阅读说明：本技术 一种用于帆船驾驶训练的模拟船舵装置 (A simulation rudder device for sailing ship driving training ) 是由 梁辉 矫恒安 孔祥旭 王辉 汪传生 于 2021-06-30 设计创作，主要内容包括：本发明公开了一种用于帆船驾驶训练的模拟船舵装置,包括固定板、可变阻尼装置、操纵连杆、驱动装置、张紧装置、电信号反馈装置,固定板设置在供模拟驾驶用的帆船船尾,固定板表面设置有可变阻尼装置,可变阻尼装置包括螺旋滑槽转筒和模拟舵轴,螺旋滑槽转筒用于改变模拟舵轴转动所受阻力矩；操纵连杆设置在模拟舵轴上端,用于转动模拟舵轴并将模拟舵轴的阻力矩传递给操作者；驱动装置用于驱动螺旋滑槽转筒,将电信号转化为螺旋滑槽转筒的角度；张紧装置用于保证同步带与螺旋滑槽转筒间具有足够摩擦力；电信号反馈装置用于将模拟舵轴的角度信息和螺旋滑槽转筒的极限位置信息转化为电信号。(The invention discloses a simulated rudder device for sailing ship driving training, which comprises a fixed plate, a variable damping device, an operation connecting rod, a driving device, a tensioning device and an electric signal feedback device, wherein the fixed plate is arranged at the stern of a sailing ship for simulated driving; the control connecting rod is arranged at the upper end of the simulation rudder shaft and is used for rotating the simulation rudder shaft and transmitting the resistance moment of the simulation rudder shaft to an operator; the driving device is used for driving the spiral chute rotating drum and converting the electric signal into the angle of the spiral chute rotating drum; the tensioning device is used for ensuring that enough friction force exists between the synchronous belt and the spiral chute rotating drum; the electric signal feedback device is used for converting the angle information of the analog rudder shaft and the extreme position information of the spiral chute rotating drum into electric signals.)

1. A simulated rudder device for sailing ship driving training is characterized by comprising a fixing plate, a variable damping device, an operation connecting rod, a driving device, a tensioning device and an electric signal feedback device, wherein the fixing plate is arranged at the stern of a sailing ship for simulated driving, the surface of the fixing plate is provided with the variable damping device, the variable damping device comprises a spiral chute rotating cylinder and a simulated rudder, and the driving device is used for driving the spiral chute rotating cylinder and converting an electric signal into the angle of the spiral chute rotating cylinder; the spiral chute rotating cylinder is used for changing the resistance moment borne by the rotation of the simulated rudder shaft; the control connecting rod is arranged at the upper end of the simulated rudder shaft and is used for rotating the simulated rudder shaft and transmitting the resisting moment of the simulated rudder shaft to an operator; the tensioning device is used for ensuring that sufficient friction force exists between the synchronous belt and the spiral chute rotary drum; the electric signal feedback device is used for converting the angle information of the simulated rudder shaft and the extreme position information of the spiral chute rotating cylinder into electric signals.

2. The simulated rudder device for sailing ship driving training of claim 1, wherein the variable damping device comprises a simulated rudder shaft, a bearing end cover, a rolling bearing, an upper fixing frame, a straight groove inner cylinder, a spiral chute rotating cylinder, an upper pressing plate, a pressure spring, a lower pressing plate, a friction plate, a tight end limiting deflector rod, a loose end limiting deflector rod and a lower fixing frame; the cylinder wall of the straight groove inner cylinder is provided with two guide sliding grooves, and the inner wall surface of the straight groove inner cylinder is provided with two positioning grooves; a round hole is formed in the center of the upper pressure plate, the upper pressure plate moves along the axial direction of the simulated rudder shaft, and cylindrical protrusions are arranged at two ends of the upper pressure plate and embedded into two guide sliding grooves of the straight groove inner cylinder; the outer wall of the spiral chute rotating cylinder is provided with tooth grooves at equal intervals, the inner wall of the spiral chute rotating cylinder is provided with two spiral chutes, and the spiral surface is respectively tangent to cylindrical surfaces of cylindrical bulges at two ends of the upper pressure plate; the pressure spring is arranged between the upper pressure plate and the lower pressure plate and changes the compression state along with the axial movement of the upper pressure plate; the lower pressure plate is provided with wing-shaped bulges and is used for being embedded into a positioning groove on the inner wall surface of the straight groove inner cylinder, the working surface of the lower pressure plate is contacted with the working surface of the friction plate, and a circular hole is formed in the center of the lower pressure plate and is used for simulating a rudder shaft to penetrate through; the simulation rudder shaft is provided with a shaft section with a hexagonal cross section, is matched with a hexagonal hole arranged on the friction plate, and is provided with a shaft shoulder for limiting the axial movement of the simulation rudder shaft; the upper fixing frame and the lower fixing frame are provided with through holes used for fixing the variable damping device on the fixing plate. One end of the simulated rudder shaft is provided with a cutting groove for circumferentially fixing the control connecting rod.

