1. Hebei Key Laboratory of Optoelectronic Information and Geo-detection Technology, Hebei GEO University, Shijiazhuang 050031, China
2. College of Urban Geology and Engineering, Hebei GEO University, Shijiazhuang 050031, China
3. Guangdong Hualu Transport Technology Co., Ltd., Guangzhou 510420, China
4. Hebei Technology Innovation Center for Intelligent Development and Control of Underground Built Environment, Hebei GEO University, Shijiazhuang 050031, China
5. College of Civil Engineering and Mechanics, Lanzhou University, Lanzhou 730000, China