[Relax][ONNX] Replace deprecated mapping.TENSOR_TYPE_TO_NP_TYPE usage
#18016
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Replace
mapping.TENSOR_TYPE_TO_NP_TYPEwithhelper.tensor_dtype_to_np_dtype()to resolve the deprecation warning below.ref: onnx/onnx#4554
cc @Hzfengsy @yongwww