基于图优化的无人机路径规划与建图算法设计开题报告

1. 研究目的与意义

span/span1.1 鐮旂┒鑳屾櫙br /闅忕潃鏃犱汉鏈烘妧鏈殑涓嶆柇鍙戝睍鍜屼笉鍚岄鍩熼渶姹傜殑閫愭澧炲姞锛屾棤浜烘満鍦ㄥ悇涓鍩熷緱鍒颁簡骞挎硾鐨勫簲鐢ㄣ€傚湪褰撲粖鐨勬櫤鎱у煄甯傝儗鏅笅锛屾棤浜烘満鐨勮嚜涓婚琛屼笌绮剧‘鐜寤哄浘瀵嗕笉鍙垎锛屽彲浠ヨ鏃犱汉鏈虹殑寤哄浘鍜岃矾寰勮鍒掓槸澶ц妯″簲鐢ㄧ殑鍩虹锛屽悓鏃跺鑸郴缁熻捣鍒颁簡閲嶈鐨勪綔鐢ㄣ€傚湪鍩庡競澶嶆潅鐨勭幆澧冧笅濡備綍鍋氬埌绮剧‘瀹氫綅鏄洰鍓嶇爺绌剁殑鍏抽敭鐐广€傜幇鍦ㄦ湁浼犵粺鐨勫鑸柟寮忎緥濡傚崼鏄熷鑸笌鎯€у鑸袱鑰呯浉缁撳悎锛屼絾鏄湪瀹ゅ唴鐨勭幆澧冧笅GPS涓庡崼鏄熼€氫俊鏄撳彈鐢电淇″彿骞叉壈锛屼粠鑰屽畾浣嶇簿纭害闄嶄綆锛岀劧鑰屽熀浜庡悓姝ュ畾浣嶄笌鏋勫浘锛圫imultaneous Localization And Mapping, SLAM 锛夌殑鎶€鏈彲浠ヤ娇寰楁棤浜烘満鍦ㄥ鍐呯幆澧冧笅涓嶅彈骞叉壈锛屽畠鍙互瀹炵幇鏃犱汉鏈虹殑鑷富椋炶銆侀伩闅滃拰寤虹珛鐜鍦板浘绛夊姛鑳姐€傚洜姝わ紝鏃犱汉鏈鸿矾寰勮鍒掑拰寤哄浘绠楁硶鐨勭爺绌舵垚涓轰簡鏃犱汉鏈洪鍩熶腑鐨勭儹鐐归棶棰樸€傚悓鏃堕殢鐫€SLAM鍦ㄦ棤浜烘満绛夊涓鍩熷緱鍒颁簡搴旂敤锛孲LAM鐞嗚妗嗘灦瓒嬩簬绋冲畾銆傚畬鎴愬缓鍥剧殑鍚屾椂骞惰繘琛岃矾寰勮鍒掞紝瓒婃潵瓒婂閽堝鍚勭鐜涓嬫湁鍏虫棤浜烘満SLAM鍜岃矾寰勮鍒掔殑鐮旂┒涓嶆柇寮€灞曪紝瀵规棤浜烘満鐨勫彂灞曡捣鐫€閲嶈鐨勬剰涔夈€?lt;br /鏃犱汉鏈鸿矾寰勮鍒掑拰寤哄浘绠楁硶涓昏寮曠敤涓庢棤浜烘満鍦ㄦ湭鐭ユ垨鍗遍櫓鐜涓殑鑷富鎺㈡祴銆佹悳绱笌鏁戞彺銆佸啘涓氭淇濄€佸煄甯傝鍒掋€佸缓绛戝畨鍏ㄦ娴嬬瓑棰嗗煙銆傚湪杩欎簺搴旂敤鍦烘櫙涓紝鏃犱汉鏈洪渶瑕佽兘澶熻嚜涓昏鍒掞紝鏍规嵁绠楁硶鏉ュ垝鍑烘渶浼樼殑椋炶璺緞锛屼互瀹炵幇浠诲姟鐩爣銆傚洜姝ゆ棤浜烘満璺緞瑙勫垝鍜屽缓鍥剧畻娉曠殑鐮旂┒瀵