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2008.Crawler Vehicle with Circular Cross-Section Unit

Abstract —

In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.

Keywords: Tracked Vehicle, Sideways Motion, Circular Cross-Section, Crawler, Pipe Inspection

I. INTRODUCTION

onventional crawlers cannot move sideways. Therefore they usually (i) lack enough maneuverability to move in narrow spaces such as in Fig. 1(a). For example, It is not so easy to set the position of the crawler vehicle to trajectory number 5 in Fig. 1(a). In addition, when a conventional crawler tilts sideways on soft ground, (ii) the edge of the crawler unit might sink undesirably as shown in Fig. 1(b). In this paper we present a mechanism that solves these two issues. A crawler mechanism that realizes sideling motion is presented and the application of a pipe inspection robot is examined.

A . The weak point of crawlers which realize the sideways

mobility

In order to realize holonomic omni-directional motion, there exist many commercial wheels which are based on small passive rotational wheels[1]-[8]. Some of them are similar to a crawler-like mechanism. A particularly accomplished example of this is the VUTON[9] developed by Hirose, or the vehicle developed by M. West et al.[10] and the mechanism

University of Electro-Communications 1,AIST 2, Tohoku University 3, Massachusetts Institute of Technology 4 , tadakuma@https://www.wendangku.net/doc/4919164620.html, , 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN

developed by Chen et al[11]. However, these crawler-like mechanisms have many numbers of small passive rotational rollers, and are not generally capable of overcoming steps or ground discontinuities typical in environments such as houses, offices or hospitals (e.g. the gap at an elevator opening). This limitation stems from the fact that the diameter of the passive

wheel is much smaller than the diameter of the whole wheel.

[ Front View ]

[ Oblique

View ]

(a)Difficulty to Adjust the Position,Going Into Narrow Space (Top View )

(b)Sinking from the Edge

in Soft Ground Narrow Space

Body of theV ehicle

Crawler Unit Soft Ground

Obstacle

Soft Ground

Obstacle

Crawler Unit Body

of theV ehicle

A B

C C

Fig. 1: Weak points of Conventional Crawler Mechanism

II. B ASIC C ONCEPT OF THE C RAWLER WITH C IRCULAR C ROSS -S ECTION

The basic concept of the proposed crawler with a circular cross-section is shown in Fig.2. The crawler module has an active rotational axis; which allows it to realize the required sideways motion.

Additionally, this configuration has another distinctive feature, shown in Fig. 3.

Fig. 2: Basic Schema of Omni-Crawler with Circular Section

Crawler Vehicle with Circular Cross-Section Unit

to Realize Sideways Motion

Kenjiro Tadakuma 1, Riichiro Tadakuma 2, Keiji Nagatani 3, Kazuya Yoshida 3, Steve Peters 4, Martin Udengaard 4, Karl Iagnemma 4

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center Nice, France, Sept, 22-26, 2008

Basic Motion Direction of the Vehicle

(a) Inner Pipe (b) Outer Pipe

Fig. 3 Fitting by design to various pipe sizes (Front View) When a conventional crawler moves inside a pipe (or on its outer surface), the edge of the crawler belt contacts the surface with a small area: an edge line. Or conventional one should change their inclining angle in roll axis adopting to the surface of the pipe[18]. On the other hand, when the proposed crawler with a circular cross-section moves on the inside (or outside) of a pipe, the contact area is significantly increased due to the shape and elasticity of the circular crawler belt. In addition, the circular cross-section reduces the problem of the crawler unit sinking into the pipe surface.

Robots mounted with the proposed mechanism move in a direction perpendicular to the passive wheel axis, as shown in Fig. 2. The maximum step which the mobile robots can overcome is significantly small relative to the size of the whole wheel because of the small diameter of the passive wheels.

III.M ECHANISM OF THE C RAWLER WITH C IRCULAR

S ECTION

In this section, the basic configuration of the proposed cylindrical crawler mechanism is described. First, the mechanism of the Omni-Ball[12][13] which authors developed before (which inspired the cylindrical crawler design) is explained.

