{"id":100253,"date":"2025-01-07T14:24:13","date_gmt":"2025-01-07T06:24:13","guid":{"rendered":"https:\/\/www.techphant.cn\/?p=100253"},"modified":"2025-01-07T14:24:17","modified_gmt":"2025-01-07T06:24:17","slug":"wrjfkxtdhxbjynx","status":"publish","type":"post","link":"https:\/\/www.techphant.cn\/blog\/100253.html","title":{"rendered":"\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u7684\u6838\u5fc3\u90e8\u4ef6\u6709\u54ea\u4e9b\uff1f"},"content":{"rendered":"\n

\u3000\u3000\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf(Flight Control System, FCS)<\/strong>\u662f\u65e0\u4eba\u673a\u7684\u201c\u5927\u8111\u201d\uff0c\u8d1f\u8d23\u5bf9\u98de\u884c\u72b6\u6001\u8fdb\u884c\u76d1\u63a7\u3001\u63a7\u5236\u548c\u8c03\u6574\uff0c\u4ee5\u5b9e\u73b0\u65e0\u4eba\u673a\u7684\u7a33\u5b9a\u98de\u884c\u548c\u4efb\u52a1\u6267\u884c\u3002\u5176\u6838\u5fc3\u90e8\u4ef6\u4e00\u822c\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u90e8\u5206\uff1a<\/p>\n\n\n\n

\u3000\u3000\u4e00\u3001 \u98de\u63a7\u5904\u7406\u5668\uff08Flight Controller \/ CPU\uff09<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u6838\u5fc3\u8ba1\u7b97\u5355\u5143\uff0c\u8d1f\u8d23\u5b9e\u65f6\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u3001\u6267\u884c\u98de\u884c\u63a7\u5236\u7b97\u6cd5\u3001\u6307\u4ee4\u89e3\u7b97\u548c\u4efb\u52a1\u8c03\u5ea6\u3002<\/p>\n\n\n\n

\u3000\u3000\u63a5\u6536\u5916\u90e8\u6307\u4ee4(\u5982\u5730\u9762\u7ad9\u6216\u9065\u63a7\u5668\u7684\u8f93\u5165)\u5e76\u8ba1\u7b97\u7535\u673a\u8f6c\u901f\uff0c\u63a7\u5236\u65e0\u4eba\u673a\u98de\u884c\u3002<\/p>\n\n\n\n

\u3000\u3000\u5173\u952e\u6307\u6807<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5904\u7406\u5668\u6027\u80fd(\u5982\u4e3b\u9891\u3001\u8fd0\u7b97\u80fd\u529b)\u3002<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u65f6\u6027\uff1a\u9700\u652f\u6301\u6beb\u79d2\u7ea7\u7684\u5b9e\u65f6\u6570\u636e\u5904\u7406\u3002<\/p>\n\n\n\n

\u3000\u3000\u5e38\u89c1\u7c7b\u578b<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u57fa\u4e8eARM\u67b6\u6784\u7684MCU(\u5fae\u63a7\u5236\u5355\u5143)\uff0c\u5982STM32\u7cfb\u5217\u3002<\/p>\n\n\n\n

\u3000\u3000\u5d4c\u5165\u5f0f\u8ba1\u7b97\u673a\uff0c\u5982Raspberry Pi\u3001NVIDIA Jetson\u7b49(\u901a\u5e38\u7528\u4e8e\u9ad8\u7ea7\u4efb\u52a1\u548cAI\u5904\u7406)\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e8c\u3001 \u4f20\u611f\u5668\u6a21\u5757<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u9700\u8981\u4f9d\u8d56\u591a\u79cd\u4f20\u611f\u5668\u63d0\u4f9b\u98de\u884c\u72b6\u6001\u7684\u5b9e\u65f6\u6570\u636e\uff0c\u5305\u62ec\u4f4d\u7f6e\u3001\u59ff\u6001\u3001\u901f\u5ea6\u3001\u73af\u5883\u7b49\u4fe1\u606f\u3002<\/p>\n\n\n\n