逛簬鏃犱汉鏈烘妧鏈殑鍙戝睍鍜屽簲鐢ㄥ叿鏈夐噸瑕佹剰涔夈€傜洰鍓嶆潵鐪嬶紝闅忕潃娣卞害瀛︿範銆佹満鍣ㄨ瑙夌瓑鎶€鏈殑蹇€熷彂灞曪紝鏃犱汉鏈鸿矾寰勮鍒掑拰寤哄浘绠楁硶涔熷湪涓嶆柇鍦板緱鍒版敼杩涘拰浼樺寲锛孲LAM鑳藉瀹炵幇鏇村畨鍏ㄣ€佺簿鍑嗙殑鑷富瀵艰埅锛屼互涓婅繖浜涢兘瀵规棤浜烘満鐨勫彂灞曚骇鐢熶簡娣辫繙鐨勫奖鍝嶃€?lt;br /1.2 鐮旂┒鐩殑br /鏃犱汉鏈烘槸椋炴満琛屼笟鍙戝睍鐨勮秼鍔匡紝涓轰簡瑙ｅ喅鐩墠鍦ㄥぇ灏哄害澶嶆潅鐜涓嬬殑鐨勯珮鎬ц兘銆佷綆澶辨晥鐜囧簲鐢ㄤ互鍙婇瞾妫掓€т笉浣崇瓑鏂归潰杩樼己涔忔湁鏁堣В鍐虫柟妗堢殑闂涓婏紝鏈枃閽堝璇ラ棶棰橈紝鎺㈢储浜嗗熀浜庤瑙夌殑鑷富瀵艰埅鐨勫垎灞傚湴鍥捐〃绀猴紝闈㈠鍦ㄦ湭鐭ョ幆澧冧腑瀵艰埅浠诲姟鐨勬寫鎴橈紝鑷富浠ｇ悊蹇呴』鎰熺煡鍛ㄥ洿鐨勭幆澧冿紝鍚屾椂鏈濈潃鐩爣鍓嶈繘銆傛彁鍑轰簡涓変釜鎻愰珮瑙嗚瀵艰埅璐ㄩ噺鐨勫叧閿€濇兂浠ユ湡鏈涘疄鐜板湪澶嶆潅鐜鏉′欢涓嬪鐩爣鐨勯珮绮剧‘搴︽娴嬪拰楂樻晥鐜囨娴嬶紝鎻愰珮VSLAM绯荤粺鐨勯瞾妫掓€э紝纭繚鍦ㄥ鏉傜幆澧冧笅鎻愰珮瑙嗚瀵艰埅鐨勯瞾妫掓€у拰鏁堢巼銆?lt;br /1.3 鐮旂┒鎰忎箟br /鐩墠锛孷SLAM瀛樺湪澶у昂搴﹀鏉傜幆澧冧笅鐨勭殑楂樻€ц兘銆佷綆澶辨晥鐜囧簲鐢ㄧ殑闂锛屽湪鏃犱汉鏈虹殑椋炶涓紝杩欎簺闂灏嗕細瀵艰嚧绯荤粺澶卞幓瀵规湭鐭ョ幆澧冪殑鍑嗙‘鎶婃帶锛屽鑷寸伨闅炬€х殑鍚庢灉銆傚洜姝わ紝鏈枃鎻愬嚭浜嗕竴绉嶅绾ф娊璞＄殑鎬濇兂锛屽皢涓変釜鎬濇兂杩愮敤鍦ˋ*绠楁硶涓婂苟鍒嗗埆杩涜鏁版嵁闆嗙殑娴嬭瘯鍜屽疄闄呯幆澧冨嚑浣曞湴鍥剧殑鏋勫缓瀹為獙瀵规瘮锛屽畬鎴愬璺緞瑙勫垝闂鐨勬眰瑙ｏ紝浠庤€屽緱鍒版棤浜烘満鑱斿悎璺緞閫夋嫨鍙婁换鍔℃墽琛岀瓥鐣ャ€傛渶缁堟湰鏂囧皢灞曠ず鑷€傚簲鍦版敼鍙樺湴鍥惧拰鍦ㄧ嚎浼犳劅鍣ㄦ祴閲忎腑鐨勬娊璞″彲浠ユ彁楂樿瑙夊鑸殑椴佹鎬у拰鏁堢巼銆?lt;br /br /br /br /span/span

