阅读说明：本技术 舰载垂直发射载荷的近距投放方法 (Short-distance launching method for shipborne vertical launching load ) 是由 彭雪明 李莹 陈爱锋 白雪飞 于 2020-06-10 设计创作，主要内容包括：本说明书提供一种舰载垂直发射载荷的近距投放方法,舰载处置发射载荷包括用于产生水平推力的横向推力装置；投放方法包括：使载荷以垂直发射的方式离开垂直发射筒；在载荷离开垂直发射筒后,启动横向推力装置而使载荷获得水平速度而向投放区域移动。本说明书提供的垂直发射载荷的近距投放方法,在载荷离开发射筒后,为横向推力装置直接使得载荷向近地投放区域移动,载荷可以快速地达到近地投放区域,实现了载荷的快速部署。另外,本说明书提供的近距投放方法,无需使载荷实现较大过载的转动机动,因此无需设置技术性指标较高的姿态调整装置,载荷中其它器件的受力性能指标也相应地降低。(The specification provides a short-distance launching method of a ship-based vertical launching load, wherein the ship-based vertical launching load comprises a transverse thrust device for generating horizontal thrust; the releasing method comprises the following steps: enabling the load to leave the vertical launching tube in a vertical launching mode; after the load leaves the vertical launching tube, the transverse thrust device is started to enable the load to obtain horizontal speed and move towards the launching area. According to the short-distance launching method for the vertical launching load, after the load leaves the launching tube, the load directly moves to the near ground launching area for the transverse thrust device, the load can quickly reach the near ground launching area, and quick deployment of the load is achieved. In addition, the short-distance delivery method provided by the specification does not need to enable the load to realize the rotation maneuver with larger overload, so that an attitude adjusting device with higher technical indexes does not need to be arranged, and the stress performance indexes of other devices in the load are correspondingly reduced.)

1. The short-distance launching method of the ship-based vertical launching load is characterized in that the ship-based disposal launching load comprises a transverse thrust device for generating horizontal thrust; the releasing method comprises the following steps:

causing the load to exit a vertical launch canister in a vertical launch;

after the load leaves the vertical launching tube, the transverse thrust device is started to enable the load to obtain horizontal speed and move towards the launching area.

2. The close-up delivery method of claim 1, wherein causing the payload to exit the vertical reflecting drum in a vertical launch comprises:

and the load is made to leave the vertical launching cylinder in a vertical launching mode by adopting a cold launching mode.

3. The close-up delivery method of claim 2, wherein the vertically reflecting the load off the vertically-emitting canister with cold reflection comprises:

determining a distance of the launch area relative to a vessel;

determining the initial speed of the load leaving the vertical launching tube according to the distance and the thrust of the transverse thrust device;

and determining the force application characteristic of the cold launching device in the vertical launching tube to the load according to the initial speed and the weight of the load.

4. The close-up delivery method according to claim 3, wherein the load further comprises a vertical thrust device at the bottom;

after the lateral thrust device is started to enable the load to obtain the horizontal speed, the close-distance delivery method further comprises the following steps:

determining a current height of the load;

determining whether the load can fly to the throwing area or not according to the current height, the horizontal distance between the throwing area and the current position, the transverse speed state of the load and the transverse thrust exerted on the load by the transverse thrust device;

and controlling the vertical thrust device to apply vertical thrust to the load.

5. The close delivery method of claim 4,

the vertical thrust device is a high-pressure compressed air source.

6. The close-up delivery method according to claim 1, wherein the load comprises a boost engine;

causing the load to exit a vertical launch canister in a vertical launch manner, comprising: operating with the boost engine to thermally launch the load off the vertical launch canister.

7. The close-launch method of any one of claims 1-6 wherein activating the lateral thrust device after the load leaves the vertical launch canister comprises:

after the load rises to a safe height, starting the transverse thrust device;

the safety height is determined according to the superstructure structure of the naval vessel and the launching direction of the load.

8. The close-up delivery method according to any one of claims 1-6, wherein the load comprises an acceleration measuring device; the releasing method further comprises the following steps:

measuring the rotation angular velocity of the load according to the acceleration measuring device;

and adjusting the injection angle of the transverse thrust device according to the rotation angular speed so as to avoid the load from rotating.

