Uniform unblocking device for coiled tubing horizontal well and unblocking method and system thereof

Abstract

The invention discloses a continuous oil pipe horizontal well uniform unblocking device and unblocking method and system, and the device comprises a hollow cleaning part which is communicated with a continuous oil pipe and is rotatably connected with the continuous oil pipe; a plurality of uniformly distributed jet holes are formed in the side wall of the cleaning piece; and an acute angle is formed between the ejection direction of any jet hole and the cleaning piece. The unblocking device is installed at the preset position of the coiled tubing; water pressure is input into the coiled tubing to drive the cleaning piece to rotate, the cleaning piece is kept in the middle state, and liquid is jetted out of the jet hole to clean a target. And controlling the coiled tubing to advance according to the preset track according to the preset speed. The cleaning piece is kept in the middle position, the continuous oil pipe is prevented from buckling in the horizontal well, smooth advancing of the continuous oil pipe is guaranteed, and meanwhile the cleaning efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of oil and gas field development, and in particular to a continuous oil pipe horizontal well uniform unblocking device and an unblocking method and system thereof. Background Art

[0002] With the development of oil and gas fields, in order to ensure the safety of well control during the drilling process, high-density mud is often used for drilling. After drilling and completion, the arrival cycle of production completion string tools is later than the drilling cycle. Some wells cannot be completed immediately after drilling and completion, which will cause mud to soak the reservoir for a long time. The existing disposal methods are not perfect, which will cause the following three problems:

[0003] 1. In the prior art, the conventional operation after the gas well is put into production is to use the oil pipe string to replace the fluid to clean the reservoir. However, the speed of lowering the pipe string is slow, and the cleaning water eye mainly uses the bell-mouth guide shoe. In addition, the mud has been soaked for a long time, resulting in partial infiltration into the reservoir. Therefore, this method is weak in cleaning the side wall of the casing.

[0004] 2. If a coiled tubing is used for cleaning and a hole is drilled at the end of the coiled tubing, it can play a cleaning role. However, since the size of the coiled tubing is smaller than the casing string, it is easy to cause the coiled tubing to be off-center and cause difficulty in running.

[0005] 3. The continuous tubing method cannot be centered, and the uniform water holes arranged around it cannot play the role of jet flushing the horizontal well section pipe wall. Summary of the invention

[0006] The embodiment of the present invention provides a uniform unblocking device for horizontal wells using a continuous tubing and a unblocking method and system thereof, which at least partially solves the technical problem in the prior art that the continuous tubing cannot be centered when cleaning the casing, causing the continuous tubing to bend, and achieves the goal of keeping the continuous tubing centered and improving the cleaning efficiency by using a rotating jet.

[0007] In the first aspect, to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0008] A coiled tubing horizontal well uniform plugging removal device, comprising:

[0009] A hollow cleaning member, the cleaning member is communicated with the coiled tubing, and the cleaning member is rotatably connected with the coiled tubing;

[0010] A plurality of uniformly distributed jet holes are arranged on the side wall of the cleaning member; the jetting direction of any of the jet holes forms an acute angle with the cleaning member.

[0011] Optionally, any of the jet holes is provided with a chamfer.

[0012] Optionally, the cleaning element is connected to the continuous oil pipe via a bearing.

[0013] Optionally, the cleaning element is connected to the coiled tubing via a first rotating mechanism;

[0014] The first rotating mechanism comprises a screw rotor and a bearing, one end of the screw rotor is connected to the inner ring of the bearing, and the outer ring of the bearing is rotatably connected to the continuous oil pipe; the other end of the screw rotor is fixedly connected to the cleaning element.

[0015] In a second aspect, a method for uniformly unblocking a coiled tubing horizontal well is provided, comprising the above-mentioned uniformly unblocking device for a coiled tubing horizontal well, the method comprising:

[0016] Installing the above-mentioned unblocking device at a preset position of the above-mentioned coiled tubing;

[0017] By inputting water pressure into the coiled tubing, the cleaning element is driven to rotate and keep in a centered state, and liquid is ejected from the jet hole to clean the target;

[0018] The coiled tubing is controlled to move along a preset trajectory at a preset speed.

[0019] Optionally, the step of inputting water pressure into the coiled tubing specifically includes:

[0020] Establishing a relationship between the jet hole pressure and the internal pressure of the plugging removal device;

[0021] According to the internal pressure of the injected cleaning element, the ejection pressure of any of the ejection holes is calculated based on the above relationship;

[0022] The force of the cleaning element during rotation is analyzed, and the tangential force generated by the jet hole is converted based on the analytical formula;

[0023] According to the requirements of the above-mentioned target, the internal pressure of the above-mentioned cleaning component is controlled and the above-mentioned tangential force is adjusted to clean the above-mentioned target.

