EP3363989A1 - Bohreinheit mit einem elektrischen hiev-ausgleichssystem - Google Patents

Bohreinheit mit einem elektrischen hiev-ausgleichssystem Download PDF

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Publication number
EP3363989A1
EP3363989A1 EP17156406.5A EP17156406A EP3363989A1 EP 3363989 A1 EP3363989 A1 EP 3363989A1 EP 17156406 A EP17156406 A EP 17156406A EP 3363989 A1 EP3363989 A1 EP 3363989A1
Authority
EP
European Patent Office
Prior art keywords
drilling unit
winch
support frame
tower structure
drill tower
Prior art date
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.)
Granted
Application number
EP17156406.5A
Other languages
English (en)
French (fr)
Other versions
EP3363989B1 (de
Inventor
Karsten Berge Meling
Hans Anders Eriksson
Yngvar BORØY
Thor Strand
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Oilwell Varco Norway AS
Original Assignee
National Oilwell Varco Norway AS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by National Oilwell Varco Norway AS filed Critical National Oilwell Varco Norway AS
Priority to EP17156406.5A priority Critical patent/EP3363989B1/de
Priority to US16/479,185 priority patent/US20190360282A1/en
Priority to PCT/NO2018/050041 priority patent/WO2018151606A1/en
Publication of EP3363989A1 publication Critical patent/EP3363989A1/de
Application granted granted Critical
Publication of EP3363989B1 publication Critical patent/EP3363989B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/002—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling
    • E21B19/004—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling supporting a riser from a drilling or production platform
    • E21B19/006—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling supporting a riser from a drilling or production platform including heave compensators
    • 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
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
    • E21B15/02—Supports for the drilling machine, e.g. derricks or masts specially adapted for underwater drilling
    • 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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/008—Winding units, specially adapted for drilling operations
    • 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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/09—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods specially adapted for drilling underwater formations from a floating support using heave compensators supporting the drill string