9. The close-up delivery method according to any one of claims 1-6, further comprising:

judging whether the load reaches a throwing area or not;

in case the load reaches a drop area, the load in the load is dropped.

Technical Field

The specification relates to the field of ship-based weapons, in particular to a short-distance launching method of ship-based vertical launching loads.

Background

In order to improve the stealth performance of the naval vessels, realize the integration and modularization of weaponry and control, systematization of weapon maintenance, and adoption of a vertical launching system for air defense and anti-ship weapons, the vertical launching system is the mainstream of medium and large-scale surface naval vessel weaponry. Under the guidance and the restriction of the mainstream equipment idea, the short-distance load throwing is also required to be integrated into the carrier-based vertical transmitting module.

At present, the launching method of the ship-borne vertical launching short-distance launching load comprises the following steps: after the load is launched from the vertical launching tube, a thrust engine (such as a rocket engine, a turbojet engine and the like) positioned at the tail part of the load drives the load to continuously ascend, and an attitude adjusting device (such as a rudder wing, a vector nozzle and the like) rapidly acts to adjust the pitch attitude angle of the load, so that the speed of the load in the vertical direction is converted into the horizontal direction (in some cases, the adjustment of the pitch attitude intersection can also enable the load to rapidly move towards the horizontal plane), and the short-distance motion of a specific track is realized.

However, the method for realizing the short-distance load throwing by adopting the thrust engine and the attitude adjusting device is limited by the characteristics of the motion trail of the load, and the response time of throwing the load to a specific area is long; in order to realize the release of the load to a specific area as much as possible, the posture adjusting device is required to provide a sufficiently large rotating moment as much as possible; and the improvement of the rotating torque of the attitude adjusting device puts great requirements on the structural strength and the functional performance of the attitude adjusting device. In addition, due to the structural characteristics of the closely-placed load, it may not be possible to quickly maneuver an overload, and therefore the load placement speed also needs to be limited.

Disclosure of Invention

The specification provides a short-distance launching method of a ship-borne vertical launching load, which is used for realizing the quick launching of the short-distance load and reducing the technical index requirements on the load.

The specification provides a short-distance launching method of a ship-based vertical launching load, wherein the ship-based disposal launching load comprises a transverse thrust device for generating horizontal thrust; the releasing method comprises the following steps:

causing the load to exit a vertical launch canister in a vertical launch;

after the load leaves the vertical launching tube, the transverse thrust device is started to enable the load to obtain horizontal speed and move towards the launching area.

Optionally, causing the load to exit the vertical reflecting drum in a vertically launched manner comprises:

and the load is made to leave the vertical launching cylinder in a vertical launching mode by adopting a cold launching mode.

Optionally, the cold reflex manner is adopted to make the load leave the vertical launch canister in a vertical reflex manner, and the cold reflex manner comprises the following steps:

determining a distance of the launch area relative to a vessel;

determining the initial speed of the load leaving the vertical launching tube according to the distance and the thrust of the transverse thrust device;

and determining the force application characteristic of the cold launching device in the vertical launching tube to the load according to the initial speed and the weight of the load.

Optionally, the load further comprises a vertical thrust device at the bottom;

after the lateral thrust device is started to enable the load to obtain the horizontal speed, the close-distance delivery method further comprises the following steps:

determining a current height of the load;

determining whether the load can fly to the throwing area or not according to the current height, the horizontal distance between the throwing area and the current position, the transverse speed state of the load and the transverse thrust exerted on the load by the transverse thrust device;

and controlling the vertical thrust device to apply vertical thrust to the load.

Optionally, the vertical thrust device is a high-pressure compressed air source.

Optionally, the load comprises a boost engine;

causing the load to exit a vertical launch canister in a vertical launch manner, comprising: operating with the boost engine to thermally launch the load off the vertical launch canister.

Optionally, after the load leaves the vertical launch canister, activating the lateral thrust device, comprising:

after the load rises to a safe height, starting the transverse thrust device;

the safety height is determined according to the superstructure structure of the naval vessel and the launching direction of the load.