[0024] Optionally, the step of establishing a relationship between the jet hole pressure and the internal pressure of the plugging removal device specifically includes:

[0025] The internal pressure of the cleaning element, the pressure value at the jet hole position, and the outer diameter and inner diameter of the jet hole are fitted to obtain a relationship between the jet hole pressure and the internal pressure of the declogging device.

[0026] Optionally, the step of controlling the internal pressure of the injected cleaning element specifically includes:

[0027] Establish a comparison table of the above-mentioned different tangential forces and the above-mentioned target cleaning degrees through experiments;

[0028] According to the requirements of the above goals, select the cleaning degree in the comparison table;

[0029] According to the above selected cleaning degree, corresponding water pressure is injected into the above coiled tubing.

[0030] Optionally, after controlling the coiled tubing to move along a preset trajectory at a preset speed, the method further includes:

[0031] A rotation speed sensor is provided at the rotation connection between the cleaning element and the coiled tubing;

[0032] In response to the rotation speed being lower than a threshold, the rotation speed sensor sends a prompt message to the monitoring terminal.

[0033] In a third aspect, a coiled tubing horizontal well uniform unblocking system is provided, including the coiled tubing horizontal well uniform unblocking device, the system comprising:

[0034] An installation module is used to install the above-mentioned unblocking device at a preset position of the above-mentioned coiled tubing;

[0035] A water injection cleaning module, which drives the cleaning element to rotate by inputting water pressure into the coiled tubing, keeps the cleaning element in a centered state, and cleans the target by ejecting liquid from the jet hole;

[0036] The tubing advancing module is used to control the continuous tubing to advance along a preset trajectory at a preset speed.

[0037] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0038] In the embodiment of the present invention, a plurality of jet holes with a certain inclination angle are arranged on the cleaning element, and the casing is cleaned by utilizing the ejection force of the jet holes. The cleaning element rotates after receiving the reaction force, thereby keeping the cleaning element in a central position, avoiding the coiled tubing from buckling in the horizontal well, ensuring the smooth movement of the coiled tubing, and improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic structural diagram of a coiled tubing horizontal well uniform plugging removal device provided by the present invention;

[0041] Figure 2 It is a schematic diagram of the structure of the cleaning part in the present invention;

[0042] Figure 3 It is a structural schematic diagram of another blocking removal device in the present invention;

[0043] Figure 4 A structural schematic diagram of a method for uniformly unblocking a coiled tubing horizontal well provided by the present invention;

[0044] Figure 5 A structural schematic diagram of a coiled tubing horizontal well uniform deblocking system provided by the present invention.

[0045] Reference numerals: 1. coiled tubing; 2. cleaning device; 21. upper hole; 22. lower hole; 3. first rotating mechanism; 31. bearing; 32. screw rotor. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0049] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations of the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0051] The technical solution of the embodiment of the present invention is to solve the above technical problems, and the overall idea is as follows:

[0052] By arranging a plurality of jet holes with a certain inclination angle on the cleaning element, the jet holes generate a certain force in the tangential direction of the cleaning element, thereby driving the cleaning element to rotate, and thus maintaining a centered state under the drive of the reaction force, thereby improving the cleaning efficiency and preventing the coiled tubing 1 from buckling in the horizontal well.

[0053] Embodiment 1:

[0054] In an embodiment of the present invention, there is provided Figure 1 The device for uniformly unblocking a coiled tubing 1 in a horizontal well shown in the figure comprises: a hollow cleaning member, the cleaning member is connected to the coiled tubing 1, and the cleaning member is rotatably connected to the coiled tubing 1; a plurality of uniformly distributed jet holes are arranged on the side wall of the cleaning member; the ejection direction of any jet hole forms an acute angle with the cleaning member.

