CN113931591B - Top-recyclable whipstock and application method thereof - Google Patents
Top-recyclable whipstock and application method thereof Download PDFInfo
- Publication number
- CN113931591B CN113931591B CN202010671134.1A CN202010671134A CN113931591B CN 113931591 B CN113931591 B CN 113931591B CN 202010671134 A CN202010671134 A CN 202010671134A CN 113931591 B CN113931591 B CN 113931591B
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- China
- Prior art keywords
- mandrel
- whipstock
- anchor
- wall
- guide
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B29/00—Cutting or destroying pipes, packers, plugs, or wire lines, located in boreholes or wells, e.g. cutting of damaged pipes, of windows; Deforming of pipes in boreholes or wells; Reconditioning of well casings while in the ground
- E21B29/06—Cutting windows, e.g. directional window cutters for whipstock operations
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/06—Deflecting the direction of boreholes
- E21B7/061—Deflecting the direction of boreholes the tool shaft advancing relative to a guide, e.g. a curved tube or a whipstock
Abstract
The invention provides a top-recoverable whipstock, a using method and application thereof, wherein the outer wall of the tail end of an upper guide is connected with the head end of a connecting key through a fastening bolt, the outer wall of the head end of a lower guide is connected with the tail end of the connecting key through a shearing bolt, a whipstock mandrel is arranged in the lower guide, the head end of the whipstock mandrel is in threaded connection with the inner wall of the tail end of the upper guide, the tail end of the whipstock mandrel extends out of the tail end of the lower guide and is in threaded connection with a seat sleeve, the outer wall of the tail end of the lower guide is connected with the inner wall of an upper joint of an anchor through a shearing pin, an anchor mandrel is further arranged between the seat sleeve and the upper joint of the anchor, and an anchor piston is arranged between the upper joint of the anchor and the anchor mandrel. After the window sidetracking operation is completed, the invention can directly lower the completion tool to complete the completion operation of the branch well, thereby avoiding the time of separately lowering the tieback tool and the guiding tool and simultaneously avoiding the risk of inaccurate positioning of the tieback tool.
Description
Technical Field
The invention relates to the technical field of manufacturing equipment special for drilling and completing petroleum and natural gas engineering, in particular to a top-recoverable whipstock, and a use method and application thereof.
Background
The directional well and horizontal well technologies are increasingly perfected, however, because the number of the slots of the platform is limited, the number of wells cannot be increased at will, the branch well is used for extending and developing the directional well technology, the old well casing is used for sidetracking during windowing, the old well casing can be effectively utilized for the second time, the flexibility is higher, and the attention is paid more and more. The recyclable whipstock is a key tool for open-window sidetracking technology and plays a vital role in drilling and completing branch wells.
The integrated whipstock in the prior art is solid, the main well hole cannot be put into a production pipe column after the sidetrack drilling of the window is finished, and residual oil in the well cannot be recovered; in addition, when the branch well completion operation is carried out, a tie-back tool and a guiding tool are required to be independently put in, the whole operation process is complex, and the risk is high.
Disclosure of Invention
The invention overcomes the defects in the prior art, the existing whipstock is solid, after the sidetrack drilling of the window is finished, the main well cannot be put into the production pipe column any more, and the residual oil in the well cannot be recovered; when the completion operation of the branch well is completed, the tie-back tool and the guiding tool are required to be independently put in, the whole operation process is complex, the risk is high, and the top recyclable whipstock, the using method and the application thereof are provided, so that the problem that the main well cannot be completed after the sidetrack is drilled, after the sidetrack operation is completed, the completion tool can be directly put in, the completion operation of the branch well is performed, the time of independently putting in the tie-back tool and the guiding tool is saved, and meanwhile, the risk of inaccurate positioning of the tie-back tool is avoided.
The aim of the invention is achieved by the following technical scheme.
The utility model provides a top recoverable whipstock, includes director, connecting key, whipstock mandrel, lower director and sitting envelope last director pass through offered on the tail end lateral wall of director last director pass through last director pressure hole, last director's tail end outer wall pass through fastening bolt with the head end of connecting key links to each other, lower director's head end outer wall pass through shear bolt with the tail end of connecting key links to each other, lower director adopts hollow tubular structure, the whipstock mandrel sets up in the lower director, the whipstock mandrel adopts hollow tubular structure, go up director pressure hole pass the pressure export with the transmission mouth of whipstock mandrel is linked together, the head end of whipstock mandrel with go up director's tail end inner wall threaded connection, the tail end outer wall of whipstock mandrel stretches out the tail end of lower director and with sitting envelope threaded connection, the tail end outer wall of lower director passes through shear pin and the anchor on the anchor is connected with the tail end of connecting the anchor, the whipstock mandrel adopts hollow tubular structure, it has anchor to set up between anchor mandrel and the anchor mandrel to pass through the anchor mandrel and the anchor is provided with anchor and is connected with on the anchor mandrel to set up between the piston and the top mandrel.
