1. Institute of Exploration Techniques, Chinese Academy of Geological Sciences, Langfang 065000, China
2. Key Laboratory of Drilling and Exploitation Technology in Complex Conditions of Ministry of Natural Resources, Jilin University, Changchun 130026, China
3. Innovation Base for Automatic and Intelligent Drilling Equipment, Geological Society of China, Langfang 065000, China
4. Changjiang Geotechnical Engineering Corporation, Wuhan 430010, China
5. School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China