This work was supported in part by the National Natural Science Foundation of China under Grants Nos. 62072477, 61309027, 61702562 and 61702561, the Hunan Provincial Natural Science Foundation of China under Grants No.2018JJ3888, the Scientific Research Fund of Hunan Provincial Education Department under Grant No.18B197, the National Key R&D Program of China under Grant No.2018YFB1700200, the Open Research Project of Key Laboratory of Intelligent Information Perception and Processing Technology (Hunan Province) under Grant No.2017KF01, the Hunan Key Laboratory of Intelligent Logistics Technology 2019TP1015.