2. 研究内容和预期目标

2.1 鐮旂┒鍐呭br /锛?锛変簡瑙ｅ叚鏃嬬考鏃犱汉鏈烘灦鏋勫拰鎺у埗绠楁硶br /鍏呭垎浜嗚В鍏棆缈兼棤浜烘満鏋舵瀯鐨勬暟瀛﹀缓妯°€佸姩鍔涙暟瀛︽ā鍨嬶紝璋冩煡鍥藉唴澶栨棤浜烘満鐨勭爺绌剁幇鐘跺拰瓒嬪娍锛屼簡瑙ｆ棤浜烘満鐨勬灦鏋勫拰鎺у埗绠楁硶銆?lt;br /锛?锛変簡瑙SLAM鍜岀洰鏍囨娴嬫妧鏈?lt;br /鍏呭垎浜嗚ВVSLAM鍜岀洰鏍囨娴嬬殑鐮旂┒鑳屾櫙鍜屾剰涔夛紝璋冩煡鍥藉唴澶栧熀浜嶴LAM鐨勬棤浜烘満鐮旂┒鐜扮姸鍜岃秼鍔匡紝鍏呭垎浜嗚ВVSLAM鐨勬暟瀛﹀叕寮忓拰鏋舵瀯銆?lt;br /锛?锛夊疄鐜板熀浜庡浘浼樺寲鐨刅SLAM绠楁硶璁捐br /灏辩洰鍓峍SLAM鐨勬暟鎹粨鏋勶紝棣栧厛浠嬬粛浜嗙浉鏈烘ā鍨嬨€佸湴鍥捐〃绀恒€佽建杩硅〃绀虹瓑锛岀劧鍚庡疄鐜拌瑙夊墠绔拰浣嶅Э鍥句紭鍖栫畻娉曪紝瀹炵幇浜嗗湪澶嶆潅鐜鍜屽姩鎬佽繍鍔ㄧ殑鍦烘櫙涓嬬殑娴嬭窛锛屽湪TUM鏁版嵁闆嗕笂瀵硅绠楁垚鏈拰瀹炴椂鎬ц繘琛屼簡璇勪及锛屾渶缁堝疄鐜板彲瑙嗗寲妯″潡锛岀敤浜庡睍绀哄湴鍥惧拰杞ㄨ抗鐨勭姸鎬併€?lt;br /锛?锛夊疄鐜板熀浜庡绾ф娊璞＄殑鏃犱汉鏈鸿矾寰勮鍒?lt;br /鎻愬嚭浜嗕竴绉嶆帰绱簡鍩轰簬瑙嗚鐨勮嚜涓诲鑸殑鍒嗗眰鍦板浘琛ㄧず锛岄潰瀵瑰湪鏈煡鐜涓鑸换鍔＄殑鎸戞垬锛岃嚜涓讳唬鐞嗗繀椤绘劅鐭ュ懆鍥寸殑鐜锛屽悓鏃舵湞鐫€鐩爣鍓嶈繘銆傛彁鍑轰簡涓変釜鎻愰珮瑙嗚瀵艰埅璐ㄩ噺鐨勫叧閿€濇兂锛氬湪鍦板浘琛ㄧず涓簲鐢ㄥ绾ф娊璞★紝鍦ㄤ紶鎰熷櫒娴嬮噺涓簲鐢ㄥ绾ф娊璞★紝浠ュ強閫氳繃鍦ㄤ紶鎰熷櫒鍜屽湴鍥捐〃绀轰腑鐨勫垏鎹㈡潵鑷€傚簲鍦版敼鍙樻娊璞＄骇鍒€傛帴鐫€鍒╃敤YOLOv8鐩爣妫€娴嬩笌瀹炰緥鍒嗗壊绠楁硶鑾峰彇鐩爣璇箟淇℃伅锛屼娇鐢ㄨ嚜瀹氫箟鏁版嵁闆嗚繘琛岃缁冨疄鐜帮紝灏嗕笁涓€濇兂杩愮敤鍦ˋ*绠楁硶涓婂苟鍒嗗埆杩涜鏁版嵁闆嗙殑娴嬭瘯鍜屽疄闄呯幆澧冨嚑浣曞湴鍥剧殑鏋勫缓瀹為獙瀵规瘮锛屽疄鐜板璺緞瑙勫垝闂鐨勬眰瑙ｏ紝浠庤€屽緱鍒版棤浜烘満鑱斿悎璺緞閫夋嫨鍙婁换鍔℃墽琛岀瓥鐣ワ紝鏈€缁堝緱鍒颁簡楠岃瘉銆?lt;br /br /2.2 棰勬湡鐩爣br /锛?锛夊姣斿叚鏃嬬考鏃犱汉鏈哄悇绉嶉泦鎴愪紶鎰熷櫒鐨勪紭缂虹偣锛岄€夊彇鏈€浣崇殑鎺у埗绠楁硶鍙傛暟br /锛?锛夊姣斿熀浜庡浘浼樺寲鐨刅SLAM鍜屽父瑙刅SLAM鐨勪紭缂虹偣br /锛?锛夊疄鐜板熀浜庡浘浼樺寲鐨刅LSAM绠楁硶璁捐br /锛?锛夊疄鐜板熀浜庡浼犳劅鍣ㄧ壒寰佺骇铻嶅悎鐨?D鐩爣妫€娴?lt;br /锛?锛夊疄鐜板熀浜庡绾ф娊璞℃€濇兂鐨勬棤浜烘満璺緞瑙勫垝br /锛?锛夐€氳繃瀹為獙楠岃瘉鎻愬嚭鏂规硶鐨勪紭瓒婃€у拰鍙潬鎬?lt;br /div br //div