Optionally, a rotating device for changing the direction of the nozzle of the transverse thrust device is included;

determining the throwing direction of the load;

the close-range delivery method further comprises the following steps: before the transverse thrust device is started, the rotating device is driven to rotate according to the throwing direction of the load, so that the nozzle of the transverse thrust device faces the direction opposite to the throwing direction.

Optionally, the load comprises an acceleration measuring device; the releasing method further comprises the following steps:

measuring the rotation angular velocity of the load according to the acceleration measuring device;

and adjusting the injection angle of the transverse thrust device according to the rotation angular speed so as to avoid the load from rotating.

Optionally, the method further comprises:

judging whether the load reaches a throwing area or not;

in case the load reaches a drop area, the load in the load is dropped.

According to the short-distance launching method for the vertical launching load, after the load leaves the launching barrel, the load is directly moved to the near ground launching area by the transverse thrust device, so that the load can quickly reach the near ground launching area under the condition that transverse movement of the load is guaranteed; compared with the existing load close-distance launching method, the launching method provided by the embodiment reduces the response time of the load reaching a close-distance launching area, and improves the launching and deployment speed of the load carrying loads.

In addition, the short-distance delivery method provided by the specification does not need to enable the load to realize the rotation maneuver with larger overload, so that an attitude adjusting device with higher technical indexes does not need to be arranged, and the stress performance indexes of other devices in the load are correspondingly reduced. In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.

FIG. 1 is a schematic structural diagram of a ship-based vertical launching load provided by an embodiment;

fig. 2 is a flowchart of a short-distance launching method of a ship-based vertical launching load provided by the embodiment;

FIG. 3 is a schematic diagram of a trajectory after load launch provided by the embodiment;

wherein: 11-load, 12-lateral thrust.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

The embodiment of the specification provides a short-distance launching method for treating a launching load on a ship, which is used for realizing rapid short-distance launching of a vertical launching load with a specific purpose.

Fig. 1 is a schematic structural diagram of a ship-based vertical launching load provided by an embodiment. As shown in fig. 1, the load 11 in this embodiment comprises a lateral thrust device 12; the transverse thrust device 12 is a recoil injection device whose nozzle orifice is perpendicular to the vertical extension of the load 11 (that is, in the case where the load 11 is vertically disposed, the nozzle orifice of the recoil injection device is disposed in a horizontal direction). The lateral thrust device 12 is operable to apply a thrust in a horizontal direction to the load 11. In this embodiment, the number of nozzles and the positions of the nozzles in the lateral thrust device are not limited as long as the lateral thrust device 12 can apply a thrust to the load 11 to translate the load 11.

Fig. 2 is a flowchart of a short-distance launching method of a ship-based vertical launching load provided by the embodiment. As shown in fig. 2, the close-up delivery method provided by the present embodiment includes steps S101 to S102.

S101: the load is caused to exit the vertical launch canister in a vertical launch.

In step S101, the load may leave the launch canister by cold launch or leave the vertical launch canister by hot launch, which is not particularly limited in this embodiment.

Under the condition of launching in a cold launching mode, high-temperature and high-pressure gas generated by a vertical launching system is filled into a launching tube from the bottom, and the interior of the launching tube begins to be pressurized so that pressure acts on the bottom of a load; when the acting force generated by the pressure in the launching tube is larger than the gravity of the load, the load is gradually accelerated in the vertical direction and leaves the vertical launching tube at a certain speed.

In the case of thermal launch, the engine-assisted firing at the lower (i.e., tail) end of the load overcomes the weight of the load and forces the load away from the vertical launch canister.

In consideration of the fact that in practical application, the load can obtain enough initial velocity after leaving the vertical launch canister, that is, enough dead time of the load can be ensured, the cold launch mode can be adopted to ensure that the load can obtain the enough initial velocity, and the design complexity of the load can be simplified, so the cold launch mode is preferably adopted to launch the load in the specific application of the embodiment.

S102: after the load leaves the vertical launching tube, the transverse thrust device is started to enable the load to obtain horizontal speed to move towards the launching area.