[0055] It should be noted that the power source of the entire unblocking device is the pressure generated by the cleaning liquid injected into the coiled tubing 1. The ejection direction of the jet hole is set to be at an acute angle to the cleaning element, such as Figure 2 As shown, a 60° inclination angle is adopted. This is to apply a certain force in the tangential direction of the rotation of the cleaning part, so as to keep it rotating. It should be noted that the number of jet holes must be multiple. If one jet hole is used, it will move in other directions while rotating due to uneven force, and thus cannot maintain a centered state. Therefore, this embodiment adopts a plurality of evenly distributed jet holes on the side wall of the cleaning part, so that when the cleaning part starts to rotate, the reaction after the jet hole is ejected can be divided into a tangential force and a force pointing to the center of the circle. After the multiple jet holes are evenly distributed, the component force pointing to the center of the circle will offset to avoid moving in a certain direction. The second tangential force drives the cleaning part to rotate. During rotation, because the inner wall of the sleeve (the target object to be cleaned) just surrounds the cleaning part, the water column continuously ejected from the jet hole is in contact with the inner wall of the target at all times. When the cleaning component deviates from its position during the lowering of the coiled tubing 1, based on the rule that the forces are different at different distances and the longer the distance, the smaller the force, the cleaning component automatically returns to its original position during the rotation process, thereby ensuring that the coiled tubing 1 remains centered and does not buckle in the horizontal well, thereby improving the cleaning efficiency.

[0056] It should also be noted that the shape of the cleaning element can be various, such as a hollow cylinder, a hollow cuboid or a hollow cube, but in order to reduce resistance during rotation, the present embodiment adopts a hollow cylinder.

[0057] Furthermore, any jet hole is provided with a chamfer.

[0058] It should be noted that the main purpose of setting chamfers on the jet holes is to reduce stress concentration at the edge of the jet holes and improve the fatigue strength of the jet holes. In addition, chamfers can also increase the smoothness of the jet hole surface and reduce the resistance of the fluid passing through the jet hole. In detail, for high-speed jets, the sharp angles of the jet hole edges will cause high stress concentration, which is easy to cause the initiation and expansion of fatigue cracks. By setting chamfers, the geometry of the jet hole edges can be improved, the degree of stress concentration can be reduced, and thus the fatigue strength and service life of the jet holes can be improved. In addition, setting chamfers on the jet holes can also improve the stability and uniformity of the jet. Due to the presence of chamfers, the outlet area of ​​the jet hole will be slightly enlarged, which helps to reduce the velocity non-uniformity of the jet and improve the stability of the jet. At the same time, chamfers can also make the jet smoother when leaving the jet hole, reduce the resistance of the fluid when passing through the jet hole, and reduce the noise and vibration of the jet. Specifically, according to the estimated density of mud after flushing, this embodiment adopts a hydraulic jet hole with an angle of 60° between the jet hole and the cleaning piece, an inner diameter of the upper hole 21 of d1mm, and an outer diameter of the chamfer of d2mm, and an inner diameter of the lower hole 22 of d3mm, and an outer diameter of the chamfer of d4mm. The screw drives the flushing tool to rotate clockwise through the hydraulic jet, thereby completing uniform flushing of the horizontal section and balancing the force.

[0059] Furthermore, the cleaning element is connected to the coiled tubing 1 via a bearing 31 .

[0060] It should be noted that the cleaning element and the coiled tubing 1 rotate under the drive of the jet hole. In this embodiment, a bearing 31 is arranged between the two components. Figure 3 shown.

[0061] Furthermore, if Figure 1 As shown, the cleaning element is connected to the coiled tubing 1 through a first rotating mechanism 3; the first rotating mechanism 3 includes a screw rotor 32 and a bearing 31, one end of the screw rotor 32 is connected to the inner ring of the bearing 31, and the outer ring of the bearing 31 is rotatably connected to the coiled tubing 1; the other end of the screw rotor 32 is fixedly connected to the cleaning element.

[0062] It should be noted that, in the process of continuously injecting water into the cleaning element, the screw rotor 32 rotates with the water flow, thereby driving the cleaning element to rotate, thereby providing initial power. On this basis, even if no jet hole with an inclination is provided, rotational cleaning can be performed. However, since the cleaning is slow, the two are used in combination to further improve the cleaning effect.

[0063] Embodiment 2:

[0064] Based on the same inventive concept, the embodiment of the present invention provides Figure 4A method for uniformly unblocking a coiled tubing 1 horizontal well is shown, comprising the above-mentioned uniformly unblocking device for a coiled tubing 1 horizontal well. The method comprises steps S101 to S103:

[0065] Step S101, installing a deblocking device at a preset position of the coiled tubing 1;

[0066] It should be noted that the unblocking device is arranged at the end of the coiled tubing 1, and the coiled tubing 1 is continuously put into the well and cleaned by the unblocking device.