3. 研究的方法与步骤

3.1 鐮旂┒鏂规硶br /锛?锛夋悳闆嗙浉鍏宠祫鏂欏拰璋冪爺锛屼簡瑙ｅ叚鏃嬬考鏃犱汉鏈恒€佸熀浜庡浘浼樺寲鐨刅SLAM鍜岃矾寰勮鍒掔畻娉曠殑鍥藉唴澶栧彂灞曞拰鐮旂┒鐜扮姸锛屾暣鐞嗗拰鎬荤粨鐩稿叧棰嗗煙浠嶅瓨鍦ㄧ殑闂锛屼负璇鹃鐮旂┒鍋氬ソ鍏呭垎鐨勫噯澶?lt;br /锛?锛夊涔燯buntu18.04鎿嶄綔绯荤粺锛岀啛缁冩帉鎻＄郴缁熶笅鍏棆缈兼棤浜烘満鎺у埗绠楁硶鍜孷SLAM鐩稿叧绠楁硶鐨勭幆澧冮厤缃拰杩愯br /锛?锛夐€氳繃澶氭鍙嶅鐨勮璁″拰璋冩暣绠楁硶锛屽皢鐮旂┒鍐呭瀹炵幇锛屽苟鍦ㄥ叕寮€鏁版嵁闆嗗拰鑷埗鏁版嵁闆嗕腑杩涜瀹為獙楠岃瘉br /3.2 鐮旂┒姝ラbr /锛?锛変簡瑙ｆ棤浜烘満銆乂SLAM鍜岃矾寰勮鍒掔畻娉曠殑鐮旂┒鐜扮姸锛屽舰鎴愭枃鐚患杩板拰寮€棰樻姤鍛?lt;br /锛?锛夎繘涓€姝ユ悳闆嗚祫鏂欏拰闃呰璁烘枃锛屽鐮旂┒鍐呭鍋氬嚭鎬濊€冿紝骞跺垪鍑鸿鏂囧ぇ绾插拰妗嗘灦br /锛?锛夊疄鐜板叚鏃嬬考鏃犱汉鏈烘灦鏋勫拰鎺у埗绠楁硶璁捐br /锛?锛夊疄鐜板熀浜庡浘浼樺寲鐨刅SLAM绠楁硶璁捐br /锛?锛夊疄鐜板熀浜庡绾ф娊璞℃€濇兂鐨勮矾寰勮鍒掕璁★紝缁忚繃瀹為獙鍚庯紝瀹屾垚璁烘枃鍒濈br /锛?锛夊弽澶嶄慨鏀规墦纾紝瀹屾垚瀹氱br /br /

