- [ ] I have searched the [issues](https://github.com/apache/incubator-dubbo/issues) of this repository and believe that this is not a duplicate.
- [ ] I have checked the [FAQ](https://github.com/apache/incubator-dubbo/blob/master/FAQ.md) of this repository and believe that this is not a duplicate.

### Environment

* Dubbo version: xxx
* Operating System version: xxx
* Java version: xxx

### Steps to reproduce this issue

nacos registry serviceName may conflict when we have two provider with same service but one config version as A and left group empty and
one config group as A and left version empty

the two provider would get registered with same key    provdier:serviceName:A.

the cause of this issue is we ignore empty value when we construct the key,  relative code is 

```java
 private String getServiceName(URL url) {
        String category = url.getParameter(CATEGORY_KEY, DEFAULT_CATEGORY);
        return getServiceName(url, category);
    }

    private String getServiceName(URL url, String category) {
        StringBuilder serviceNameBuilder = new StringBuilder(category);
        append(serviceNameBuilder, url, INTERFACE_KEY);
        append(serviceNameBuilder, url, VERSION_KEY);
        append(serviceNameBuilder, url, GROUP_KEY);
        return serviceNameBuilder.toString();
    }

private void append(StringBuilder target, URL url, String parameterName) {
        target.append(SERVICE_NAME_SEPARATOR);
        String parameterValue = url.getParameter(parameterName);
        if (!StringUtils.isBlank(parameterValue)) {
            target.append(parameterValue);
        }
    }
``` 

i think we should just keep a SEPARATOR as placeholder for empty value.


1. xxx
2. xxx
3. xxx

Pls. provide [GitHub address] to reproduce this issue.

### Expected Result

What do you expected from the above steps？

### Actual Result

What actually happens?

If there is an exception, please attach the exception trace:

```
Just put your stack trace here!
```

NamingEvent e = (NamingEvent) event;
                    notifySubscriber(url, listener, e.getInstances());
                }
            };
            namingService.subscribe(serviceName, eventListener);
            nacosListeners.put(serviceName, eventListener);
        }
    }
    /**
     * Notify the Healthy {@link Instance instances} to subscriber.
     *
     * @param url       {@link URL}
     * @param listener  {@link NotifyListener}
     * @param instances all {@link Instance instances}
     */
    private void notifySubscriber(URL url, NotifyListener listener, Collection<Instance> instances) {
        List<Instance> healthyInstances = new LinkedList<>(instances);
        
        filterHealthyInstances(healthyInstances);
        List<URL> urls = buildURLs(url, healthyInstances);
        NacosRegistry.this.notify(url, listener, urls);
    }
    /**
     * Get the categories from {@link URL}
     *
     * @param url {@link URL}
     * @return non-null array
     */
    private String[] getCategories(URL url) {
        return ANY_VALUE.equals(url.getServiceInterface()) ?