D:\xxx>mvn clean install
[INFO] Error stacktraces are turned on.
[INFO] Scanning for projects...
[INFO] ------------------------------------------------------------------------
[INFO] BUILD FAILURE
[INFO] ------------------------------------------------------------------------
[INFO] Total time: 0.096 s
[INFO] Finished at: 2022-1-26T19:09:42+08:00
[INFO] ------------------------------------------------------------------------
[ERROR] The goal you specified requires a project to execute but there is no POM in this directory (D:\xxx). Please verify you invoked Maven from the correct directory. -> [Help 1]

发现我自己多加了一层目录，因此pom文件不在工程目录中，删除一层目录，再运行，就成功了