4. 参考文献

table border=1 cellspacing=0 cellpadding=0 width=624 style=width:468.0pt;border-collapse:collapse;border:none; tbody tr td width=624 valign=top style=border:dashed 1.0pt; p span style=font-size:12.0pt;line-height:150%;[1] T. Dutrannois, T. -T. Nguyen,C. Hamesse, G. De Cubber and B. Janssens, Visual SLAM for AutonomousDrone Landing on a Maritime Platform, bspan style=color:#222222;background:white;2022/span/b International Symposium on Measurement andControl in Robotics (ISMCR), Houston, TX, USA, 2022, pp. 1-7, doi: 10.1109/ISMCR56534.2022.9950582./span /p p span style=font-size:12.0pt;line-height:150%;[2] Y. Xue and W. Chen,A UAV Navigation Approach Based on Deep Reinforcement Learning in LargeCluttered 3D Environments, in IEEE Transactions on VehicularTechnology, vol. 72, no. 3, pp. 3001-3014, March bspan style=color:#222222;background:white;2023/span/b doi: 10.1109/TVT.2022.3218855./spanspan style=font-size:14.0pt;line-height:150%;/span /p p span style=font-size:12.0pt;line-height:150%;[3]span style=color:#222222;background:white; Kiss-Ills, D.; Barrado, C.; Salam, E. GPS-SLAM: AnAugmentation of the ORB-SLAM Algorithm.nbsp;emSensors/emnbsp;b2019/b,nbsp;em19/em,4973. a href=https://doi.org/10.3390/s19224973https://doi.org/10.3390/s19224973/a/span/spanspan style=font-size:9.0pt;line-height:150%;font-family:quot;color:#222222;background:white;/span /p p span style=font-size:12.0pt;line-height:150%;color:#222222;background:white;[4] Trujillo,J.-C.; Munguia, R.; Urzua, S.; Grau, A. Cooperative Visual-SLAM System forUAV-Based Target Tracking in GPS-Denied Environments: A Target-CentricApproach.nbsp;emElectronics/emnbsp;b2020/b,nbsp;em9/em, 813. a href=https://doi.org/10.3390/electronics9050813https://doi.org/10.3390/electronics9050813/a/span /p p span style=font-size:12.0pt;line-height:150%;color:#222222;background:white;[5] Krul,S.; Pantos, C.; Frangulea, M.; Valente, J. Visual SLAM for Indoor Livestockand Farming Using a Small Drone with a Monocular Camera: A Feasibility Study.nbsp;emDrones/emnbsp;b2021/b,nbsp;em5/em,41. a href=https://doi.org/10.3390/drones5020041https://doi.org/10.3390/drones5020041/a/span /p p span style=font-size:12.0pt;line-height:150%;color:#222222;background:white;[6] Liu,Z.; Miao, X.; Xie, Z.; Jiang, H.; Chen, J. Power Tower InspectionSimultaneous Localization and Mapping: A Monocular Semantic PositioningApproach for UAV Transmission Tower Inspection.nbsp;emSensors/emnbsp;b2022/b,nbsp;em22/em,7360. a href=https://doi.org/10.3390/s22197360https://doi.org/10.3390/s22197360/a/span /p p span style=font-size:12.0pt;line-height:150%;[7]span style=color:#222222;background:white; Karam, S.; Nex, F.; Chidura, B.T.; Kerle, N.Microdrone-Based Indoor Mapping with Graph SLAM.nbsp;emDrones/emnbsp;b2022/b,nbsp;em6/em,352. a href=https://doi.org/10.3390/drones6110352https://doi.org/10.3390/drones6110352/a/span/span /p p span style=font-size:12.0pt;line-height:150%;[8]span style=color:#222222;background:white; Chen, C.; Wang, Z.; Gong, Z.; Cai, P.; Zhang, C.; Li, Y.Autonomous Navigation and Obstacle Avoidance for Small VTOL UAV in UnknownEnvironments.nbsp;emSymmetry/emnbsp;b2022/b,nbsp;em14/em,2608. a href=https://doi.org/10.3390/sym14122608https://doi.org/10.3390/sym14122608/a/span/span /p p span style=font-size:12.0pt;line-height:150%;[9]/spanspan style=font-size:10.0pt;line-height:150%;font-family:quot;color:#333333;background:white; L. Li, Z. Liu, #220;. #214;zg#239;ner, J. Lian, Y. Zhouand Y. Zhao, Dense 3D Semantic SLAM of traffic environment based onstereo vision,nbsp;emspan style=font-family:quot;2018IEEE Intelligent Vehicles Symposium (IV)/span/em, Changshu, China, 2018,pp. 965-970, doi: 10.1109/IVS.2018.8500714/span /p p span style=font-size:12.0pt;line-height:150%;[10]/spanspan style=font-size:12.0pt;line-height:150%;color:black;background:white; nbsp;/spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;color:black;background:white;鐜嬫ⅵ鐟讹紝瀹嬭枃锛屽姩鎬佸満鏅笅鍩轰簬鑷€傚簲璇箟鍒嗗壊鐨?lt;/spanspan style=font-size:12.0pt;line-height:150%;color:black;background:white;RGB-D SLAM/spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;color:black;background:white;绠楁硶span[/span/spanspan style=font-size:12.0pt;line-height:150%;color:black;background:white;J/spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;color:black;background:white;]./spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;color:black;background:white;鏈哄櫒浜?lt;span, /span/spanspan style=font-size:12.0pt;line-height:150%;color:black;background:white;2023,10.13973/j.cnki.robot.210368 /span /p p span style=font-size:12.0pt;line-height:150%;[11]/spanspan style=line-height:150%;font-family:quot;color:#595959;background:white; /spanspan style=font-size:12.0pt;line-height:150%;color:black;background:white;Campos C , Elvira R ,Rodrguez, Juan J. Gmez, et al. ORB-SLAM3: An Accurate Open-Source Libraryfor Visual, Visual-Inertial and Multi-Map SLAM[J]. 2020/spanspan style=font-size:12.0pt;line-height:150%;/span /p p span style=font-size:12.0pt;line-height:150%;[12]/spanspan /spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;鐜嬫旦/spanspan style=font-size:12.0pt;line-height:150%;, /spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;鍗㈠痉鐜?lt;/spanspan style=font-size:12.0pt;line-height:150%;, /spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;鏂瑰疂瀵?lt;/spanspan style=font-size:12.0pt;line-height:150%;. /spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;鍔ㄦ€佺幆澧冧笅鍩轰簬澧炲己鍒嗗壊鐨?lt;/spanspan style=font-size:12.0pt;line-height:150%;RGB-D SLAM/spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;鏂规硶/spanspan style=font-size:12.0pt;line-height:150%;[J]. /spanspan style=font-size:12.0pt;line-height:150%;font-family:瀹嬩綋;鏈哄櫒浜?lt;/spanspan style=font-size:12.0pt;line-height:150%;, 2022, 44(4): 418-430.DOI:10.13973/j.cnki.robot.210256./spanspan style=font-size:12.0pt;line-height:150%;/span /p /td /tr /tbody/table