\u3000\u3000(1) \u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU, Inertial Measurement Unit\uff09<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5305\u542b\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\uff0c\u7528\u4e8e\u6d4b\u91cf\u65e0\u4eba\u673a\u7684\u52a0\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\uff0c\u786e\u5b9a\u65e0\u4eba\u673a\u7684\u59ff\u6001(\u4fef\u4ef0\u3001\u6a2a\u6eda\u3001\u504f\u822a)\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u73b0\u65e0\u4eba\u673a\u7684\u59ff\u6001\u7a33\u5b9a\u548c\u52a8\u6001\u8c03\u6574\u3002<\/p>\n\n\n\n

\u3000\u3000(2) \u78c1\u529b\u8ba1\uff08Magnetometer\uff09<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u6d4b\u91cf\u5730\u78c1\u573a\u65b9\u5411\uff0c\u786e\u5b9a\u65e0\u4eba\u673a\u7684\u822a\u5411\u89d2\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u8f85\u52a9IMU\u8fdb\u884c\u822a\u5411\u89d2\u6821\u6b63\u3002<\/p>\n\n\n\n

\u3000\u3000\u7528\u4e8e\u5bfc\u822a\uff0c\u5c24\u5176\u662fGPS\u5931\u6548\u65f6\u3002<\/p>\n\n\n\n

\u3000\u3000(3) \u6c14\u538b\u8ba1\uff08Barometer\uff09<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u6d4b\u91cf\u5927\u6c14\u538b\u5f3a\uff0c\u7528\u4e8e\u4f30\u7b97\u65e0\u4eba\u673a\u7684\u98de\u884c\u9ad8\u5ea6\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63d0\u4f9b\u76f8\u5bf9\u9ad8\u5ea6\u4fe1\u606f\uff0c\u7528\u4e8e\u4fdd\u6301\u98de\u884c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000(4) GPS\u6a21\u5757<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63d0\u4f9b\u65e0\u4eba\u673a\u7684\u5730\u7406\u4f4d\u7f6e\u548c\u98de\u884c\u901f\u5ea6\u6570\u636e\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u73b0\u65e0\u4eba\u673a\u7684\u81ea\u4e3b\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\u3002<\/p>\n\n\n\n

\u3000\u3000\u5e38\u4e0eIMU\u7ed3\u5408\uff0c\u7528\u4e8e\u6784\u5efa\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf(INS)\u3002<\/p>\n\n\n\n

\u3000\u3000(5) \u6fc0\u5149\u96f7\u8fbe\u6216\u8d85\u58f0\u6ce2\u4f20\u611f\u5668<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u6d4b\u91cf\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u6216\u969c\u788d\u7269\u4e4b\u95f4\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u7528\u4e8e\u4f4e\u7a7a\u60ac\u505c\u548c\u907f\u969c\u3002<\/p>\n\n\n\n

\u3000\u3000(6) \u5149\u6d41\u4f20\u611f\u5668\uff08Optical Flow Sensor\uff09<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u901a\u8fc7\u56fe\u50cf\u5206\u6790\u8ba1\u7b97\u65e0\u4eba\u673a\u7684\u8fd0\u52a8\u901f\u5ea6\u548c\u65b9\u5411\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u8f85\u52a9\u60ac\u505c\u3001\u4f4e\u901f\u5bfc\u822a\u548c\u5ba4\u5185\u98de\u884c\u3002<\/p>\n\n\n\n