A. Basic Configuration of “Omni-Ball”

A spherical mechanism such as the spherical wheel [14] can be used to achieve omni-directional motion. However, this wheel has many mechanical parts, including rollers, mechanical guides, etc. One of the key developments presented in this paper is a novel mechanism for AGV which can realize omni-directional motion symmetrically.

The basic 3D-concept model is shown in Fig.4. In Fig. 4, two hemispheres rotate passively, and the active rotational axis lies in the center of the Omni-Ball. In order to rotate, both the hemispheres are passive. Note that each passive rotational axis is independent, so that each rotation of a hemispheric wheel is also independent.

When the active axis rotates, the Omni-Ball produces a propelling force in a direction perpendicular to the active rotational axis, as shown in Fig.4. At the same time, the wheel does not produce a propelling force in the horizontal direction

in Fig.4, so that this mechanism can similarly move in an arbitrary direction by a combination of three propelling forces.

Passive Rotational Axis

Geared Motor

(Rotary Actuator)

Passive Movement

Fig.4: Basic Structure of the “Omni-Ball”

B.Basic Configuration of “Omni-Crawler”

The comparison between the Omni-Ball and Omni-Crawler designs is shown in Fig.5.

The Omni-Crawler is a an extension of the Omni-wheel from a sphere to a cylinder with spherical ends. From a front view, as in Fig 5[a-1] and 5[b-1], the two mechanisms are identical. The difference is evident, however, from the bottom view, as in Fig 5[a-2] and 5[b-2], where there is a cylindrical section inserted between the spherical ends of the Omni-crawler. While the surface of the Omni-ball consisted of two solid hemispheres, the surface of the Omni-crawler is composed of a belt that runs over both the cylinder and spherical ends. The belt is described in the next section.

As stated in the previous section, the hemispherical wheel of the Omni-Ball is rotated passively in Fig.5. The Omni-Crawler, however, can produce propelling force not only laterally, but also longitudinally. If a rotary actuator is mounted on the hemispherical wheel of the Omni-Ball, its longitudinal velocity must be adjusted according to the angle formed by the axis of the hemispherical wheel to the ground, because the relative radius of the wheel will change based on the inclining angle of the wheel mechanism. Fig.5(b) shows a schema of the Omni-Crawler: the crawler mechanism to realize sideways motion. Note that in contrast with the omni-ball, the velocity of the crawler in forward direction is

independent of the inclining angle of the driving unit, as

shown in Fig. 5[b-1] and [b-2]. θ

ωr o P Passive Active [ b-2 ] Omni-Crawler [ a-2 ] Omni-Ball

(Bottow View)

Active Rotation

T r a c t i o n D i r e c t i o n

o 1P 1o 2

P 2

Active Rotation Active Linear Motion

Traction Direction

Traction Direction Contact Line Contact

Point P a s s i v e M o v e m e n t

Linear

Driving Area

ωr ω

r P [ a-1 ] Omni-Ball (Front View)o θr R P [ b-1 ] Omni-Crawler

(Front View)

o θ

r R

Fig.5: Basic Principle of the “Omni-Crawler”

The velocity of the vehicle with Omni-Ball is described by,

V ob = R {cos(π/2)-θ}*ω =( R * sin θ) *ω (1)

and it is dependent on the incline angle of the Omni-Ball. On the other hand, the velocity of Omni-Crawler “Voc” is as follows (linear contact with ground hypothesis)

V oc = R* ω (2)

This is the basic principle of the Omni-Crawler.

Summarizing: (i) There is a singularity line on the Omni-crawler that does

not allow any longitudinal traction force to be generated. (ii) The system can move longitudinally by standard motion of the track.