[0067] Step S102, by inputting water pressure into the coiled tubing 1, the cleaning element is driven to rotate and kept in a centered state, and liquid is ejected from the jet hole to clean the target;

[0068] It should be noted that in the process of cleaning the target, in addition to cleaning by ejecting water flow, in order to maintain the centering state, the water pressure needs to be accurately controlled, which involves obtaining the relationship between the jet hole ejection pressure and the injection pressure. In detail, first establish the relationship between the jet hole pressure and the internal pressure of the unblocking device; that is, fit the internal pressure of the cleaning part, the pressure value at the jet hole position, the outer diameter and the inner diameter of the jet hole to obtain the relationship between the jet hole pressure and the internal pressure of the unblocking device. The fitting here is to use the unblocking device to set up multiple different water pressure test groups for water pressure testing, and obtain test data including the internal pressure of the unblocking device and the pressures of multiple jet holes;

[0069] According to the estimated density of mud after flushing, this embodiment adopts an angle of 60° between the jet hole and the cleaning element, and takes two jet holes as an example for explanation, wherein the upper hole 21 has an inner diameter of d1mm and an outer diameter of d2mm at the chamfer, and the lower hole 22 has an inner diameter of d3mm and an outer diameter of d4mm at the chamfer, thereby obtaining the following relationship:

[0070] P2=P1*C*lg(d2 / d1) (1)

[0071] P3=P1*C*lg(d4 / d3) (2)

[0072] The pressure in the cleaning device 2 of the coiled tubing 1 is P1, the outlet pressure of the upper hole 21 is P2, and the outlet pressure of the lower hole 22 is P3. C is a coefficient obtained through experiments, and the coefficients obtained based on different cleaning element sizes and upper and lower hole sizes are different.

[0073] The force analysis of the cleaning device 2 shows that the tangential force generated by the upper hole 21 in the clockwise direction is:

[0074]

[0075] The force analysis of the cleaning device 2 shows that the tangential force generated by the lower hole 22 in the clockwise direction is:

[0076]

[0077] As a result, the cleaning device 2 automatically rotates under the influence of the shear stresses of F1 and F2.

[0078] In order to maintain the centering state, it is necessary to achieve force balance in the center position so that it can correct itself even if it deviates. The force balance formula is:

[0079] F2*cos60°+F 浮 =G+F1*cos60° (5)

[0080] The buoyancy is the buoyancy of the cleaning device 2 due to the combined effect of the density of the mixed liquid and the formation pressure after the mud is flushed, and G is the deadweight of the cleaning device 2.

[0081] According to the internal pressure of the injected cleaning element, the ejection pressure of any ejection hole is calculated based on the relations (1) and (2);

[0082] The force on the cleaning part during rotation is analyzed and converted based on the analytical formula, i.e., formulas (3), (4) and (5) to obtain the tangential force generated by the jet hole;

[0083] According to the needs of the target, that is, the degree and difficulty of cleaning required, the internal pressure of the injected cleaning element is controlled, and the pressure of the tangential force to clean the target is adjusted, thereby ensuring that the coiled tubing 1 is centered while effectively cleaning the casing.

[0084] Among them, in the step of controlling the internal pressure of the injected cleaning part, in order to facilitate the operation of the control personnel. This embodiment can also establish a comparison table of different tangential forces to the target cleaning degree through experiments; according to the target requirements, the cleaning degree is selected in the comparison table; according to the selected cleaning degree, the corresponding water pressure is injected into the continuous oil pipe 1. Therefore, the personnel only need to confirm the degree of cleaning required in the casing in the early stage, and use the corresponding cleaning pressure according to the comparison table, so that the cleaning can be carried out accurately, which further improves the convenience of cleaning.

[0085] Step S103, controlling the coiled tubing 1 to move along a preset trajectory at a preset speed.

[0086] It should be noted that the coiled tubing 1 can be lowered at a speed controlled by a coiler, thereby achieving a suitable uniform lowering speed, thereby avoiding collision or blockage caused by lowering too quickly, and reducing the cleaning efficiency by lowering too slowly.

[0087] Further, after controlling the coiled tubing 1 to move along a preset trajectory at a preset speed, the method further includes:

[0088] A rotation speed sensor is provided at the rotation connection between the cleaning element and the coiled tubing 1;

[0089] In response to the rotation speed being lower than a threshold, the rotation speed sensor sends a prompt message to the monitoring terminal.

