1. Power China Huadong Engineering Corporation Limited, Hangzhou 311122, China
2. Hangzhou Huadong Underground Engineering Intelligent Equipment Research Institute Corporation Limited, 311122, Hangzhou, China
3. Zhejiang Engineering Research Center of Green Mine Technology and Intelligent Equipment, 311122, Hangzhou, China
4. Key Laboratory of Safety for Geotechnical and Structural Engineering of Hubei Province, School of Civil Engineering, Wuhan University, 430072, Wuhan, China