Definitions

  • the invention relates to a drilling unit for mounting on a deck of a floating vessel, the drilling unit comprising a drill tower structure with a heave-compensation system for compensating vertical movements of the floating vessel due to waves, wherein the drilling unit further comprises a winch and at least one wire rope connected to the winch.
  • Floating drilling and intervention vessels must have a heave-compensation system to compensate for the vertical movements transferred from the wave surge to the vessel.
  • a heave-compensation system can be mounted at the top side of the derrick or drill tower or anywhere in the load path if a stationary sheave is used.
  • the invention has for its object to remedy or to reduce at least one of the drawbacks of the prior art, or at least provide a useful alternative to prior art. It is a further object of the invention to provide an improved and overall more compact design of a compensation system.
  • the invention in a first aspect relates to a drilling unit for mounting on a deck of a floating vessel.
  • the drilling unit comprises a drill tower structure with a heave-compensation system for compensating vertical movements of the floating vessel due to waves.
  • the drilling unit further comprises a winch, a crown block mounted at a top side of the drill tower structure and at least one wire rope provided between the winch and the crown block.
  • the heave-compensation system comprises a slideable support frame configured to be moved relative to the drill tower structure in a direction substantially parallel to the axial direction (in practise this is a vertical direction) of the drill tower structure, wherein either the winch or the crown block is provided within the slideable support frame such that a distance between the winch and the crown block is controllable.
  • the position of the slideable support frame with respect to the drill tower structure is controlled by at least one electric motor or linear actuator.
  • a first important aspect is the slideable support frame.
  • a slideable support frame which comprises either the crown block or the winch, the distance between the winch and the crown block may be made controllable. This opens up the way to compensate vertical movements of the floating vessel due to waves by simply moving the slideable support frame.
  • the slideable support frame is actuated by at least one electric motor or linear actuator. That feature on itself is quite revolutionary as the prior art systems are all based on hydraulic systems. Switching the system towards the electrical domain leads to significant advantages. For instance, the heave-compensation system may now be fed by the same power supply as the winch system (which is often electrically driven).
  • the heave-compensation system may in certain embodiments be combined with electrical energy recovery systems, i.e. the electrical energy recovery systems may be used to supply power to the heave-compensation system of the invention.
  • the winch itself is also heave-compensated, in that the actuation of the winch is done such that vertical movements of the floating vessel due to waves are compensated for.
  • the invention thus provides for an extra heave-compensation system, which either may support the other heave-compensation system or be used as a back-up system in case the other system fails. Both scenarios are very effective and advantageous for the oil industry.
  • the invention provides for accurate compensation, at reduced weight and volume and allows for energy storage in a safe and controlled area placed anywhere on the rig.
  • Electric cabling of such heave-compensation system normally runs to so-called VFD cabinets that are normally stored inside or below the deck.
  • safety means non-hazardous/non-explosive. Serviceability may also be severely improved due to these factors and efficiency of electric systems are considerable better than traditional hydraulic systems.
  • the wording "drill tower structure” is used, this must be interpreted as including hoisting towers, derricks and any other type of drilling structure.
  • the wording “crown block” is used, this must be interpreted as that part at the top side of the drill tower structure, which houses or holds at least one top sheave for guiding the at least one wire rope.
  • the slideable support frame is provided with at least one friction track
  • the drill tower structure is provided with at least one rotatable friction wheel that is driven by the at least one electric motor or linear actuator.
  • the at least one rotatable friction wheel is configured for rolling over the at least one friction track for controlling the position of the slideable support frame.
  • the drill tower structure is provided with at least one friction track
  • the slideable support frame is provided with at least one rotatable friction wheel that is driven by the at least one electric motor or linear actuator.
  • the at least one rotatable friction wheel is configured for rolling over the at least one friction track for controlling the position of the slideable support frame.
  • the at least one friction wheel is directly driven by the at least one electric motor or linear actuator.
  • the electric motor or linear actuator may have a driving axle that is directly coupled to an axle of the friction wheel.
  • An embodiment of the drilling unit in accordance with the invention further comprises one or more respective gearing systems in between the at least one electric motor or linear actuator and the at least one friction wheel.
  • This embodiment is a variant of the previous-mentioned embodiment in that the electric motor or linear actuator now drives a gearing system, which on its turn drives the friction wheel.
  • the at least one friction track comprises a toothed rack.
  • a toothed rack is able to provide a very large friction, particularly when a pinion (or wheel gear) is used to cooperate with it.
  • the at least one rotatable friction wheel comprises a pinion.
  • a pinion is able to provide a very large friction, particularly when a toothed rack is used to cooperate with it.
  • the winch is also configured for compensating vertical movements of the floating vessel due to waves.
  • the invention may provide for a heave-compensation system that comes in addition to an already existing heave-compensation system (for example on the winch as is the case in this embodiment). Then the heave-compensation system of the invention may be used to either support the other heave-compensation system, or be used as a back-up in case that system fails.
  • An embodiment of the drilling unit in accordance with the invention further comprises an energy recovery system connected to the at least one electric motor or linear actuator.