The whipstock mandrel comprises an upper mandrel and a lower mandrel, the upper mandrel and the lower mandrel are integrally arranged, the inner diameter and the outer diameter of the upper mandrel are smaller than those of the lower mandrel, and a right-angle transition structure is adopted between the upper mandrel and the lower mandrel.
The tail end of the connecting key is provided with a connecting key hole, and an elastic check ring for preventing the upper end of the sheared bolt from falling into the well is arranged in the connecting key hole.
An emergency recovery groove is formed in the inner wall of the lower portion of the lower guide.
A first O-ring for sealing is disposed between the leading end outer wall of the whipstock spindle and the trailing end inner wall of the upper guide.
A second O-ring for sealing is arranged between the outer wall of the tail end of the whipstock mandrel and the inner wall of the seat sleeve.
A third O-ring for sealing is provided between the outer wall of the seat envelope and the inner wall of the anchor mandrel, the number of third O-rings being two.
Fourth O-rings for sealing are arranged between the outer wall of the anchor mandrel and the inner wall of the anchor upper joint and between the outer wall of the anchor mandrel and the inner wall of the anchor piston, and the number of the fourth O-rings is two.
A fifth O-ring for sealing is provided between the outer wall of the anchor piston and the inner wall of the anchor upper joint.
The using method of the top-recyclable whipstock comprises the following steps:
firstly, integrally descending a top recyclable whipstock into a preset position in a well, pressing the whipstock into a tubular column after the whipstock is in place, transmitting pressure to a pressure transmitting hole of an upper guide through a pressure transmitting pipeline, and then transmitting pressure to an anchor piston of a Kong Chuanzhi anchor through a whipstock mandrel to realize anchor setting, and after the anchor setting is finished, pressing the tubular column, shearing a shearing pin between the upper guide and a milling cone, and starting window-opening sidetracking operation;
step 2, after the windowing sidetrack drilling operation is completed, lifting the pipe column, cutting the shearing bolts, continuously lifting the pipe column to recover the upper guide, the connecting key, the whipstock mandrel and the setting sleeve, then lowering the completion pipe column again, enabling the completion pipe column to enter the branch well through the lower guide to perform completion sand prevention operation, and finally lowering the production pipe column with double branches, wherein one production pipe column enters the main well through the drift diameter of the lower guide, and the other branch is introduced into the branch well through the guide device, so that the purpose of simultaneously producing the main well and the branch well is achieved;
and 3, after the operation is completed, the lower guide is recovered to the wellhead along with the anchor through an anchor recovery tool, and if the anchor cannot be recovered normally due to unexpected conditions, the lower guide is recovered out of the well through independently feeding the lower guide recovery tool, so that the subsequent operation is not influenced.
The beneficial effects of the invention are as follows: after the window sidetracking operation is completed, the pipe column is directly lifted, so that the upper inclined guide can be recovered, and a specific fishing tool is not needed; after the window-opening sidetracking is finished, the well completion pipe string can be directly put into the well completion pipe string, a tieback device is not required to be put into the well completion pipe string independently, the operation time of one drilling is saved, and meanwhile the risk of inaccurate tieback positioning is avoided; the production pipe column can be put into the main well through the drift diameter of the lower guide device, so that the residual resources of the main well can be continuously exploited, and the resource waste is avoided; when the anchor cannot be recovered in case of accidents, the lower guide can be recovered by independently feeding the lower guide recovery tool, so that the subsequent production operation is not influenced, and the operation safety is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention, wherein a is the upper structure of the whipstock, b is the lower structure of the whipstock, c is a partial enlarged view of part I, and d is the structure diagram of the whipstock recovery tank;
FIG. 2 is an enlarged view of a portion c of FIG. 1;
FIG. 3 is a schematic top view of portion d of FIG. 1;
FIG. 4 is a view showing a state of being lowered, wherein a is an upper structure of the whipstock and b is a lower structure of the whipstock;
FIG. 5 is a top guide post-retraction state diagram of the present invention;
FIG. 6 is a lower guide state diagram of the present invention when the anchor is not recoverable;
FIG. 7 is an enlarged view of a portion of FIG. 6;
FIG. 8 is a state diagram of the lower guide of the present invention after retrieval when the anchor is not recoverable;
FIG. 9 is a schematic view of the use state structure of the present invention;
in the figure: 1 is an upper guide, 2 is a connecting key, 3 is a fastening bolt, 4 is a first O-shaped ring, 5 is a whipstock mandrel, 6 is a shear bolt, 7 is a circlip, 8 is a lower guide, 9 is a shear screw, 10 is an anchor upper joint, 11 is a second O-shaped ring, 12 is a seat cover, 13 is a third O-shaped ring, 14 is an anchor mandrel, 15 is a fourth O-shaped ring, 16 is a fifth O-shaped ring, 17 is an anchor piston, 18 is a milling cone, 19 is a shear pin, 20 is a top-recoverable whipstock, and 21 is an anchor.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
The technical scheme of the invention is further described by specific examples.
