipe 3, the sleeve pipe (2) and water or oil-water mixture in the oil pipe or the sleeve pipe, the receiving device 7 receives and obtains receiving signals, and the receiving signals are demodulated to obtain the communication information.
As shown in FIG. 5, the tubing model of the present invention is composed of two parts, tubing and collar, and spatially forms a periodic structure, and the frequency equation is:
wherein k is the wave number of sound waves or ultrasonic waves; d ═ d1+d2，d1Is the length of the tubing, d2Is the length of the collar; a is1Is the cross-sectional area of the oil pipe, a2Is the cross-sectional area of the collar; omega is phase velocity; c. C1Is the speed of sound in the oil pipe, c2Is the speed of sound in the collar; rho1Is the density of the oil pipe, p2Is the density of the coupling; z is acoustic impedance, z1Representing the acoustic impedance, z, of the oil pipe2The acoustic impedance of the coupling is shown.
If the tubing is uniform, z1＝z2And c1＝c2C, there are:
where ω represents the angular frequency.
ω and k are linear, and besides ω and k exhibit dispersion. Group velocity cgCalculated using the formula:
to further explain the above working principle, the specific parameters of the oil pipe are provided for simulation:
oil pipe parameter d1＝9.2m、d2＝130mm、r1＝67.51mm、r2＝89.5mm、ρ＝7800kg/m3And c is 5400m/s substitution formula (1), and f-coskd relation curves obtained by programming by MATLAB software are adopted. coskd has a value between 1 and-1, where the sound wave is unattenuated in amplitude, forThe frequency band is a passband. Otherwise, the corresponding frequency band is a stop band.
As shown in fig. 6, the spectral characteristics in the oil pipe show the characteristics of a comb filter structure in which pass bands and stop bands alternate with each other, and the frequency band structure shows periodic variation in the entire frequency domain; the frequency in the pass band can generate dispersion phenomenon, namely distortion, and along with the increase of the frequency, the pass band is narrower and narrower, the stop band is wider and wider, and the dispersion phenomenon is more and more serious.
Claims (4)
1. A self-adaptive sound wave communication method for an oil-water well is characterized in that: the oil-water well comprises an oil pipe (3) and a casing pipe (2), wherein a cement sheath (5) is sleeved in a rock stratum, the casing pipe (2) is coaxially sleeved in the cement sheath (5), the oil pipe (3) is coaxially sleeved in the casing pipe (2), the oil pipe (3) is formed by coaxially and sequentially connecting a plurality of sub pipes along the upper direction and the lower direction, ports of the adjacent sub pipes are coaxially and fixedly connected through a coupling (6), and the upper coupling and the lower coupling are arranged at unequal intervals; a transmitting device (1) is arranged in the sub-pipe (3) which extends out of the uppermost end above the ground, the outer side wall of one sub-pipe (3) below the ground is locally thickened to form a metal cavity, a receiving device (7) is arranged in the metal cavity and is filled with non-conductive liquid, and the non-conductive liquid filled in the metal cavity is not communicated with external water or an oil-water mixture (4);
the transmitting device (1) comprises a transmitting single chip microcomputer, a transmitting sound wave amplifier, a transmitting piezoelectric ceramic element and a transmitting real-time clock, wherein the output end of the transmitting single chip microcomputer is connected with the transmitting piezoelectric ceramic element after passing through the transmitting sound wave amplifier, and the transmitting single chip microcomputer is connected with the transmitting real-time clock; the control signal is input to the sending singlechip, amplified by the sending sound wave amplifier and then input to the sending piezoelectric ceramic element, and the sending piezoelectric ceramic element is controlled to send out vibration ultrasonic waves with set frequency; the output end of the transmitting sound wave amplifier is led out at the same time and then grounded through a matched load;
the receiving device (7) comprises a receiving single chip microcomputer, a receiving sound wave amplifier, a receiving piezoelectric ceramic element and a receiving real-time clock, wherein the output end of the receiving piezoelectric ceramic element is connected with the input end of the receiving single chip microcomputer after passing through the receiving sound wave amplifier, and the receiving single chip microcomputer is connected with the receiving real-time clock; the vibration ultrasonic wave is transmitted to a receiving piezoelectric ceramic element, is received and converted into an electric signal to be output, and is amplified by a receiving sound wave amplifier and then is input into a receiving singlechip;
the method comprises the following steps:
(1) before communication, water or an oil-water mixture (4) is filled in the oil pipe (3) and an inner cavity between the oil pipe (3) and the casing (2), the sending device (1) is controlled to select one frequency to send out sound waves or ultrasonic waves, the sound waves or the ultrasonic waves are transmitted to the receiving device (7) along the oil pipe (3), the casing (2) and the water or the oil-water mixture in the oil pipe or the casing, and the receiving device (7) receives and obtains a receiving signal;
(2) repeating the step (1) for multiple measurements, adopting different frequencies each time, and analyzing and processing the transmitting signals used in the multiple measurements by using the acoustic characteristics obtained by the measurement to obtain the final transmitting working frequency;
the step (2) is specifically as follows: in each measurement process, measuring an output current value and an output voltage value of the output end of the transmitting sound wave amplifier through a voltage or current measuring circuit; calculating the ratio of the output current value or the output voltage value of the transmitting sound wave amplifier to the output current value or the output voltage value of the transmitting sound wave amplifier when the matching load is connected as a judgment basis, and selecting the corresponding frequency when the ratio is maximum as the working frequency for communication;
(3) the transmitting device (1) is controlled to emit sound waves or ultrasonic waves at the transmitting working frequency, the sound waves or the ultrasonic waves are modulated with communication information, the sound waves or the ultrasonic waves are transmitted to the receiving device (7) along the oil pipe (3), the sleeve (2) and water or oil-water mixture in the oil pipe or the sleeve, the receiving device (7) receives and obtains receiving signals, and the receiving signals are demodulated to obtain the communication information.
2. The adaptive sound wave communication method for oil-water wells according to claim 1, wherein: the receiving device (7) adopts a broadband or multiband sound wave or ultrasonic sensor to receive signals and demodulates information.
3. The adaptive sound wave communication method for oil-water wells according to claim 1, wherein: the matched load adopts a resistor.
4. The adaptive sound wave communication method for oil-water wells according to claim 1, wherein: the oil pipe (3) and the casing (2) are both made of steel materials.
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