\u3000\u3000(7) \u6444\u50cf\u5934\u548c\u89c6\u89c9\u4f20\u611f\u5668<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u6355\u6349\u73af\u5883\u56fe\u50cf\u4fe1\u606f\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u7528\u4e8e\u89c6\u89c9\u5bfc\u822a\u3001\u76ee\u6807\u8bc6\u522b\u3001\u907f\u969c\u7b49\u9ad8\u7ea7\u529f\u80fd\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e09\u3001 \u63a7\u5236\u5668\uff08Control Systems\uff09<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u8d1f\u8d23\u5c06\u98de\u63a7\u5904\u7406\u5668\u7684\u8ba1\u7b97\u7ed3\u679c\u8f6c\u5316\u4e3a\u5bf9\u7535\u673a\u548c\u8235\u673a\u7684\u63a7\u5236\u6307\u4ee4\uff0c\u8fdb\u800c\u5b9e\u73b0\u65e0\u4eba\u673a\u7684\u98de\u884c\u52a8\u4f5c\u3002<\/p>\n\n\n\n

\u3000\u3000(1) \u7535\u673a\u63a7\u5236\u5668\uff08ESC, Electronic Speed Controller\uff09<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63a7\u5236\u65e0\u4eba\u673a\u7535\u673a\u7684\u8f6c\u901f\u548c\u65b9\u5411\u3002<\/p>\n\n\n\n

\u3000\u3000\u5c06\u98de\u63a7\u8f93\u51fa\u7684PWM\u4fe1\u53f7\u8f6c\u5316\u4e3a\u7535\u673a\u8f6c\u901f\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u7cbe\u786e\u8c03\u8282\u7535\u673a\u901f\u5ea6\uff0c\u5b9e\u73b0\u65e0\u4eba\u673a\u59ff\u6001\u7a33\u5b9a\u3002<\/p>\n\n\n\n

\u3000\u3000(2) \u8235\u673a\uff08Servo\uff09<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63a7\u5236\u56fa\u5b9a\u7ffc\u65e0\u4eba\u673a\u7684\u63a7\u5236\u9762(\u5982\u526f\u7ffc\u3001\u5347\u964d\u8235\u3001\u65b9\u5411\u8235)\u6216\u4e91\u53f0\u7684\u89d2\u5ea6\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u73b0\u98de\u884c\u52a8\u4f5c(\u5982\u8f6c\u5411\u3001\u4fef\u4ef0\u3001\u6a2a\u6eda)\u6216\u6444\u50cf\u673a\u7a33\u5b9a\u3002<\/p>\n\n\n\n

\u3000\u3000\u56db\u3001 \u901a\u4fe1\u6a21\u5757<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u7528\u4e8e\u5b9e\u73b0\u98de\u63a7\u7cfb\u7edf\u4e0e\u5916\u90e8\u8bbe\u5907\u4e4b\u95f4\u7684\u6570\u636e\u4ea4\u4e92\u3002<\/p>\n\n\n\n

\u3000\u3000(1) \u9065\u63a7\u5668\u63a5\u6536\u673a<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63a5\u6536\u98de\u884c\u5458\u901a\u8fc7\u9065\u63a7\u5668\u53d1\u51fa\u7684\u6307\u4ee4\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63d0\u4f9b\u5b9e\u65f6\u7684\u624b\u52a8\u64cd\u63a7\u3002<\/p>\n\n\n\n

\u3000\u3000(2) \u65e0\u7ebf\u901a\u4fe1\u6a21\u5757<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u73b0\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u3001\u5176\u4ed6\u65e0\u4eba\u673a\u6216\u4e91\u7aef\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n

\u3000\u3000\u5e38\u89c1\u901a\u4fe1\u65b9\u5f0f<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u65e0\u7ebf\u7535\uff08RF\uff09<\/strong>\uff1a\u7528\u4e8e\u957f\u8ddd\u79bb\u63a7\u5236(\u5982LoRa\u3001433MHz\u3001900MHz)\u3002<\/p>\n\n\n\n

\u3000\u3000Wi-Fi<\/strong>\uff1a\u77ed\u8ddd\u79bb\u89c6\u9891\u6216\u6570\u636e\u4f20\u8f93\u3002<\/p>\n\n\n\n

\u3000\u30004G\/5G<\/strong>\uff1a\u9002\u5408\u8fdc\u7a0b\u64cd\u63a7\u548c\u6570\u636e\u6d41\u4f20\u8f93\u3002<\/p>\n\n\n\n

