Hi Zhengrui,
Do you have the full backtrace of the Exception?
I think you did the right thing by setting heartbeat_key in octavia.conf, but if you update this setting on the control plane, it needs to be propagated to the amphora instances.
To propagate it, you can run "openstack loadbalancer amphora configure <amphora_id>" for each amphora (you can get the list of amphorae with "openstack loadbalancer amphora list"), after a few seconds the amphora should send the heartbeat packets with the correct signature.
Greg