Example 1
A top-recoverable whipstock comprises an upper guide 1, a connecting key 2, a whipstock mandrel 5, a lower guide 8 and a sitting sleeve 12, wherein an upper guide pressure transmission hole penetrating through the side wall of the upper guide 1 is formed in the side wall of the tail end of the upper guide 1, the outer wall of the tail end of the upper guide 1 is connected with the head end of the connecting key 2 through a fastening bolt 3, the outer wall of the head end of the lower guide 8 is connected with the tail end of the connecting key 2 through a shearing bolt 9, the lower guide 8 adopts a hollow tubular structure, the whipstock mandrel 5 is arranged in the lower guide, the whipstock mandrel 5 adopts a hollow tubular structure, the pressure transmission outlet of the upper guide pressure transmission hole is communicated with the pressure transmission inlet of the whipstock mandrel 5, the head end of the whipstock mandrel 5 is in threaded connection with the inner wall of the tail end of the upper guide 1, the tail end of the whipstock mandrel 5 extends out of the tail end of the lower guide 8 and is in threaded connection with the sitting sleeve 12, the outer wall of the tail end of the lower guide 8 is connected with the inner wall of an upper joint 10 of an anchor through a shearing pin 9, an anchor mandrel 14 is further arranged between the sitting sleeve 12 and the upper joint 10, an anchor mandrel 14 is arranged on the anchor mandrel 14 and the anchor mandrel 14, an anchor mandrel 17 is arranged between the sitting sleeve 14 and the anchor mandrel 14, and the pressure transmission hole is arranged on the side wall of the anchor mandrel 17.
Example two
On the basis of the first embodiment, the whipstock spindle 14 includes an upper spindle and a lower spindle, which are integrally provided, the inner diameter and the outer diameter of the upper spindle are smaller than those of the lower spindle, and a right angle transition structure is adopted between the upper spindle and the lower spindle.
A connecting key hole is formed at the tail end of the connecting key 2, and an elastic retainer ring 7 for preventing the upper end of the sheared bolt from falling into the well is arranged in the connecting key hole.
An emergency recovery groove is formed in the inner wall of the lower part of the lower guide 8.
Example III
On the basis of the second embodiment, a first O-ring 4 for sealing is provided between the outer wall of the head end of the whipstock spindle 5 and the inner wall of the tail end of the upper guide 1.
A second O-ring 11 for sealing is provided between the outer wall of the trailing end of the whipstock spindle 5 and the inner wall of the seat envelope 12.
A third O-ring 13 for sealing is provided between the outer wall of the seat envelope 12 and the inner wall of the anchor mandrel 14, the number of third O-rings 13 being two.
Fourth O-rings 15 for sealing are provided between the outer wall of the anchor mandrel 14 and the inner wall of the anchor upper joint 10 and between the outer wall of the anchor mandrel 14 and the inner wall of the anchor piston 17, the number of fourth O-rings 15 being two.
A fifth O-ring 16 for sealing is provided between the outer wall of the anchor piston 17 and the inner wall of the anchor upper joint 10.