When the side belts are actively moved in the same direction, the generated motion by the crawler is changed before and after crossing the singularity line, therefore, the

rotational motion direction of the sprocket should be changed, if the crawler unit should move in the same longitudinal direction. During half rotational motion of the crawler unit, it can realize following two, although it is better that the

longitudinal and the sideways motion are conducted individually basically. (iii)The system can move omni-directionally (by

combining the rolling motion in roll axis).

(iv)It can adjust its velocity in any arbitrary direction.

In order to realize the mechanism based on this idea, the actual prototype model has been developed as explained in next section.

C. Actual Prototype of “Omni-Crawler” (c-1) Inner Mechanism of the Crawler

The inner mechanism of the crawler is shown in Fig. 6. The geared motor rotates the inner shaft and bevel gear set changes the rotation direction to the vertical axis of the shaft of the motor and sprocket is rotated at the end. In the end of the front and rear of the inner mechanism unit are the shafts for the sideling motion of the crawler. By actively rotating these shafts in the rolling axis, lateral motion can be realized. The tensioner for the belt is mounted at the rear. It is much better to put a slip ring for wiring at the rear shaft.

AAA Battery

for size comparison

Guide of the Belt

Sprocket

Geared Motor

Coupling

Rolling Axis for Sideling Motion

Tensioner

Bevel Gear Set

Screw

Tensioner

Fig.6: Mechanism inside the Crawler Unit

(c-2) Crawler Belt with Circular Lug

In order to realize smooth sideling motion, the shape of the section of the crawler has to be a circle. The lug of the crawler is shown in Fig. 7. At the surface of the lug module, rubber is set to the lug supporter. The material of the lug supporter is SUS304 (metal). The overview of the belt of the crawler is shown in Fig.8.

Lug Supporter (Bent SUS304)

Surface Rubber of the Circular Lug

Screw Hole

Fig.7: Lug of the Crawler Belt

Lugs

Fig.8: Belt of the Crawler (top one is reverse side of the crawler)

(a) Oblique View the Crawler Unit

Lug of the Crawler

(b) Front View

Fig.9: Actual Prototype Model of “Omni-Crawler” Unit

Note that the width of the crawler unit “Wc”and height “Hc”and diameter of the crawler unit “Dc”are satisfied the following equation and as shown in Fig.9 and table 1, the actual model satisfy these relations.

Wc = Hc = Dc (3)

IV. Vehicle with Crawler Units

4.1 Configuration of the Vehicle

The realizable configurations of the vehicle with sideways motion are shown in Fig. 10. There are basically three configurations as follows.

(a) Rectangle Configuration with 4 Crawler Units

This layout of the crawler vehicle was adopted into the configuration of the VUTON[9]. The rotational motion of the crawler unit is passive while the longitudinal motion of the crawler is active.

(b)Radial Configuration with 4 Crawler Units

The rotational motion of the crawler unit is active while the longitudinal motion of the crawler is passive. (c)Parallel Configuration with 2 Crawler Units

Two crawler units are aligned in parallel. Both of the rotational and the longitudinal motions are active.

Finally, the selected configuration as a prototype model is (c), 2-unit parallel type in order to realize better pipe inspection task easily in low cost and light weight this time. The whole configuration of the vehicle is shown in Fig. 11 and specification of the vehicle is shown in table2.

There is the motor to rotate both axes of rolling shaft from the right and left crawler units for realizing sideling motion. The battery “Pocket Moba MV”[17] and electronic circuit boards are mounted on top of the body.

If the vehicle must be thrown to reach its search target, its body will be made smaller than the space between the crawler units.

(a) Rectangle Configuration

(b) Radial Configuration (c) 2-Units Parallel Configuration

Crawler Unit Active Passive

Fig.10: Configurations of the Vehicles (Top View)

[ Oblique View]

[ Front View ]

[ Side View ]

Fig.11: Whole View of the Crawler Vehicle

4.2 Control System of the Vehicle

The control system of the vehicle is shown in Fig. 12. The two motors in each crawler units and one motor for sideways motion are controlled with radio controller unit by manually. And Signals are transmitted to each motor through the electronic circuit board. The vehicle is controlled by manually so far, but automatic control is going to be developed and rotational direction of the motor in the track will be changed in near future by using semi-automatic control.