3. The simulated rudder device for sailing ship driving training of claim 2, wherein the driving device includes a stepping motor, a motor fixing bracket, a synchronizing wheel, a synchronizing belt; a synchronous wheel is arranged on a motor shaft of the stepping motor, and the synchronous wheel is meshed with a tooth socket on the outer wall of the spiral chute rotating cylinder; the motor fixing frame is used for fixing the stepping motor.

4. The simulated rudder device for sailing ship driving training of claim 3, wherein the tensioning device includes a fixed spring seat, a tensioning slide plate, a tensioning spring, an adjusting bolt, an adjusting nut; the tensioning sliding plate is provided with a through hole corresponding to the motor fixing frame; the fixed plate is provided with four long holes for realizing the horizontal movement of the motor fixed frame and the tensioning sliding plate; the adjusting bolt penetrates through the tensioning sliding plate, the tensioning spring and the fixed spring seat respectively, and the adjusting nut is arranged at one end of the adjusting bolt and used for adjusting the distance between the tensioning sliding plate and the fixed spring seat.

5. The simulated rudder device for sailing ship driving training of claim 4, wherein the steering link includes a steering rod, a tiller, a stub nut; the operating rod is provided with a short rope for being connected with the tiller, and the shaft end nut is used for axially fixing the tiller on the simulation rudder shaft.

6. The simulated rudder device for sailing ship driving training of claim 5, wherein the electrical signal feedback device includes a travel switch, a switch mount, an encoder mount, a coupling; the coupler is used for connecting the analog rudder shaft and the shaft of the encoder; the encoder fixing frame is used for mounting an encoder on the fixing plate, and the encoder is used for converting the angle information of the simulated rudder shaft into an electric signal; the tight end limiting deflector rod and the loose end limiting deflector rod are arranged on the outer wall of the spiral chute rotating cylinder and used for triggering the travel switch, and the travel switch is arranged on the fixing plate through the switch fixing frame and used for sending an electric signal of the limit position of the spiral chute rotating cylinder.

Technical Field

The invention belongs to the field of driving simulation, and particularly relates to a friction type simulation rudder device with adjustable damping for sailing ship driving training.

Background

Sailing is a water sport. The sportsman operates the sail, the tiller and other equipment, and the sailing boat is driven forward by natural wind power, so that the influence of wind and waves is fully utilized in the driving process. In the driving simulation of sailing ship movements, three aspects are mainly considered, namely the control of the sails, the rudders and the weight distribution, respectively. The sportsman changes the windward area and the direction of the sail by pulling the sail rope, provides sailing power for sailing, and keeps the balance of the sailing boat under the action of the direction stabilizing plate and the weight distribution of the sportsman. The rudder of a small sailing boat is generally arranged at the stern and has a tiller and a stick attached to the rudder stock, where the rudder blade is a wing or flat structure with a small aspect ratio. The force of the water flow on the rudder blade can be divided into a rudder resistance along the fluid flow direction and a rudder lift perpendicular to the fluid flow direction. The athlete rotates the rudder stock through the operating rod, changes the included angle between the rudder blade and the main axis of the ship body, changes the lift force and the rudder resistance of the rudder, and generates a rudder turning moment on a midship by the lift force of the rudder to turn a sailing ship.