  • the energy recovery system is configured for storing energy generated by a load when the load is being lowered and for supplying it to the at least one electric motor or linear actuator when the load is being hoisted.
  • This embodiment makes the heave-compensation system of the invention more self-supporting, i.e. it does not or hardly require power from a rig to be able to operate. More information on the implementation of an energy recovery system may be found in US7,923,946 , for example.
  • the winch is provided within the slideable support frame. This embodiment concerns a first main group of embodiments of the invention.
  • the crown block is provided within the slideable support frame. This embodiment concerns a second main group of embodiment of the invention.
  • the winch is located at a drill floor or deck. In another embodiment of the drilling unit in accordance with the invention the winch is located outside the drill tower structure. In yet another embodiment of the drilling unit in accordance with the invention the winch is located inside the drill tower structure.
  • the slideable support frame is configured for being lockable relative the drill tower structure.
  • This embodiment is advantageous in that the heave-compensation system of the invention can be effectively deactivated by the locking of the slideable support frame.
  • Such feature may be convenient in case the hoisting activities of the drilling unit are not critical (i.e. not near the sea bottom) or when service is to be carried out on the drilling unit.
  • the invention in a second aspect relates to a drilling unit for mounting on a deck of a floating vessel.
  • the drilling unit comprises a drill tower structure with a heave-compensation system for compensating vertical movements of the floating vessel due to waves, wherein the drilling unit further comprises a winch and at least one wire rope coupled to the winch.
  • the heave-compensation system comprises a slideable support frame provided at a top side of the drill tower structure, wherein the slideable support frame is configured to be moved relative to the drill tower structure in a direction substantially parallel to the axial direction of the drill tower structure, wherein the winch is provided within the slideable support frame, and wherein the position of the slideable support frame with respect to the drill tower structure is controlled by at least one electric motor or linear actuator.
  • the second aspect of the invention actually does not deviate much from the first aspect. Even stronger it has similar embodiments as the further embodiments discussed with regards to the first aspect. The main difference is that the crown block is missing and that the winch actually takes over the role of the crown block. Thus, this embodiment concerns a third main group of embodiments of the invention.
  • embodiments there may be further sheaves added to the winch in order to guide the at least one wire rope.
  • all "intelligence" in these embodiments is located at the top side of the drill tower structure, still the same principle of the invention is used, namely that the heave-compensation is carried out my controlling the position of the slideable support frame using an electric motor or linear actuator in order to vary the distance, measured along the at least one wire rope, between the winch and the sea (as is indirectly also the case for the other two embodiments). Therefore, these embodiments concern the same invention as the embodiments of the first aspect.
  • the heave-compensation system of the invention may be mounted on floating drilling units where an unintended stop/emergency stop of the heave compensation function may cause severe damage to environment and material.
  • an unintended stop/emergency stop of the heave compensation function may cause severe damage to environment and material.
  • the drill string needs to compensate for the heave that is moving the rig up and down.
  • the rig For some critical operations normally referred to as locked/fixed to bottom operation it is required for the rig to have a passive heave compensation function. Passive heave compensation means that the heave compensation function is self-supporting and does not require power from the rig to operate.
  • the invention may be electrically connected to a Kinetic Energy Recovery System (KERS) or energy recovery system.
  • KERS Kinetic Energy Recovery System
  • the KERS will store the energy generated, when the load is being lowered and supply it to the motors when the load needs to be hoisted. Further details on power regeneration can be found in US patent 7923946 , for example.
  • the invention may work together with the winch heave-compensation system or it may perform only heave compensation while the winch is setting position up or down, for example during landing of an object on the seabed or during a drilling operation.
  • the invention may also work as a back-up system for the winch only, provided that the winch also has heave-compensation possibility (this may become a more common way of using the invention). In this way of using the invention the winch will be performing both hoisting/lowering and heave compensation at the same time. If for any reason the winch needs to stop during this operation the electric top compensator (invention) will instantly take over the heave compensation work from the winch.
  • Fig. 1 shows a perspective view of a first main embodiment of the drilling unit 100a in accordance with the invention.
  • the drilling unit 100a comprises a drill tower structure 130, which may be a derrick, a drill tower, or another type of drill structure.
  • the drill tower structure 130 holds at a top side 140 thereof a slideable support frame 150 that can be moved up and down (slide) within the drill tower structure 130.
  • a winch 110 At the other end (at the lower side) of the drill tower structure 130 there is provided a winch 110.
  • the slideable support frame 150 comprises a sheave-cluster assembly, which is explained later in this description.
  • the winch 110 is connected to the sheave-cluster assembly via wire ropes 120 (at least one, but in practise often a plurality).
  • the drilling unit 100a further comprises a drives foundation 160 that forms an interface between the top side 140 of the drill tower structure 130 and the slideable support frame 150.
  • the drilling unit 100a also comprises a drives assembly 170 which is configured for driving (actuating) the slideable support frame 150.
  • the heave-compensation system of this embodiment of the invention resides in the provision of the sheave-cluster assembly (also referred to as crown block) in the slideable support frame 150, such that the distance between the winch 110 and the sheave-cluster assembly (crown block) is controllable. All details with regards to the heave-compensation control system are considered to be well-known and not discussed in detail in this specification (i.e. a control system is required having sensors, and a control loop system).
