1. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
2. Mechatronics T&R Institute, Lanzhou Jiaotong University, Lanzhou 730070, China
3. Engineering and Technology Research Center of Logistics and Transportation Equipment Information of Gansu Province, Lanzhou 730000, China
4. Gansu Logistics and Transportation Equipment Industry Technology Center, Lanzhou 730000, China