The training of traditional sailing boat sports is carried out in water, but the training on water has certain danger and has more severe requirements on the field and the weather. The method for simulating the driving of the sailing boat generally comprises the steps of transforming a real sailing boat and simulating a motion view to enable athletes to practice on the land. Due to the difference between the water environment and the land environment, the rudder blade of the simulated driving ship cannot be subjected to force changing along with the angle of the rudder blade and the size of water flow, so that an athlete can hardly obtain real force feedback when operating the rudder, and the judgment of the athlete on the driving state and the driving strategy is influenced.

In addition, in the training process of using the rudder of a real ship, the angle information of the rudder stock cannot be read by a computer to form effective feedback, and the motion and vision simulation system cannot change in real time according to the operation of a user, so that the reality of sailing training is reduced.

Disclosure of Invention

In order to solve the technical problems and ensure that a rudder can give real-time force feedback to an operator according to the action of the operator and send angle information of a rudder stock to a computer system in real time when sailing ship driving simulation is carried out, the invention provides a simulated rudder device for sailing ship driving training, which comprises a fixed plate, a variable damping device, an operation connecting rod, a driving device, a tensioning device and an electric signal feedback device, wherein the fixed plate is arranged at the stern of a sailing ship for simulated driving, the surface of the fixed plate is provided with the variable damping device, the variable damping device comprises a spiral chute rotating cylinder and a simulated rudder shaft, and the spiral chute rotating cylinder is used for changing the resistance moment borne by the rotation of the simulated rudder shaft; the control connecting rod is arranged at the upper end of the simulated rudder shaft and is used for rotating the simulated rudder shaft and transmitting the resistance moment of the simulated rudder shaft to an operator; the driving device is used for driving the spiral chute rotating cylinder and converting an electric signal into an angle of the spiral chute rotating cylinder; the tensioning device is used for ensuring that sufficient friction force exists between the synchronous belt and the spiral chute rotary drum; the electric signal feedback device is used for converting the angle information of the simulated rudder shaft and the extreme position information of the spiral chute rotating cylinder into electric signals.

Preferably, the variable damping device comprises a simulated rudder shaft, a bearing end cover, a rolling bearing, an upper fixing frame, a straight groove inner cylinder, a spiral chute rotating cylinder, an upper pressing plate, a pressure spring, a lower pressing plate, a friction plate, a tight end limiting deflector rod, a loose end limiting deflector rod and a lower fixing frame; the cylinder wall of the straight groove inner cylinder is provided with two guide sliding grooves, and the inner wall surface of the straight groove inner cylinder is provided with two positioning grooves; a round hole is formed in the center of the upper pressure plate, the upper pressure plate moves along the axial direction of the simulated rudder shaft, and cylindrical protrusions are arranged at two ends of the upper pressure plate and embedded into two guide sliding grooves of the straight groove inner cylinder; the inner wall of the spiral chute rotating drum is provided with two spiral chutes, and the spiral surface is respectively tangent to cylindrical surfaces of cylindrical bulges at two ends of the upper pressure plate; the pressure spring is arranged between the upper pressure plate and the lower pressure plate and changes the compression state along with the axial movement of the upper pressure plate; the lower pressure plate is provided with wing-shaped bulges and is used for being embedded into a positioning groove on the inner wall surface of the straight groove inner cylinder, the working surface of the lower pressure plate is contacted with the working surface of the friction plate, and a circular hole is formed in the center of the lower pressure plate and is used for simulating a rudder shaft to penetrate through; the simulation rudder shaft is provided with a shaft section with a hexagonal cross section, is matched with a hexagonal hole arranged on the friction plate, and is provided with a shaft shoulder for limiting the axial movement of the simulation rudder shaft; the upper fixing frame and the lower fixing frame are provided with through holes used for fixing the variable damping device on the fixing plate.

Preferably, the outer wall of the spiral chute rotating cylinder is provided with tooth grooves at equal intervals.

Preferably, the spiral chute rotating cylinder is rotated, the cylindrical protrusions at two sides of the upper pressure plate slide in the spiral chute on the inner wall of the spiral chute rotating cylinder and the guide chute of the straight groove inner cylinder, and the axial position of the upper pressure plate relative to the straight groove inner cylinder is changed.