  • Fig. 2 shows a perspective view of a slightly modified version of the embodiment of Fig. 1 .
  • Fig. 3 shows the embodiment of Fig. 2 , seen from a different view point.
  • the figures serve to illustrate some further details of implementing a slideable support frame 150 within the drill tower structure 130.
  • the slideable support frame 150 comprises a crown block (sheave-cluster assembly) 151, which comprises at least one top sheave 152.
  • the drives foundation 160 comprises a drives foundation interface 162 and a track 164 for receiving guiding wheels (will be discussed later).
  • the drives assembly 170 comprises a plurality of electric motors 171 (but this may also be electric linear actuators) that are connected to respective friction wheels 173 (pinions or wheel gears) via respective gearing systems 172. This is further explained with reference to other figures.
  • Figs. 2 and 3 further illustrate that the drilling unit 100a is placed on a deck 200 of a floating vessel (not shown) or on drill floor 200 of a rig (not shown).
  • Fig. 4 shows a side view of the embodiment of Fig. 2 .
  • Fig. 5 shows a front view of the embodiment of Fig. 2 .
  • Fig. 6 shows a top view of the embodiment of Fig. 2 .
  • Fig. 6 shows also the guiding wheels 163 that are configured for cooperating with the earlier-mentioned track 164 in the drives foundation 160.
  • This figure also shows the friction tracks 153 on the slideable support frame 150.
  • the rack-and-pinion system as illustrated in the embodiment of Figs. 1 to 9 is just an example of creating a controllable slideable support frame 150, yet the advantage of rack-and-pinion is that the friction is extremely high, i.e. it is a very robust system, the position is well-determined, especially when the pinions are not rotating (and maybe even locked).
  • Fig. 7 shows a slideable support frame 150 in accordance with the embodiment of Fig. 2 .
  • the toothed racks 153 as well as the guided wheels 163 on the outside of the slideable support frame 150 are clearly illustrated.
  • Fig. 8 shows an enlarged view of part of Fig. 6 illustrated by AA.
  • Fig. 9 shows an enlarged view of the drives foundation (of which there is one on each side of the drill tower structure 130) and the drives assembly of the embodiment of Fig. 2 .
  • These figure show in a bit more detail how the electric motor 171 drive the friction wheels 173 via the gearing systems 172.
  • the figure also illustrates how the guiding wheels 173 run within the track 164 of the drives foundation interface 162.
  • Fig. 10 shows a perspective view of a second main embodiment of the drilling unit 100b in accordance with the invention. This embodiment will not be discussed in much detail, but only in as far as it differs from the first embodiment ( Figs. 1 to 9 ). It was already explained that the first embodiment was about varying the distance between the winch 110 and the crown block 151. Fig. 10 shows a further way in which this effect is achieved.
  • a further frame structure 135 is provided underneath the drill tower structure 130 for housing the slideable support frame 150.
  • the further frame structure 135 may also be integrated at a bottom side of the drill tower structure 130 or be part of it. In this case, however, such structure may be provided under the drill floor, for example.
  • the winch 110 that it provided within the slideable support frame 150, while the crown block 151 is kept in a fixed position at the top side 140 of the drill tower structure 130.
  • the heave-compensation system of the embodiment of the invention resides in the provision of the winch 110 in the slideable support frame 150, such that the distance between the winch 110 and the sheave-cluster assembly (also referred to as crown block 151) is controllable.
  • Fig. 11 shows a perspective view of a third main embodiment of the drilling unit 100c in accordance with the invention.
  • this embodiment is less complex than the first and second embodiments discussed with reference to Figs. 1 and 10 , in that the crown block is left out.
  • the winch 110 is placed within the slideable support frame 150 and placed in the top side 140 of the drill tower structure 130.
  • the heave-compensation system of this embodiment of the invention resides in the provision of the winch 110 in the slideable support frame 150 at the top side 140 of the drill tower structure 130, such that the distance between the winch 110 and the drill floor is controllable.
  • the heave-compensating system of the invention may be mounted at the top side of the derrick/drill tower or anywhere in the load path if stationary sheave are used. It may be used for compensating the rig movements by means of a rack and pinion system with electrical drive units (electric motors) connected to an energy recovery system.
  • the recovery system minimize energy supply needed and hence reduce the power demand from the vessel generators to provide less overall power consumption.
  • the invention can single-handedly supply heave compensation to the drilling machine/drill string without power provided from the vessel/rig making it a fully-passive heave-compensation system.
  • the invention also makes it possible to keep the source of energy at a safe area, remote from the derrick, more serviceability and space saving.
  • the heave-compensation system may be mounted between a winch and a drilling machine, transferring the reaction forces from the drilling operation into the derrick.
  • the winch may be located above or below the drill floor, having wire ropes routed via wire sheaves that are mounted in the movable part (slideable support frame) of the compensating system, to the drilling machine.
  • the winch may be mounted directly, as a part of the compensator system, at the top side of the derrick; and compensating by moving the winch in a vertical linear direction.
  • the compensating system is mounted on the outside or at the inside of the derrick; as a foundation to support the winch, and compensating by moving the winch in a linear direction with wires routed via sheaves to the drilling machine.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
EP17156406.5A 2017-02-16 2017-02-16 Bohreinheit mit einem elektrischen hiev-ausgleichssystem Active EP3363989B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP17156406.5A EP3363989B1 (de) 2017-02-16 2017-02-16 Bohreinheit mit einem elektrischen hiev-ausgleichssystem
US16/479,185 US20190360282A1 (en) 2017-02-16 2018-02-15 Drilling Unit Comprising an Electric Heave-Compensation System
PCT/NO2018/050041 WO2018151606A1 (en) 2017-02-16 2018-02-15 Drilling unit comprising an electric heave-compensation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17156406.5A EP3363989B1 (de) 2017-02-16 2017-02-16 Bohreinheit mit einem elektrischen hiev-ausgleichssystem