Motor

Motor for

Crawler Unit

Fig.12: Control System of the Vehicle V. E XPERIMENTS OF THE C RAWLER V EHICLE

In this section, we describe a set of experiments conducted to confirm the performance of a prototype of this crawler vehicle with the omni-crawler drive mechanism.

A. Omnidirectional Motion

As one of the basic mobility criteria of this robot, the ability to produce omnidirectional motion should be confirmed. One example of such a motion is shown in Fig.13. It was observed that this prototype model has the ability to move in an arbitrary direction smoothly. Please see the movie attached to this paper.

Fig.13: Omnidirectional Motion on Floor

In order to measure the actual speed of the crawler in the forward-backward direction, the experimental device including one crawler unit have been developed and tested as shown in Fig. 14. The device has the box-like flamed shape and passive casters are mounted on the bottom of the device. During the measurement, the one crawler unit moved to forward and backward direction in just only the fixed angle in its each roll axis.

Caster

Flame Geared Motor

1 - Omni-Track Unit

V e l o c i t y (m m /s )

Inclining Angle in Rolling Axis of the Crawler Unit(degree)

0204060

801001201401600

Fig.15: Comparison of the Speeds in the forward

direction

Figure 15 shows that the longitudinal speed of the crawler is almost constant. The speed does not depend significantly on the inclination of the rolling axis of the crawler unit. See also Fig.5.

B. Step Climbing

The ability of the vehicle to climb steps was also confirmed

as shown in Fig.16. The height of the step is 33.5mm. It was observed that a prototype with the Omni-Crawler mechanism can climb step not only longitudinally, but also laterally.

Fig.16: Example Motion of Step Climbing

When the crawler vehicle needs much higher ability to climb steps, the configuration can be set the joint mechanism like connected crawler vehicle “Soryu[15]” by removing the front supporter.

C. Moving on Pipe

The vehicle’s mobility on the outside edge of a pipe was also confirmed. It was observed that the prototype with the Omni-Crawler mechanism can traverse along small and large pipes without any adjustments as show in Fig.17. Similarly, motion along the inside of a pipe was also observed, and it was confirmed the vehicle could maintain smooth motion without requiring any kind of adjustment. See Fig.18. The diameter of the outer pipe is 513mm and inner diameter of the pipe is 490mm.

0[s]

12342[s]

4[s]

6[s]

Pipe

Motion Direction

Fig. 17: Moving on Pipes: small and big

0[s] Vehicle 1

2 3 41[s]

2[s]

3[s]

4[s]

Pipe

Motion

Direction

Motion

Direction

65[s]

76[s]

87[s]

98[s]

Fig. 18: Moving on the inside of a Pipe

D. Moving on Soft Grounds

Fig. 19: Moving on soft ground (sand)

The vehicle’s ability to move on soft ground was also confirmed, as shown in Fig. 19. We used “Toyoura” sand as the soft ground. It was observed that this prototype with the Omni-Crawler mechanism can move on soft ground smoothly with a low level of sinkage.

VI.C ONCLUSION

In this paper, we showed a new crawler mechanism inspired by the “Omni-Ball” that has a circular cross-section and can realize sideling motion. An omnidirectional vehicle that uses this wheel mechanism was also presented. We confirmed the basic characteristics of the crawler mechanism and the motions of the crawler vehicle through experiments.

In future works, we plan to optimize the mechanism of the crawler as well as the materials of the circular lug including

the suspension mechanism.

A CKNOWLEDGMENT

The authors would like to thank Prof. Shigeo Hirose for his contribution and abundant advice. And we would like to thank Mr. Hiroaki Kinoshita and the staff of Ono-denki Corp. for their contribution.