Preferably, the driving device comprises a stepping motor, a motor fixing frame, a synchronous wheel and a synchronous belt; a synchronous wheel is arranged on a motor shaft of the stepping motor, and the synchronous wheel is meshed with a tooth socket on the outer wall of the spiral chute rotating cylinder; the motor fixing frame is used for fixing the stepping motor.

Preferably, the tensioning device comprises a fixed spring seat, a tensioning sliding plate, a tensioning spring, an adjusting bolt and an adjusting nut; the tensioning sliding plate is provided with a through hole corresponding to the motor fixing frame; the fixed plate is provided with four long holes for realizing the horizontal movement of the motor fixed frame and the tensioning sliding plate; the fixed plate, the tensioning sliding plate and the motor fixing frame are connected by bolts and nuts after the synchronous belt is installed; the adjusting bolt penetrates through the tensioning sliding plate, the tensioning spring and the fixed spring seat respectively, and the adjusting nut is arranged at one end of the adjusting bolt and used for adjusting the distance between the tensioning sliding plate and the fixed spring seat.

Preferably, one end of the simulated rudder shaft is provided with a cutting groove for circumferentially fixing the control connecting rod.

Preferably, the control link comprises a control lever, a tiller and a shaft end nut, the control lever is provided with a short rope for connecting with the tiller, and the shaft end nut is used for axially fixing the tiller on the simulated tiller shaft.

Preferably, the electric signal feedback device comprises a travel switch, a switch fixing frame, an encoder fixing frame and a coupler; the coupler is used for connecting the analog rudder shaft and the shaft of the encoder; the encoder fixing frame is used for mounting an encoder on the fixing plate, and the encoder is used for converting the angle information of the simulated rudder shaft into an electric signal; the tight end limiting deflector rod and the loose end limiting deflector rod are arranged on the outer wall of the spiral chute rotating cylinder and used for triggering the travel switch, and the travel switch is arranged on the fixing plate through the switch fixing frame and used for sending an electric signal of the limit position of the spiral chute rotating cylinder.

Compared with the prior art, the invention has the following beneficial effects:

the control connecting rod simulates the structure of a control rod of a real ship, so that the operation method of the rudder of the sailing ship can be accurately reduced;

one end of the analog rudder shaft is connected with the encoder, so that the angle information of the analog rudder shaft can be sent to a computer in an electric signal form in real time to realize the closed loop of an analog system;

the stepping motor can adjust the damping of the variable damping device in real time according to the angle information of the simulated rudder shaft, and the influence of the angle of the rudder blade on the resistance of the rudder is simulated, so that an operator can obtain more visual force feedback;

the device has the advantages of simple overall structure, convenience in dismounting, easiness in operation and high economical efficiency, and is particularly suitable for direct transformation of a real ship.

Drawings

Fig. 1 is a perspective view of a simulated rudder device for sailing ship driving training according to the invention.

Fig. 2 is a schematic sectional view of the variable damping device.

FIG. 3 is a cross-sectional view of a spiral chute drum.

FIG. 4 is a schematic plan view of the straight-grooved inner cylinder.

Fig. 5 is a partial cross-sectional view of the tensioner.

Fig. 6 is a schematic view of the installation positions of the limit deflector rod and the travel switch.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations and positional relationships based on the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicative or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected, mechanically or electrically connected; the two components can be connected with each other, or indirectly connected with each other through an intermediate medium, or the two components are communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The training of traditional sailing boat sports is carried out in water, but the training on water has certain danger and has more severe requirements on the field and the weather. The method for simulating the driving of the sailing boat generally comprises the steps of transforming a real sailing boat and simulating a motion view to enable athletes to practice on the land. Due to the difference between the water environment and the land environment, the rudder blade of the simulated driving ship cannot be subjected to force changing along with the angle of the rudder blade and the size of water flow, so that an athlete can hardly obtain real force feedback when operating the rudder, and the judgment of the athlete on the driving state and the driving strategy is influenced.

