thanks gus, finally solve it. I import the into the table "res_company_users_rel", the error is gone. Perhaps the first time I create the user using an account without a company, so I track the error to the model.py finding the it execute follow sql

SELECT "res_users"."id" as "id","res_users"."active" as "active","res_users"."company_id" as "company_id","res_users"."notification_type" as "notification_type","res_users"."create_uid" as "create_uid","res_users"."write_date" as "write_date","res_users"."login" as "login","res_users"."sale_team_id" as "sale_team_id","res_users"."password_crypt" as "password_crypt","res_users"."share" as "share","res_users"."write_uid" as "write_uid","res_users"."create_date" as "create_date","res_users"."action_id" as "action_id","res_users"."password" as "password","res_users"."signature" as "signature","res_users"."alias_id" as "alias_id","res_users"."partner_id" as "partner_id" FROM "res_users" WHERE "res_users".id IN %s AND ("res_users"."id" in (SELECT "user_id" FROM "res_company_users_rel" WHERE "cid" IN %s))

And in res_users.py the company_ids is related to current user's company id

@api.model
def _get_company(self):
return self.env.user.company_id

# Special behavior for this field: res.company.search() will only return the companies
# available to the current user (should be the user's companies?), when the user_preference
# context is set.
company_id = fields.Many2one('res.company', string='Company', required=True, default=_get_company,
help='The company this user is currently working for.', context={'user_preference': True})
company_ids = fields.Many2many('res.company', 'res_company_users_rel', 'user_id', 'cid',
string='Companies', default=_get_company)

I still don't have any idea why the company_id can influence the res.users access