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with复合结构专项练习96126

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With的用法全解 with结构是许多英语复合结构中最常用的一种。学好它对学好复合宾语结构、不定式复合结构、动名词复合结构和独立主格结构均能起很重要的作用。本文就此的构成、特点及用法等作一较全面阐述，以帮助同学们掌握这一重要的语法知识。一、 with结构的构成它是由介词with或without+复合结构构成，复合结构作介词with或without的复合宾语，复合宾语中第一部分宾语由名词或代词充当，第二部分补足语由形容词、副词、介词短语、动词不定式或分词充当，分词可以是现在分词，也可以是过去分词。With结构构成方式如下： 1. with或without-名词/代词+形容词； 2. with或without-名词/代词+副词； 3. with或without-名词/代词+介词短语； 4. with或without-名词/代词 +动词不定式； 5. with或without-名词/代词 +分词。下面分别举例： 1、 She came into the room，with her nose red because of cold.（with+名词+形容词，作伴随状语）

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KIS专业版插件开发接口说明

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(完整版)with的复合结构用法及练习

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2019-微信自定义菜单word版本 (3页)

本文部分内容来自网络整理，本司不为其真实性负责，如有异议或侵权请及时联系，本司将立即删除！ == 本文为word格式，下载后可方便编辑和修改！ == 微信自定义菜单篇一：微信自定义菜单错误代码解决方法公众号每次调用接口时，可能获得正确或错误的返回码，开发者可以根据返回码信息调试接口，排查错误。全局返回码说明如下篇二：微信公众平台：功能强大的自定义菜单微信公众平台：功能强大的自定义菜单最近，有部分公众账号发现，微信官方已经通过了一周前申请的自定义界面接口内测，可利用接口，在公众账号对话界面底部实现自定义菜单。如果说之前微信公众账号的自定义回复的互动让它向 App 迈进一步，现在借助自定义界面，公众账号已然是一个微信端的轻量级应用。 AD：目前自定义菜单已经停止接受申请，但将来肯定会开放，微信公众平台后台的帮助文档里对自定义菜单的描述也很完善，所以现在我们先来看看它是什么样子，为未来准备一下。自定义界面让公众账号大幅提高了交互属性，公众帐号从而可以直接在页面上显示内容分类，用户也只需要轻松点击菜单获取内容，无需输入指令。先一起来体验一下自定义菜单。它的入口在高级功能=》编辑模式=》自定义菜单-设置。在公众账号微杂志后台（微信号：weixinzazhi），可以看到新增加的设置选项。首先进入高级功能的页面后，底部有一个自定义菜单栏。点击设置后，进入下一级页面设置好栏目后，可以发布相应内容。目前，美中不足的是，最多可以创建三个一级菜单，每个一级菜单下可以创建最多五个二级菜单，远远满足不了微杂志如此多内容的需求。不过，总算是向前迈了一小步。