Example IV
The using method of the top-recyclable whipstock comprises the following steps:
firstly, integrally putting a top recyclable whipstock 20 into a preset position in a well, pressing the whipstock into a tubular column after the whipstock is put into place, transmitting pressure to a pressure transmitting hole of an upper guide through a pressure transmitting pipeline, and then setting an anchor 21 by using a whipstock mandrel 5 and a pressure transmitting Kong Chuanzhi anchor piston 17, pressing the tubular column after the anchor 21 is set, shearing a shearing pin 19 between the upper guide and a milling cone 18, and starting window-opening sidetracking operation;
step 2, after the windowing sidetrack drilling operation is completed, lifting the pipe column, cutting the shearing bolt 6, continuously lifting the pipe column to recover the upper guide 1, the connecting key 2, the whipstock mandrel 5 and the setting sleeve 12, and then, lowering the well completion pipe column into the branch well through the lower guide 8 to perform well completion sand prevention operation, and finally, lowering the double-branch production pipe column, wherein one production pipe column enters the main well hole through the drift diameter of the lower guide, and the other branch is introduced into the branch well hole through the guide device, so that the aim of simultaneously exploiting the main well hole and the branch well hole is fulfilled;
and 3, after the operation is completed, the lower guide is recovered to the wellhead along with the anchor 21 through an anchor recovery tool, and if the anchor 21 cannot be recovered normally due to unexpected conditions, the lower guide is recovered out of the well through independently lowering the lower guide recovery tool, so that the subsequent operation is not influenced.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, but is not intended to limit the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (10)
1. A top-recyclable whipstock, characterized by: the automatic pressure-transmitting device comprises an upper guide, a connecting key, a whipstock mandrel, a lower guide and a sitting sleeve, wherein an upper guide pressure-transmitting hole penetrating through the side wall of the upper guide is formed in the side wall of the tail end of the upper guide, the tail end outer wall of the upper guide is connected with the head end of the connecting key through a fastening bolt, the head end outer wall of the lower guide is connected with the tail end of the connecting key through a shearing bolt, the lower guide adopts a hollow tubular structure, the whipstock mandrel is arranged in the lower guide, the whipstock mandrel adopts a hollow tubular structure, a pressure-transmitting outlet of the upper guide pressure-transmitting hole is communicated with a pressure-transmitting inlet of the whipstock mandrel, the head end of the whipstock mandrel is in threaded connection with the tail end inner wall of the upper guide, the tail end of the whipstock mandrel extends out of the tail end of the lower guide and is in threaded connection with the sitting sleeve, the tail end outer wall of the lower guide is connected with the inner wall of an upper joint of an anchor through a shearing pin, an anchor mandrel is further arranged between the sitting sleeve and the upper joint of the anchor mandrel, a pressure-transmitting device is arranged between the anchor mandrel and the anchor mandrel, and the pressure-transmitting device is arranged between the anchor mandrel and the pressure-transmitting device.
2. A roof returnable whipstock as claimed in claim 1, wherein: the whipstock mandrel comprises an upper mandrel and a lower mandrel, the upper mandrel and the lower mandrel are integrally arranged, the inner diameter and the outer diameter of the upper mandrel are smaller than those of the lower mandrel, and a right-angle transition structure is adopted between the upper mandrel and the lower mandrel.
3. A roof returnable whipstock as claimed in claim 1, wherein: the tail end of the connecting key is provided with a connecting key hole, and an elastic check ring for preventing the upper end of the sheared bolt from falling into the well is arranged in the connecting key hole.
4. A roof returnable whipstock as claimed in claim 1, wherein: an emergency recovery groove is formed in the inner wall of the lower portion of the lower guide.
5. A roof returnable whipstock as claimed in claim 1, wherein: a first O-ring for sealing is disposed between the leading end outer wall of the whipstock spindle and the trailing end inner wall of the upper guide.
6. The roof returnable whipstock of claim 5, wherein: a second O-ring for sealing is arranged between the outer wall of the tail end of the whipstock mandrel and the inner wall of the seat sleeve.
7. The roof returnable whipstock of claim 6, wherein: a third O-ring for sealing is provided between the outer wall of the seat envelope and the inner wall of the anchor mandrel, the number of third O-rings being two.
8. The roof returnable whipstock of claim 7, wherein: fourth O-rings for sealing are arranged between the outer wall of the anchor mandrel and the inner wall of the anchor upper joint and between the outer wall of the anchor mandrel and the inner wall of the anchor piston, and the number of the fourth O-rings is two; a fifth O-ring for sealing is provided between the outer wall of the anchor piston and the inner wall of the anchor upper joint.
9. A method of using the roof returnable whipstock as claimed in any one of claims 1 to 8, wherein: the method comprises the following steps of:
firstly, integrally descending a top recyclable whipstock into a preset position in a well, pressing the whipstock into a tubular column after the whipstock is in place, transmitting pressure to a pressure transmitting hole of an upper guide through a pressure transmitting pipeline, and then setting an anchor through a whipstock mandrel and a pressure transmitting Kong Chuanzhi anchor piston, lifting the tubular column after the anchor is set, shearing a shearing pin between the upper guide and a milling cone, and starting window-opening sidetracking operation;
step 2, after the windowing sidetrack drilling operation is completed, lifting the pipe column, cutting the shearing bolts, continuously lifting the pipe column to recover the upper guide, the connecting key, the whipstock mandrel and the setting sleeve, then lowering the completion pipe column again, enabling the completion pipe column to enter the branch well through the lower guide to perform completion sand prevention operation, and finally lowering the production pipe column with double branches, wherein one production pipe column enters the main well through the drift diameter of the lower guide, and the other branch is introduced into the branch well through the guide device, so that the purpose of simultaneously producing the main well and the branch well is achieved;
and 3, after the operation is completed, the lower guide is recovered to the wellhead along with the anchor through an anchor recovery tool, and if the anchor cannot be recovered normally due to unexpected conditions, the lower guide is recovered out of the well through independently feeding the lower guide recovery tool, so that the subsequent operation is not influenced.