In addition, in the process of simulating sailing ship driving by using a rudder of a real ship, the angle information of the rudder stock cannot be read by a computer to form effective feedback, and a motion and view simulation system cannot change in real time according to the operation of a user, so that the authenticity and the effectiveness of sailing ship driving are reduced.

In order to solve the technical problems, the rudder can provide real-time force feedback for an operator according to the operation of the operator and ensure that the angle information of a rudder stock is sent to a computer system in real time when sailing ship driving simulation is carried out, and the simulated rudder device for sailing ship driving training is provided.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 6, the present invention provides a simulated rudder device for sailing ship driving training, which includes a fixed plate 10, a variable damping device 20, an operation link 30, a driving device 40, a tensioning device 50, and an electrical signal feedback device 60, wherein the fixed plate 10 is disposed at the stern of a sailing ship for simulated driving, the surface of the fixed plate 10 is provided with the variable damping device 20, the variable damping device 20 includes a spiral chute rotating cylinder 206 and a simulated rudder shaft 201, and the spiral chute rotating cylinder 206 is used for changing a resistance moment applied to the rotation of the simulated rudder shaft 201; the control link 30 is arranged at the upper end of the simulated rudder shaft 201 and is used for rotating the simulated rudder shaft 201 and transmitting the resistance moment of the simulated rudder shaft 201 to an operator; the driving device 40 is used for driving the spiral chute rotating cylinder 206 and converting the electric signal into the angle of the spiral chute rotating cylinder 206; the tensioning device 50 is used to ensure sufficient friction between the timing belt 404 and the spiral chute drum 206; the electric signal feedback device 60 is used for converting the angle information of the analog rudder shaft 201 and the extreme position information of the spiral chute drum 206 into electric signals.

In an embodiment of the present invention, the variable damping device 20 includes a simulated rudder shaft 201, a bearing end cap 202, a rolling bearing 203, an upper fixing frame 204, a straight groove inner tube 205, a spiral chute rotating tube 206, an upper pressing plate 207, a pressure spring 208, a lower pressing plate 209, a friction plate 210, a tight end limit deflector rod 211, a loose end limit deflector rod 212, and a lower fixing frame 213; the cylinder wall of the straight groove inner cylinder 205 is provided with two guide sliding grooves 205-1, and the inner wall surface is provided with two positioning grooves 205-2; a round hole is arranged in the center of the upper pressure plate 207, the upper pressure plate moves along the axial direction of the analog rudder shaft 201, and cylindrical bulges are arranged at two ends of the upper pressure plate and are embedded into two guide sliding grooves 205-1 of the straight groove inner cylinder 205; the inner wall of the spiral chute rotating cylinder 206 is provided with two spiral chutes 206-1, and the spiral surfaces are respectively tangent with cylindrical surfaces of cylindrical bulges at two ends of the upper pressure plate 207; the pressure spring 208 is arranged between the upper pressure plate 207 and the lower pressure plate 209, and changes the compression state along with the axial movement of the upper pressure plate 207; the lower pressing plate 209 is provided with wing-shaped bulges and is used for being embedded into a positioning groove 205-2 on the inner wall surface of the straight groove inner cylinder 205, the working surface of the lower pressing plate 209 is contacted with the working surface of the friction plate 210, and the center of the lower pressing plate is provided with a round hole for the simulation rudder shaft 201 to pass through; the simulation rudder shaft 201 is provided with a shaft section 201-1 with a hexagonal cross section, is matched with a hexagonal hole arranged on the friction plate 210, and is provided with a shaft shoulder for limiting the axial movement of the simulation rudder shaft; the upper and lower holders 204 and 213 are provided with through holes for fixing the variable damping device 20 to the fixed plate 10.

In one embodiment of the invention, the outer wall of the spiral chute drum 206 is provided with equally spaced splines.

In one embodiment of the present invention, the spiral chute rotating cylinder 206 is rotated, the cylindrical protrusions at both sides of the upper pressing plate 207 slide in the spiral chute 206-1 at the inner wall of the spiral chute rotating cylinder 206 and the guide chute 205-1 of the straight chute inner cylinder 205, and the axial position of the upper pressing plate 207 relative to the straight chute inner cylinder 205 is changed.