[0090] It should be noted that since the cleaning part and the continuous tubing 1 need to rotate relative to each other and the working environment contains a large amount of mud, in order to avoid the cleaning part from getting stuck, a speed sensor is set to monitor the cleaning part. When the speed is lower than the threshold, it is determined to be stuck and a prompt message is sent to the monitoring terminal. Specifically, for the speed sensor, such as the cleaning part and the continuous tubing 1, a laser receiver is set on one and a laser transmitter is set on the other. Every time it rotates, the laser receiver receives a signal, thereby measuring the speed.

[0091] Based on the same inventive concept, the embodiment of the present invention provides a system for uniformly removing plugging in a horizontal well of a coiled tubing 1, such as Figure 5 As shown, including:

[0092] Installation module 201, installing the unblocking device at a preset position of the coiled tubing 1;

[0093] The water injection cleaning module 202 inputs water pressure into the coiled tubing 1 to drive the cleaning element to rotate and keep it in the center, and the liquid is ejected from the jet hole to clean the target;

[0094] The tubing advancing module 203 is used to control the coiled tubing 1 to advance along a preset trajectory at a preset speed.

[0095] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0097] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A coiled tubing horizontal well uniform unblocking device, characterized in that: The device comprises: A hollow cleaning member, the cleaning member is communicated with the coiled tubing, and the cleaning member is rotatably connected with the coiled tubing; A plurality of uniformly distributed jet holes are arranged on the side wall of the cleaning member; the jetting direction of any of the jet holes forms an acute angle with the cleaning member.

2. The device according to claim 1, characterized in that Any of the jet holes is provided with a chamfer.

3. The device according to any one of claims 1 to 2, characterized in that: The cleaning element is connected to the coiled oil pipe via a bearing.

4. The device according to any one of claims 1 to 2, characterized in that: The cleaning element is connected to the coiled tubing via a first rotating mechanism; The first rotating mechanism includes a screw rotor and a bearing, one end of the screw rotor is connected to the inner ring of the bearing, and the outer ring of the bearing is rotatably connected to the coiled tubing; the other end of the screw rotor is fixedly connected to the cleaning element.

5. A method for uniformly unblocking a coiled tubing horizontal well, characterized in that: The method comprises the blocking removal device according to any one of claims 1 to 4, wherein: Installing the unblocking device at a preset position of the coiled tubing; By inputting water pressure into the coiled tubing, the cleaning element is driven to rotate and maintain a centered state, and liquid is ejected from the jet hole to clean the target; The coiled tubing is controlled to move along a preset trajectory at a preset speed.

6. The method according to claim 5, characterized in that The step of inputting water pressure into the coiled tubing specifically includes: Establishing a relationship between the jet hole pressure and the internal pressure of the unblocking device; Calculating the ejection pressure of any of the ejection holes based on the relationship according to the internal pressure of the injected cleaning element; Analyze the force of the cleaning element when it rotates, and convert the tangential force generated by the jet hole based on the analytical formula; According to the needs of the target, the internal pressure of the injected cleaning member is controlled, and the tangential force is adjusted to clean the target.

7. The method according to claim 6, characterized in that The step of establishing a relationship between the jet hole pressure and the internal pressure of the plugging removal device specifically includes: The internal pressure of the cleaning element, the pressure value at the jet hole position, and the outer diameter and inner diameter of the jet hole are fitted to obtain a relationship between the jet hole pressure and the internal pressure of the unblocking device.

8. The method according to claim 6, characterized in that The step of controlling the internal pressure of the injected cleaning element specifically includes: Establishing a comparison table of the effects of different tangential forces on the target cleaning degree through experiments; According to the requirements of the stated objectives, select the degree of cleaning in the comparison table; According to the selected cleaning degree, a corresponding water pressure is injected into the coiled tubing.

9. The method according to claim 5, characterized in that After the coiled tubing is controlled to move along a preset trajectory at a preset speed, the method further includes: A rotation speed sensor is provided at the rotation connection between the cleaning element and the coiled tubing; In response to the rotation speed being lower than a threshold, the rotation speed sensor sends a prompt message to the monitoring terminal.

10. A coiled tubing horizontal well uniform unblocking system, characterized in that: The system comprises the blocking removal device according to any one of claims 1 to 4, wherein the system comprises: An installation module is used to install the deblocking device at a preset position of the coiled tubing; A water injection cleaning module, which drives the cleaning element to rotate by inputting water pressure into the coiled tubing, keeps the cleaning element in a centered state, and cleans the target by ejecting liquid from the jet hole; The tubing advancing module is used to control the continuous tubing to advance along a preset trajectory at a preset speed.

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