10. Use of a top-recoverable whipstock as claimed in any one of claims 1 to 8 in a lateral completion operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010671134.1A CN113931591B (en) | 2020-07-13 | 2020-07-13 | Top-recyclable whipstock and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010671134.1A CN113931591B (en) | 2020-07-13 | 2020-07-13 | Top-recyclable whipstock and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113931591A CN113931591A (en) | 2022-01-14 |
| CN113931591B true CN113931591B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010671134.1A Active CN113931591B (en) | 2020-07-13 | 2020-07-13 | Top-recyclable whipstock and application method thereof |
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| CN (1) | CN113931591B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116241205B (en) * | 2023-05-11 | 2023-08-15 | 深蓝(天津)智能制造有限责任公司 | Continuous multistage well completion hollow windowing tool and method thereof |
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| US4397355A (en) * | 1981-05-29 | 1983-08-09 | Masco Corporation | Whipstock setting method and apparatus |
| US5117906A (en) * | 1991-02-19 | 1992-06-02 | Otis Engineering Corporation | Compact, retrievable packer |
| CN102418486A (en) * | 2011-12-29 | 2012-04-18 | 中国海洋石油总公司 | Anchoring tool for windowing and side drilling of branched well |
| CN203515420U (en) * | 2013-09-17 | 2014-04-02 | 中国石油集团西部钻探工程有限公司 | One-time drilling inclination survey and windowing device |
| CN105649564A (en) * | 2016-03-31 | 2016-06-08 | 中国石油集团川庆钻探工程有限公司工程技术研究院 | Tool string for one-drill-trip window sidetrack drilling of open-hole horizontal well and technological method |
| CN205605154U (en) * | 2016-03-28 | 2016-09-28 | 北京博德世达石油技术股份有限公司 | Single deck tape -recorder tile anchor anchoring mechanism and adopt its fluid pressure type slant ware |
| RU2608107C1 (en) * | 2015-11-09 | 2017-01-13 | Публичное акционерное общество "Татнефть" им. В.Д. Шашина | Method of hydrodynamic surveys and thief zones isolation |
| CN207033385U (en) * | 2017-08-10 | 2018-02-23 | 贵州高峰石油机械股份有限公司 | A kind of sidetrack drilling tool |
| CN110863793A (en) * | 2019-12-18 | 2020-03-06 | 贵州高峰石油机械股份有限公司 | Double-slip hydraulic anchoring packer for window sidetracking |
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2020
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4397355A (en) * | 1981-05-29 | 1983-08-09 | Masco Corporation | Whipstock setting method and apparatus |
| US5117906A (en) * | 1991-02-19 | 1992-06-02 | Otis Engineering Corporation | Compact, retrievable packer |
| CN102418486A (en) * | 2011-12-29 | 2012-04-18 | 中国海洋石油总公司 | Anchoring tool for windowing and side drilling of branched well |
| CN203515420U (en) * | 2013-09-17 | 2014-04-02 | 中国石油集团西部钻探工程有限公司 | One-time drilling inclination survey and windowing device |
| RU2608107C1 (en) * | 2015-11-09 | 2017-01-13 | Публичное акционерное общество "Татнефть" им. В.Д. Шашина | Method of hydrodynamic surveys and thief zones isolation |
| CN205605154U (en) * | 2016-03-28 | 2016-09-28 | 北京博德世达石油技术股份有限公司 | Single deck tape -recorder tile anchor anchoring mechanism and adopt its fluid pressure type slant ware |
| CN105649564A (en) * | 2016-03-31 | 2016-06-08 | 中国石油集团川庆钻探工程有限公司工程技术研究院 | Tool string for one-drill-trip window sidetrack drilling of open-hole horizontal well and technological method |
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| CN110863793A (en) * | 2019-12-18 | 2020-03-06 | 贵州高峰石油机械股份有限公司 | Double-slip hydraulic anchoring packer for window sidetracking |
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| Publication number | Publication date |
|---|---|
| CN113931591A (en) | 2022-01-14 |
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