\u3000\u3000\u84dd\u7259<\/strong>\uff1a\u8fd1\u8ddd\u79bb\u6570\u636e\u4ea4\u4e92\u6216\u8bbe\u5907\u8c03\u8bd5\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e94\u3001 \u7535\u6e90\u7ba1\u7406\u5355\u5143\uff08Power Management Unit, PMU\uff09<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u4e3a\u98de\u63a7\u7cfb\u7edf\u3001\u4f20\u611f\u5668\u548c\u7535\u673a\u4f9b\u7535\uff0c\u5e76\u76d1\u63a7\u7535\u6c60\u7535\u91cf\u3001\u5145\u653e\u7535\u72b6\u6001\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f5c\u7528<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63d0\u4f9b\u7a33\u5b9a\u7535\u538b\uff0c\u907f\u514d\u56e0\u4f9b\u7535\u6ce2\u52a8\u5bfc\u81f4\u7cfb\u7edf\u5931\u7075\u3002<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u73b0\u4f4e\u7535\u91cf\u62a5\u8b66\u6216\u81ea\u52a8\u8fd4\u822a\u529f\u80fd\u3002<\/p>\n\n\n\n

\u3000\u3000\u516d\u3001 \u5730\u9762\u7ad9\u7cfb\u7edf\uff08GCS, Ground Control Station\uff09<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u867d\u7136\u5730\u9762\u7ad9\u4e0d\u662f\u98de\u63a7\u7684\u7269\u7406\u7ec4\u6210\u90e8\u5206\uff0c\u4f46\u5b83\u662f\u98de\u63a7\u7cfb\u7edf\u7684\u91cd\u8981\u534f\u540c\u6a21\u5757\u3002<\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u63d0\u4f9b\u65e0\u4eba\u673a\u98de\u884c\u72b6\u6001\u76d1\u63a7\u548c\u4efb\u52a1\u89c4\u5212\u3002<\/p>\n\n\n\n

\u3000\u3000\u53d1\u9001\u6307\u4ee4(\u5982\u822a\u70b9\u5bfc\u822a\u3001\u4efb\u52a1\u66f4\u6539)\u3002<\/p>\n\n\n\n

\u3000\u3000\u5b9e\u73b0\u5f62\u5f0f<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u4e13\u7528\u9065\u63a7\u5668(\u5e26\u5c4f\u5e55)\u3002<\/p>\n\n\n\n

\u3000\u3000\u8ba1\u7b97\u673a\u6216\u79fb\u52a8\u8bbe\u5907(\u901a\u8fc7\u5730\u9762\u7ad9\u8f6f\u4ef6\uff0c\u5982Mission Planner\u3001QGroundControl)\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e03\u3001 \u8f6f\u4ef6\u7cfb\u7edf<\/strong><\/h2>\n\n\n\n

\u3000\u3000\u98de\u63a7\u7684\u8fd0\u884c\u79bb\u4e0d\u5f00\u5f3a\u5927\u7684\u8f6f\u4ef6\u7cfb\u7edf\u652f\u6301\uff0c\u5305\u62ec\u7b97\u6cd5\u3001\u534f\u8bae\u548c\u5d4c\u5165\u5f0f\u8f6f\u4ef6\u3002<\/p>\n\n\n\n

\u3000\u3000(1) \u98de\u884c\u63a7\u5236\u7b97\u6cd5<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u59ff\u6001\u89e3\u7b97(\u4f8b\u5982\u56db\u5143\u6570\u6cd5\u6216\u5361\u5c14\u66fc\u6ee4\u6ce2)\u3002<\/p>\n\n\n\n

\u3000\u3000\u63a7\u5236\u5f8b\u8bbe\u8ba1(PID\u63a7\u5236\u3001LQR\u63a7\u5236\u3001\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7b49)\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f20\u611f\u5668\u6570\u636e\u878d\u5408(IMU\u3001GPS\u3001\u6c14\u538b\u8ba1\u7b49\u6570\u636e\u7684\u878d\u5408)\u3002<\/p>\n\n\n\n