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With复合结构的用法小结 with结构是许多英语复合结构中最常用的一种。学好它对学好复合宾语结构、不定式复合结构、动名词复合结构和独立主格结构均能起很重要的作用。本文就此的构成、特点及用法等作一较全面阐述，以帮助同学们掌握这一重要的语法知识。一、with结构的构成它是由介词with或without+复合结构构成，复合结构作介词with或without的复合宾语，复合宾语中第一部分宾语由名词或代词充当，第二部分补足语由形容词、副词、介词短语、动词不定式或分词充当，分词可以是现在分词，也可以是过去分词。With结构构成方式如下： 1. with或without-名词/代词+形容词； 2. with或without-名词/代词+副词； 3. with或without-名词/代词+介词短语； 4. with或without-名词/代词+动词不定式； 5. with或without-名词/代词+分词。下面分别举例： 1、She came into the room，with her nose red because of cold.（with+名词+形容词，作伴随状语） 2、With the meal over ，we all went home.（with+名词+副词，作时间状语） 3、The master was walking up and down with the ruler under his arm。（with+名词+介词短语，作伴随状语。）The teacher entered the classroom with a book in his hand. 4、He lay in the dark empty house，with not a man ，woman or child to say he was kind to me.（with+名词+不定式，作伴随状语）He could not finish it without me to help him.（without+代词+不定式，作条件状语） 5、She fell asleep with the light burning.（with+名词+现在分词，作伴随状语）Without anything left in the cupboard，shewent out to get something to eat.（without+代词+过去分词，作为原因状语）二、with结构的用法在句子中with结构多数充当状语，表示行为方式，伴随情况、时间、原因或条件（详见上述例句）。 With结构在句中也可以作定语。例如： 1.I like eating the mooncakes with eggs. 2.From space the earth looks like a huge water-covered globe with a few patches of land sticking out above the water. 3.A little boy with two of his front teeth missing ran into the house. 三、with结构的特点 1. with结构由介词with或without+复合结构构成。复合结构中第一部分与第二部分语法上是宾语和宾语补足语关系，而在逻辑上，却具有主谓关系，也就是说，可以用第一部分作主语，第二部分作谓语，构成一个句子。例如：With him taken care of，we felt quite relieved.（欣慰）→（He was taken good care of.）She fell asleep with the light burning. →（The light was burning.）With her hair gone，there could be no use for them. →（Her hair was gone.） 2. 在with结构中，第一部分为人称代词时，则该用宾格代词。例如：He could not finish it without me to help him. 四、几点说明： 1. with结构在句子中的位置：with 结构在句中作状语，表示时间、条件、原因时一般放在

创建组件的基本步骤

在这个论题中，你将学会怎样创建一个可以插入到ArcGIS Desktop application的组件。重点是在特定的语言中如何编写代码或怎样解决一个特定的ArcObjects问题。这部分还提供怎样包装component的解决方案以及应用于ArcGIS。下列步骤用来创建一个组件。 1.创建一个新的工程。 2.添加引用。 3.创建一个新类。 4.实现接口。 5.导入命名空间。 6.编写实现代码。 7.将组件插入ArcGIS Desktop中。 8.将组件编译为DLL。 9.测试/调试/重新编译。 Step 1：创建一个新的工程设计一个新的ArcGIS桌面组件，你要创建一个新的类库（DLL)。为工程和每个类提供有意义的名字。工程的名字将是默认的DLL的名字。当然你也可以在工程属性页上重命名。为了在ArcGIS Desktop应用程序中使用.Net组件，要在Assembly Information 对话框中设置COM可见。下一步是在开发时使ArcGIS桌面软件可以使用组件，在Visual Studio中编译时通过COM注册程序集。属性页的Build（C#）或Compile（https://www.wendangku.net/doc/4919164620.html,)选项卡中可以设置COM Interop。一个简单的DLL文件可以包含若干类或组件。因此为每个组件创建一个新的类库是不必要的。需要的话，可以将许多按钮、工具条和其他组件放置在一个程序集中。 ArcGIS Visual Studio IDE集成框架中的ArcGIS工程模板可以为Dektop组件自动设置工程属性。 Step 2：引用ArcObject组件在ArcGIS桌面应用程序中使用VBA编程时，不需要明确的引用ArcObjects类库，因为大部分已经添加了引用。在独立开发环境，如Visual Studio 2005中则不同。.NET 开发时将COM对象库导入到.NET程序集中便可引用任何对象。除了标准的.Net framework assemblies外，代码中引用的任何程序集都要明确的导入到工程中。

