1. School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000, China
2. Anhui Provincial Key Laboratory of Discipline Co-construction on Intelligent Equipment Quality and Reliability, Anhui Polytechnic University, Wuhu 241000, China
3. School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China
4. Wuhu Ceprei Robot Technoligy Research Co., Ltd., Wuhu 241003, China