5. 计划与进度安排

table border=1 cellspacing=0 cellpadding=0 width=624 style=width:468.0pt;border-collapse:collapse;border:none; tbody tr td width=624 valign=top style=border:dashed 1.0pt; p span style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;01/spanspan./spanspan style=font-family:quot;01/spanspan鈥?lt;/spanspan style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;01/spanspan./spanspan style=font-family:quot;31spannbsp; /span/spanspan璇鹃璋冪爺锛屼簡瑙ｇ浉鍏虫妧鏈拰瑕佹眰锛?lt;/spanspan style=font-family:quot;/span /p p span style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;02/spanspan./spanspan style=font-family:quot;01/spanspan鈥?lt;/spanspan style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;02/spanspan./spanspan style=font-family:quot;28spannbsp; /span/spanspan濉啓寮€棰樻姤鍛婏紝瀹屾垚澶栨枃璧勬枡鐨勭炕璇戯紱/spanspan style=font-family:quot;/span /p p span style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;03/spanspan./spanspan style=font-family:quot;01/spanspan鈥?lt;/spanspan style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;04/spanspan./spanspan style=font-family:quot;30spannbsp; /span/spanspan瀹為獙鍒嗘瀽锛屾暟鎹暣鐞嗭紝瀹屾垚璁烘枃鍒濈锛?lt;/spanspan style=font-family:quot;/span /p p span style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;05/spanspan./spanspan style=font-family:quot;01/spanspan鈥?lt;/spanspan style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;05/spanspan./spanspan style=font-family:quot;10spannbsp; /span/spanspan璁烘枃鏌ラ噸銆佽皟鏁村苟瀹屽杽銆佷慨鏀硅鏂?lt;/spanspan style=font-family:quot;/span /p p span style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;05/spanspan./spanspan style=font-family:quot;11/spanspan鈥?lt;/spanspan style=font-family:quot;2023/spanspan./spanspan style=font-family:quot;06/spanspan./spanspan style=font-family:quot;10spannbsp; /span/spanspan鏁寸悊璁捐鏂囨。

锛屾挵鍐欐瘯涓氳鏂囷紝鍑嗗璁烘枃绛旇京銆?lt;/spanspan style=font-family:quot;/span /p /td /tr /tbody/table