The vertical launch canister does not laterally restrain the load after it leaves the vertical launch canister. At the moment, after the transverse thrust device is started, a recoil nozzle in the transverse thrust device ejects jet flow, so that the load obtains thrust, and the thrust enables the load to obtain acceleration in the horizontal direction. Since the acceleration in the horizontal direction is obtained, the load obtains the horizontal moving velocity. It is conceivable that the load is now moved towards the launch area (i.e. the area remote from the vessel) under the combined effect of gravity and thrust.

Conceivably, by adopting the short-distance throwing method of the vertical launching load, the dead time of the load is determined under the condition that the reloading leaves the vertical launching cylinder and does not apply the lifting thrust to the vertical launching cylinder any more; in the case where the start timing of the lateral thrust device after leaving the vertical launch canister with respect to the load is determined and the thrust characteristics of the lateral thrust device are known, the load final launch area can be determined.

In reverse consideration, under the condition that the index of the short-distance throwing area of the load is determined, the thrust characteristics of the load in the vertical launching tube and the thrust characteristics of the transverse thrust device can be designed according to the index, so that the load can be thrown to the short-distance throwing area.

The method in the steps S101-S102 is analyzed again, the transverse thrust device is started to enable the load to directly move towards the near ground throwing area in the transverse movement process of the load, and the load does not need to be transferred to the near ground area by adopting a large overload quick maneuvering method as in the prior art, so that the transverse acceleration applied to the load can be set, the load is small, and a posture adjusting device with harsh technical indexes is not needed; because the load is subjected to smaller lateral acceleration without being subjected to larger maneuvering overloads as in the prior art, the stress indexes of other devices in the load can be relatively reduced.

In addition, because the transverse thrust device directly enables the load to move towards the ground approaching throwing area, the load can quickly reach the ground approaching throwing area under the condition of ensuring the transverse movement of the load; compared with the existing load close-distance launching method, the launching method provided by the embodiment reduces the response time of the load reaching a close-distance launching area, and improves the launching and deployment speed of the load carrying loads.

Fig. 3 is a schematic diagram of a trajectory after load emission provided by the embodiment. As shown in fig. 3, the load moves vertically during the launch phase; and after the lateral thrust device is activated, the load moves in a parabolic-like trajectory.

Specific design criteria for the thrust cross-over thrust device are described below based on certain deterministic performance requirement criteria. Assuming that the determined performance indicator includes t_{Transverse direction}And L_{Short distance}Wherein t is_{Transverse direction}For the time from the start of the transverse thrust device to the moment when the load reaches the ground-approaching landing zone, L_{Short distance}Indicating the distance from the ground-based launch area to the vessel.

Assuming that the transverse thrust device works stably, the formula is adoptedAnd the minimum thrust that can be determined for the lateral thrust device to achieve the performance index is

F can be determined according to the maximum transverse overload that the load can bear_{Transverse direction (Max)}＝n_Limiting×m_Load(s)X g, wherein n_LimitingThe maximum normal overload value bearable by the ship-borne vertical launching load is shown, g represents the gravity acceleration value, F_{Transverse direction (Min)}≤F_{Transverse direction (design)}≤F_{Transverse direction (Max)}。

In the specific application, the transverse thrust device is a power device with high power-to-mass ratio such as a rocket engine. The rocket engine generates transversely-sprayed high-temperature flame at high temperature, and the transversely-sprayed high-temperature flame can damage the superstructure of the naval vessel, so that the ignition time of the recoil thrust device in practical application is limited by the load throwing direction and the superstructure of the naval vessel.

If the load needs to be thrown to the lateral direction perpendicular to the keel of the vessel, because of the structural design characteristics of the vessel, no superstructure exists in the direction perpendicular to the keel of the vessel, flames generated by the recoil thrust device cannot influence the superstructure of the vessel, and the recoil thrust device can be started after leaving the vertical launch canister.

If the load needs to be thrown to the area in front of the side or behind the side of the vessel, under the condition, in order to protect and avoid the influence of a recoil thrust device on an superstructure of the vessel, the load leaves the vertical launching tube and rises to a safe height, and then the transverse thrust device is started. In a specific application, the safe height may be a mast height of a vessel, a bridge height, or a furnace bay radiator height, depending on the location of the load deployment.