with_的复合结构

with without 引导的独立主格结构介词with without +宾语+宾语的补足语可以构成独立主格结构，上面讨论过的独立主格结构的几种情况在此结构中都能体现。 A．with+名词代词+形容词 He doesn’t like to sleep with the windows open. 他不喜欢开着窗子睡觉。 = He doesn’t like to sleep when the windows are open. He stood in the rain, with his clothes wet. 他站在雨中，衣服湿透了。 = He stood in the rain, and his clothes were wet. 注意：在“with+名词代词+形容词”构成的独立主格结构中，也可用已形容词化的-ing 形式或-ed形式。 With his son so disappointing，the old man felt unhappy. 由于儿子如此令人失望,老人感到很不快乐。 With his father well-known, the boy didn’t want to study. 父亲如此出名，儿子不想读书。 B．with+名词代词+副词 Our school looks even more beautiful with all the lights on. 所有的灯都打开时，我们的学校看上去更美。 = Our school looks even more beautiful if when all the lights are on. The boy was walking, with his father ahead. 父亲在前，小孩在后走着。 = The boy was walking and his father was ahead. C．with+名词代词+介词短语 He stood at the door, with a computer in his hand. 或 He stood at the door, computer in hand. 他站在门口，手里拿着一部电脑。 = He stood at the door, and a computer was in his hand. Vincent sat at the desk, with a pen in his mouth. 或 Vincent sat at the desk, pen in mouth. 文森特坐在课桌前，嘴里衔着一支笔。 = Vincent sat at the desk, and he had a pen in his mouth. D．with+名词代词+动词的-ed形式 With his homework done, Peter went out to play. 作业做好了，彼得出去玩了。 = When his homework was done, Peter went out to play. With the signal given, the train started. 信号发出了，火车开始起动了。 = After the signal was given, the train started. I wouldn’t dare go home without the job finished. 工作还没完成，我不敢回家。 = I wouldn’t dare go home because the job was not finished.

微信接口开发教程-微信接口开发教程

微信接口开发教程-微信接口开发教程微信公众帐号开发教程第3篇-开发模式启用及接口配置微信公众帐号开发教程第3篇-开发模式启用及接口配置来源：柳峰的专栏时间：2016-09-09 16:07:04 编辑模式与开发模式微信公众帐号申请成功后，要想接收处理用户的请求，就必须要在高级功能里进行配置，点击高级功能，将看到如下界面：从上图中可以看到，高级功能包含两种模式：编辑模式和开发模式，并且这两种编辑模式与开发模式微信公众帐号申请成功后，要想接收处理用户的请求，就必须要在“高级功

能”里进行配置，点击“高级功能”，将看到如下界面：从上图中可以看到，高级功能包含两种模式：编辑模式和开发模式，并且这两种模式是互斥关系，即两种模式不能同时开启。那两种模式有什么区别呢？作为开发人员到底要开启哪一种呢？编辑模式：主要针对非编程人员及信息发布类公众帐号使用。开启该模式后，可以方便地通过界面配置“自定义菜单”和“自动回复的消息”。开发模式：主要针对具备开发能力的人使用。开启该模式后，能够使用微信公众平台开放的接口，通过编程方式实现自定义菜单的创建、用户消息的接收/处理/响应。这种模式更加灵活，建议有开发能力的公司或个人都采用该模式。启用开发模式微信公众帐号注册完成后，默认开启的是编辑模式。那么该如何开启开发模式呢？操作步骤如下：

1）点击进入编辑模式，将右上角的编辑模式开关由“开启”切换到“关闭”，如下图所示： 2）点击高级功能进入到开发模式，将右上角的开发模式开关由“关闭”切换到“开启”，但在切换时会遇到如下提示：提示需要我们先成为开发者，才能开启开发模式。那就先点击下图所示的“成为开发者”按钮：如果提示资料不全，那就先补齐资料再回来继续操作。需要补全的资料有公众帐号头像、描述和运营地区。待资料补全后，再次点击“成为开发者”，这时将看到接口配置信息界面，如下图所示：这里需要填写URL和Token两个值。URL指的是能够接收处理微信服务器发送的GET/POST请求的地址，并且是已经存在的，现在就能够在浏览器访问到的地址，这就要求我们先把公众帐号后台处理程序开发好并部署在公网服务器上。Token后面会详细说明。