Publications (2)

Publication Number Publication Date
EP3363989A1 true EP3363989A1 (de) 2018-08-22
EP3363989B1 EP3363989B1 (de) 2019-03-27

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EP17156406.5A Active EP3363989B1 (de) 2017-02-16 2017-02-16 Bohreinheit mit einem elektrischen hiev-ausgleichssystem

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US (1) US20190360282A1 (de)
EP (1) EP3363989B1 (de)
WO (1) WO2018151606A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111827911A (zh) * 2020-07-23 2020-10-27 北京探矿工程研究所 一种海底钻机绳索取心动力头、结构及其控制方法

Citations (6)

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Publication number Priority date Publication date Assignee Title
US3804183A (en) * 1972-05-01 1974-04-16 Rucker Co Drill string compensator
US4962817A (en) * 1989-04-03 1990-10-16 A.R.M. Design Development Active reference system
US20090133881A1 (en) * 2006-06-16 2009-05-28 Itrec B.V. Heave motion compensation
US7923946B2 (en) 2007-05-18 2011-04-12 Williams Kevin R Flywheel-based energy storage on a heave-compensating drawworks
WO2015189368A2 (en) * 2014-06-13 2015-12-17 Cameron Sense AS Winches and hoisting systems with heave compensation
NO20151153A1 (no) * 2015-09-08 2017-03-09 West Drilling Products As Arrangement og framgangsmåte for hivkompensering av utstyr forsynt med vertikal tannstangdrift i et boretårn

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NO311343B1 (no) * 1997-04-24 2001-11-19 Engineering And Drilling Machi Innretning for bevegelse av en last
US6000480A (en) * 1997-10-01 1999-12-14 Mercur Slimhole Drilling Intervention As Arrangement in connection with drilling of oil wells especially with coil tubing
US20150129529A1 (en) * 2013-11-13 2015-05-14 Lee David Screaton Marine lifting apparatus
NL2012354B1 (en) * 2014-03-03 2015-11-26 Itrec Bv Offshore drilling system, vessel and methods.
CN106089127B (zh) * 2016-07-27 2018-06-15 西南石油大学 一种用于深水钻井作业的半主动式天车升沉补偿系统

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Publication number Priority date Publication date Assignee Title
US3804183A (en) * 1972-05-01 1974-04-16 Rucker Co Drill string compensator
US4962817A (en) * 1989-04-03 1990-10-16 A.R.M. Design Development Active reference system
US20090133881A1 (en) * 2006-06-16 2009-05-28 Itrec B.V. Heave motion compensation
US7923946B2 (en) 2007-05-18 2011-04-12 Williams Kevin R Flywheel-based energy storage on a heave-compensating drawworks
WO2015189368A2 (en) * 2014-06-13 2015-12-17 Cameron Sense AS Winches and hoisting systems with heave compensation
NO20151153A1 (no) * 2015-09-08 2017-03-09 West Drilling Products As Arrangement og framgangsmåte for hivkompensering av utstyr forsynt med vertikal tannstangdrift i et boretårn

Non-Patent Citations (1)

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Title
FRANK LANGLO'S: "Application of reliability centered maintenance on a drilling system", MASTER THESIS, June 2014 (2014-06-01)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111827911A (zh) * 2020-07-23 2020-10-27 北京探矿工程研究所 一种海底钻机绳索取心动力头、结构及其控制方法
CN111827911B (zh) * 2020-07-23 2023-04-07 北京探矿工程研究所 一种海底钻机绳索取心动力头、结构及其控制方法

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US20190360282A1 (en) 2019-11-28
WO2018151606A1 (en) 2018-08-23
EP3363989B1 (de) 2019-03-27

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