The following analysis of the speed characteristics of the load leaving the launch canister, with the safety height constraints, so that the load meets the performance requirements mentioned above, is required. By scene analysis, the load moves to a safe height h_SecureThe ignition safety of the transverse thrust device can be ensured. Then, according to the force analysis, in order to make the load rise to a safe height, the required speed obtained by launching the load from the vertical launching tube is

In addition, in practical application, in order to enable the load to be at a horizontal height generally close to that of a naval vessel when the load reaches the launching area and ensure that the speed of the load in the vertical direction is not too high after the load reaches the launching area, the maximum height h which the load can reach after the load is launched from the vertical launching tube needs to be limited_maxAccording to force analysis

Thus, can obtainThus, according to v above_{Discharging tube}Can confirm the limiting condition ofDetermining the thrust force characteristic acting on the load during the vertical launch phase.

In practical application, the dynamic characteristic and the horizontal force-moving characteristic of the load in the vertical direction need to be combined, so that the load can be thrown to a set throwing area. In a specific application of this embodiment, the horizontal force characteristics of the load are determined by the specific type of thrust, so that the operation characteristics of the cold-emitting device can be determined by steps S201 to S203.

S201: the distance of the launch area relative to the vessel is determined.

S202: and determining the initial speed of the load leaving the vertical launching tube according to the distance and the thrust of the transverse thrust device.

In step S202, according to the distance and the thrust of the transverse thrust device, the time t from the start of the transverse power device to the movement of the load to the throwing area can be determined_{Transverse direction}(ii) a In order to enable the load to move to the launch area, at t_{Transverse direction}In this case, the load should be in a dead space state. The dead time becomes longer as the load is greater at the initial velocity of leaving the launch tube, and the required dead time t becomes larger_{Transverse direction}A minimum initial velocity of the load away from the vertical launch canister may be determined, and a reasonable initial velocity may be selected in a range greater than the minimum initial velocity.

S203: the operating characteristics of the cold-emitting device in the vertical launching tube are determined according to the initial speed and the weight of the load.

The operating characteristics of the cold launching device are analyzed below with respect to a particular constraint that the transverse thrust device is activated when the load rises to the maximum height and that the horizontal height of the load when it reaches the launch area coincides with the height when it leaves the vertical launch canister, when a_{Transverse direction}Has already been determined.

According toCan determineBecause of the fact thatWhen the transverse thrust device is started when the vertical speed of the load is 0, the speed when the load reaches the throwing area can be determined to be the same as the cylinder discharging speed of the load, and the direction is opposite, so that the transverse thrust device is started when the load reaches the throwing areaAccording to v_{Discharging tube}The operating characteristics of the cold emitter in the vertical emitter can be determined such that the carrier reaches v upon exiting the vertical emitter_{Discharging tube}。

Of course, during the execution of steps S201-S203, the safety height h may also need to be considered_SecureAnd the load may be started when the vertical speed is not reduced to 0, in which case the corresponding constraint may be increased to find the corresponding v_{Discharging tube}(ii) a In addition, in practical application, various constraint conditions can be comprehensively considered to determine the thrust characteristic of the transverse thrust device, and the speed v of the load leaving the vertical launch canister_{Discharging tube}So that the load reaches the launch area in a reasonably minimum time from the start of the launch.

In the specific application of the embodiment, the v is the control quantity obtained by calculating the load according to the control quantity obtained by the load emission, due to the influence of the actual battlefield environment and the working characteristics of the cold emission device_{Discharging tube}Without reaching the theoretical calculation, the load may not be able to move to the predetermined drop zone in this case. In order to solve this problem, the load bottom in this embodiment may be further provided with a vertical thrust device. During the movement towards the drop zone, the steps S301-S303 may be performed to ensure that the load finally reaches the drop zone, while the thrust device load is activated to obtain the horizontal direction velocity at step S102. .

S301: the current height of the load is determined.

In this embodiment, an altimeter may be provided in the load for measuring the altitude of the load and determining the current height of the load relative to the water surface from the altitude. In other embodiments, the current height of the load may be determined by calculating from the optical signal in a manner of optical monitoring of the vessel.

S302: and determining whether the load can fly to the throwing area or not according to the current height, the horizontal distance between the throwing area and the current position, the transverse speed state of the load and the transverse thrust exerted on the load by the transverse thrust device.