with的复合结构用法及练习

页眉内容 with复合结构一. with复合结构的常见形式 1.“with+名词/代词+介词短语”。 The man was walking on the street, with a book under his arm. 那人在街上走着，腋下夹着一本书。 2. “with+名词/代词+形容词”。 With the weather so close and stuffy, ten to one it’ll rain presently. 天气这么闷热，十之八九要下雨。 3. “with+名词/代词+副词”。 The square looks more beautiful than even with all the light on. 所有的灯亮起来，广场看起来更美。 4. “with+名词/代词+名词”。 He left home, with his wife a hopeless soul. 他走了，妻子十分伤心。 5. “with+名词/代词+done”。此结构过去分词和宾语是被动关系，表示动作已经完成。 With this problem solved, neomycin 1 is now in regular production. 随着这个问题的解决，新霉素一号现在已经正式产生。 6. “with+名词/代词+-ing分词”。此结构强调名词是-ing分词的动作的发出者或某动作、状态正在进行。 He felt more uneasy with the whole class staring at him. 全班同学看着他，他感到更不自然了。7. “with+宾语+to do”。此结构中，不定式和宾语是被动关系，表示尚未发生的动作。 So in the afternoon, with nothing to do, I went on a round of the bookshops. 由于下午无事可做，我就去书店转了转。二. with复合结构的句法功能 1. with 复合结构，在句中表状态或说明背景情况，常做伴随、方式、原因、条件等状语。With machinery to do all the work, they will soon have got in the crops. 由于所有的工作都是由机器进行，他们将很快收完庄稼。（原因状语） The boy always sleeps with his head on the arm. 这个孩子总是头枕着胳膊睡觉。（伴随状语）The soldier had him stand with his back to his father. 士兵要他背对着他父亲站着。（方式状语）With spring coming on, trees turn green. 春天到了，树变绿了。（时间状语） 2. with 复合结构可以作定语 Anyone with its eyes in his head can see it’s exactly like a rope. 任何一个头上长着眼睛的人都能看出它完全像一条绳子。【高考链接】 1. ___two exams to worry about, I have to work really hard this weekend.（04北京） A. With B. Besides C. As for D. Because of 【解析】A。“with+宾语+不定式”作状语，表示原因。 2. It was a pity that the great writer died, ______his works unfinished. (04福建) A. for B. with C. from D.of 【解析】B。“with+宾语+过去分词”在句中作状语，表示状态。 3._____production up by 60%, the company has had another excellent year. (NMET) A. As B.For C. With D.Through 【解析】C。“with+宾语+副词”在句中作状语，表示程度。

微信自定义菜单错误代码解决方法

公众号每次调用接口时，可能获得正确或错误的返回码，开发者可以根据返回码信息调试接口，排查错误。全局返回码说明如下返回码说明 -1 系统繁忙 0 请求成功 40001 获取access_token时AppSecret错误，或者access_token无效（可以重置试试）40002 不合法的凭证类型 40003 不合法的OpenID 40004 不合法的媒体文件类型 40005 不合法的文件类型 40006 不合法的文件大小 40007 不合法的媒体文件id 40008 不合法的消息类型 40009 不合法的图片文件大小 40010 不合法的语音文件大小 40011 不合法的视频文件大小 40012 不合法的缩略图文件大小 40013 不合法的APPID 40014 不合法的access_token

40016 不合法的按钮个数 40017 不合法的按钮个数 40018 不合法的按钮名字长度 40019 不合法的按钮KEY长度 40020 不合法的按钮URL长度 40021 不合法的菜单版本号 40022 不合法的子菜单级数 40023 不合法的子菜单按钮个数 40024 不合法的子菜单按钮类型 40025 不合法的子菜单按钮名字长度 40026 不合法的子菜单按钮KEY长度 40027 不合法的子菜单按钮URL长度 40028 不合法的自定义菜单使用用户 40029 不合法的oauth_code 40030 不合法的refresh_token 40031 不合法的openid列表 40032 不合法的openid列表长度 40033 不合法的请求字符，不能包含uxxxx格式的字符40035 不合法的参数 40038 不合法的请求格式