\u3000\u3000\u5e38\u89c1\u98de\u63a7\u5f00\u6e90\u6846\u67b6<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000ArduPilot<\/p>\n\n\n\n

\u3000\u3000PX4<\/p>\n\n\n\n

\u3000\u3000(2) \u901a\u4fe1\u534f\u8bae<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u98de\u63a7\u7cfb\u7edf\u4e0e\u5730\u9762\u7ad9\u3001\u4f20\u611f\u5668\u3001\u5916\u90e8\u8bbe\u5907\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n

\u3000\u3000\u5e38\u89c1\u534f\u8bae<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000MAVLink\uff1a\u65e0\u4eba\u673a\u901a\u4fe1\u7684\u6807\u51c6\u534f\u8bae\u3002<\/p>\n\n\n\n

\u3000\u3000CAN\u603b\u7ebf\uff1a\u9002\u7528\u4e8e\u9ad8\u53ef\u9760\u6027\u573a\u666f\u3002<\/p>\n\n\n\n

\u3000\u3000(3) \u6570\u636e\u8bb0\u5f55\u4e0e\u6545\u969c\u8bca\u65ad<\/strong><\/p>\n\n\n\n

\u3000\u3000\u529f\u80fd<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u98de\u63a7\u7cfb\u7edf\u8bb0\u5f55\u98de\u884c\u8fc7\u7a0b\u4e2d\u7684\u72b6\u6001\u548c\u4e8b\u4ef6\uff0c\u7528\u4e8e\u6570\u636e\u5206\u6790\u6216\u4e8b\u6545\u56de\u6eaf\u3002<\/p>\n\n\n\n

\u3000\u3000\u603b\u7ed3<\/strong><\/p>\n\n\n\n

\u3000\u3000\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u7684\u6838\u5fc3\u90e8\u4ef6\u4e3b\u8981\u5305\u62ec\uff1a<\/p>\n\n\n\n

\u3000\u3000\u98de\u63a7\u5904\u7406\u5668<\/strong>\uff1a\u8d1f\u8d23\u6838\u5fc3\u8ba1\u7b97\u548c\u6307\u4ee4\u89e3\u7b97\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f20\u611f\u5668\u6a21\u5757<\/strong>\uff1aIMU\u3001GPS\u3001\u6c14\u538b\u8ba1\u7b49\u63d0\u4f9b\u98de\u884c\u72b6\u6001\u6570\u636e\u3002<\/p>\n\n\n\n

\u3000\u3000\u63a7\u5236\u5668<\/strong>\uff1a\u63a7\u5236\u7535\u673a\u3001\u8235\u673a\uff0c\u5b9e\u73b0\u98de\u884c\u59ff\u6001\u8c03\u6574\u3002<\/p>\n\n\n\n

\u3000\u3000\u901a\u4fe1\u6a21\u5757<\/strong>\uff1a\u5b9e\u73b0\u65e0\u4eba\u673a\u4e0e\u5916\u754c\u7684\u6307\u4ee4\u4ea4\u4e92\u3002<\/p>\n\n\n\n

\u3000\u3000\u7535\u6e90\u7ba1\u7406\u5355\u5143<\/strong>\uff1a\u4fdd\u969c\u7cfb\u7edf\u7a33\u5b9a\u4f9b\u7535\u3002<\/p>\n\n\n\n

\u3000\u3000\u5730\u9762\u7ad9\u7cfb\u7edf<\/strong>\uff1a\u5b9e\u73b0\u76d1\u63a7\u4e0e\u4efb\u52a1\u89c4\u5212\u3002<\/p>\n\n\n\n

\u3000\u3000\u8f6f\u4ef6\u7cfb\u7edf<\/strong>\uff1a\u4e3a\u786c\u4ef6\u63d0\u4f9b\u7b97\u6cd5\u548c\u534f\u8bae\u652f\u6301\u3002<\/p>\n\n\n\n

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