If the step S302 determines that the load cannot fly to the launch area, step S303 is executed.

Step S302, according to the current altitude, the horizontal distance between the launching area and the current position, the transverse speed state of the load and the transverse thrust exerted on the load by the transverse thrust device, the future running track of the load is calculated to determine whether the load can fly to the launching area. In performing this process, it is assumed that the lateral thrust device is always operating normally. If the load cannot fly to the distance of the throwing area, the height of the load is determined to be too low, and the dead time of the future load cannot meet the requirement.

S303: and controlling the vertical thrust device to apply vertical thrust to the load.

And controlling the vertical thrust exerted by the thrust device on the load to be determined according to the current height, the horizontal distance between the throwing area and the current position, the transverse speed state of the load and the transverse thrust exerted by the transverse thrust device on the load.

Under the condition that the vertical thrust device applies vertical thrust, the vertical thrust can overcome the gravity action on at least part of the load, so that the acceleration of the load in the vertical direction is reduced, and the load dead time is prolonged; by increasing the dead time of the load, the load can be ensured to move a larger distance in the transverse direction, and a preset throwing area can be reached as far as possible.

In practical application, the vertical thrust device can be various types of recoil thrust devices; considering the simplicity of the actual structural design, the vertical thrust device is preferably a high pressure compressed air source or the like.

The transverse thrust device in the present embodiment is mentioned above to operate so that the load obtains a horizontal thrust; however, in practical application, the load is affected by vessel shaking, uneven vertical thrust and the like in the vertical launching process, the load may incline after leaving the vertical launching tube, and at this time, if the horizontal thrust device still applies horizontal thrust to the load, the horizontal thrust may act on the load to form a rotation moment, so that the load rotates uncontrollably. In addition, the load may also rotate under the influence of various disturbances after the load is launched. The load is rotated to realize the throwing of the load in the throwing area.

In order to solve the foregoing problem, in this embodiment, the load further includes an acceleration measuring device; in practical application, the acceleration measuring device can be a gyroscope or a three-coordinate accelerometer processed by an MEMS process. The aforementioned delivery method further comprises steps S401-S402.

S401: the angular velocity of rotation of the load is measured according to an acceleration measuring device.

S402: and adjusting the injection angle of the transverse thrust device according to the rotational inertia to avoid the rotation of the load.

Assuming that the distance between the rotating shaft of the transverse power device and the center of the load is D, the moment of inertia of the load rotating around the rotating shaft caused by the load or disturbance after emission is I_yyWhen the angular speed of the load rotating around the axial direction is phi, the transverse power device rotates around the deflection shaft by an angle

In this embodiment, in order to realize that the load can be launched to each direction of the naval vessel as required and reduce the number of the transverse thrust devices configured in the load, the load launching system further includes a rotating device, and the rotating device is used for changing the spraying direction of the transverse thrust devices.

The rotating device may be installed in the vertical launching tube or on the load, and this specification is not particularly limited. In order to reduce the design difficulty of the load as much as possible, the rotating means is preferably provided in the vertical launch barrel.

Under the condition that the rotating device is arranged, the close-distance delivery method further comprises the following steps: determining the throwing direction of the load; before the transverse thrust device is started, the rotating device is driven to rotate according to the throwing direction of the load, so that the nozzle of the transverse thrust device faces to the direction opposite to the throwing direction.

In specific application, if the rotating device is arranged in the vertical launching tube, the rotating device can be driven to rotate firstly, so that the transverse thrust device can emit load when located at a specific position; if the rotating device is arranged on the load, the rotating device can be rotated to adjust the nozzle direction of the transverse thrust device at any time before the load is launched from the vertical launching tube to the starting of the transverse thrust device.

In the close-up delivery method provided by this embodiment, step S102 may include steps S1021 and S1022. S1021: and judging whether the load reaches a release area.

If the load reaches the drop zone, step S1022 is performed.

S1022: and throwing the load in the load.

In this embodiment, a throwing device is arranged on the shell of the load, or a separating device is arranged on the shell of the load; when the load reaches the launch area, the launch device or the separation device is activated so that the load in the load is launched into the airspace or on the water surface in the launch area.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.