1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2. Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou 221008, China
3. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
4. Information Institute, Ministry of Emergency Management of the People’s Republic of China, Beijing 100029, China