In one embodiment of the present invention, damping grease is applied to the contact surface of the friction plate 210 with the lower pressing plate 209 and the straight groove inner cylinder 205.

In one embodiment of the present invention, the driving device 40 includes a stepping motor 401, a motor fixing frame 402, a synchronous wheel 403, and a synchronous belt 404; a synchronous wheel 403 is arranged on a motor shaft of the stepping motor 401, and a synchronous belt 404 is respectively meshed with the synchronous wheel 403 and a tooth groove on the outer wall of the spiral chute rotating drum 206; the motor holder 402 is used to hold the stepping motor 401.

In one embodiment of the present invention, the tensioning device 50 comprises a fixed spring seat 501, a tensioning slide plate 502, a tensioning spring 503, an adjusting bolt 504, an adjusting nut 505; the tensioning sliding plate 502 is provided with a through hole corresponding to the motor fixing frame 402; four long holes are arranged on the fixing plate 10 and used for realizing the horizontal movement of the motor fixing frame 402 and the tensioning sliding plate 502; the fixed plate 10, the tensioning sliding plate 502 and the motor fixing frame 402 are connected by bolts and nuts after the synchronous belt 404 is installed; an adjusting bolt 504 penetrates through the tension sliding plate 502, the tension spring 503 and the fixed spring seat 501 respectively, and an adjusting nut 505 is arranged at one end of the adjusting bolt 504 and used for adjusting the distance between the tension sliding plate 502 and the fixed spring seat 501.

In an embodiment of the present invention, a slot 201-2 is formed at one end of the dummy rudder shaft 201 for circumferentially fixing the steering link 30.

In one embodiment of the present invention, the steering link 30 comprises a steering rod 301, a tiller 302, and a nut 303 at the shaft end, wherein the steering rod 301 is provided with a short rope for connecting with the tiller 302, and the nut 303 at the shaft end is used for fixing the tiller 302 on the simulated rudder shaft 201 in the axial direction.

In one embodiment of the present invention, the electrical signal feedback device 60 includes a travel switch 601, a switch holder 602, an encoder 603, an encoder holder 604, and a coupler 605; the coupling 605 is used for connecting the analog rudder shaft 201 and the shaft of the encoder 603; the encoder fixing frame 604 is used for installing the encoder 603 on the fixing plate 10, and the encoder 603 is used for converting the angle information of the analog rudder shaft 201 into an electric signal; the tight end limiting deflector rod 211 and the loose end limiting deflector rod 212 are arranged on the outer wall of the spiral chute rotating cylinder 206 and used for triggering the travel switch 601, and the travel switch 601 is arranged on the fixing plate 10 through the switch fixing frame 602 and used for sending an electric signal of the limit position of the spiral chute rotating cylinder 206.

In a specific embodiment of the invention, the simulated rudder device for sailing ship driving training is arranged at the stern of a sailing ship, in the sailing ship simulated driving process, a stepping motor 401 firstly drives a spiral chute rotating cylinder 206 clockwise, and when a loose end limit deflector rod 212 triggers a travel switch 601, the travel switch 601 sends an electric signal to a computer to set an initial position; an operator holds the joystick 301 by hand to change the angle of the analog rudder shaft 201 so as to simulate a rudder adjusting action in sailboat movement, and the encoder 603 reads the angle information of the analog rudder shaft 201 and sends an electric signal to a computer; the stepping motor 401 adjusts the spiral groove rotary drum 206 along with the angle of the simulated rudder shaft 201 in real time according to a computer instruction, changes the compression state of the pressure spring 208 and further changes the friction torque between the lower pressure plate 209 and the friction plate 210; the drag torque is fed back to the operator through the steering link 30 via the dummy rudder shaft 201.

In addition, the computer can change the ship posture in the motion and view simulation system for sailing ship driving according to the collected electric signals, so that the reality and immersion feeling of driving simulation are improved.

In addition, the device has simple integral structure and convenient assembly and disassembly, is particularly suitable for directly transforming a real ship, and has strong economical efficiency.

Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.