@p4mo
print，你让他打印了

找到问题了，是openmv在刚运行过程中，状态不稳定，读取到了一种未列出的情况，然后导致串口无值传输，就直接报错了，算是我考虑不周，我在我的情况集尾加上else就可以解决了，谢谢佬

代码中有个图片标签是我失误整上的，测试时记得删除

THRESHOLD = (100, 4, 12, 71, 57, -16) # Grayscale threshold for dark things...
import sensor, image, time, math, pyb
from pyb import LED, UART
#import car
from pid import PID
import json
import ustruct
rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)

roi1 =  [(0,22,28,16),# 左 x y w h
         (52,22,28,16),# 右
         (28,0,24,20),#上
         (0,0,28,22), #左上
         (52,0,28,22),# 右上
         (0,38,30,18), # 下左
         (50,38,30,18)]#下右
led = pyb.LED(3)
sensor.reset()
#sensor.set_vflip(True)
#sensor.set_hmirror(False)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()                # to process a frame sometimes.
uart = UART(3,115200)   #定义串口3变量
uart.init(115200, bits=8, parity=None, stop=1)
i=0
while(True):
    clock.tick()
    led.on()
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)
    left_flag,right_flag,up_flag=(0,0,0)
    for rec in roi1:
            img.draw_rectangle(rec, color=(255,0,0))#绘制出roi区域
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        #print(rho_err,line.magnitude(),rho_err)
        if line.magnitude()>6:
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            output_str = "%d" %output

            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[0]):  #left
                left_flag=1
            else:
                left_flag=0
            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[1]):  #right
                right_flag=1
            else:
                right_flag=0
            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[2]):  #up
                up_flag=1
            else:
                up_flag=0
            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[3]):  #up_left
                up_left_flag=1
            else:
                up_left_flag=0
            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[4]):  #up_right
                up_right_flag=1
            else:
                up_right_flag=0
            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[5]):  #dowm-left
                dowm_left_flag=1
            else:
                dowm_left_flag=0
            if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[6]):  #dowm-right
                dowm_right_flag=1
            else:
                dowm_right_flag=0
            if (left_flag==1 or dowm_left_flag==1) and (right_flag==1 or dowm_right_flag==1) and up_flag==1 and up_right_flag==0 and up_left_flag==0:
                num=int(output_str)
                flag = 1
                print('十字路口',num,flag)
            elif left_flag==1 and up_flag==1 and right_flag==0 and dowm_right_flag==0 and dowm_left_flag==0 and up_right_flag==0 and up_left_flag==0:
                num=0
                flag = 2
                print('左转路口',num,flag)
            elif right_flag==1 and up_flag==1 and left_flag==0 and dowm_right_flag==0 and dowm_left_flag==0 and up_right_flag==0 and up_left_flag==0:
                num=0
                flag = 3
                print('右转路口',num,flag)
            elif right_flag==1 and up_flag==0 and left_flag==1 and up_left_flag==0 and up_right_flag==0:
                num=0
                flag = 4
                print('丁字路口',num,flag)
            elif up_flag==1 and right_flag==0 and left_flag==0 and dowm_right_flag==0 and dowm_left_flag==0:
                num=int(output_str)
                flag = 0
                print("前进前进前进",num)
            elif up_flag==1 and right_flag==0 and left_flag==0 and dowm_right_flag==1 and dowm_left_flag==1:
                num=0
                flag = 0
                print("克服![0_1690536448916_dbb2ef0a922e74d6c2f1e9e2d3ab21d.jpg](https://fcdn.singtown.com/3eaf92ce-9173-409f-bbac-7499a8508829.jpg) 干扰前进",num)
            elif up_flag==0 and right_flag==1 and left_flag==0:
                num=int(output_str)
                flag = 0
                print("偏右",num,flag)
            elif up_flag==0 and right_flag==0 and left_flag==1:
                num=int(output_str)
                flag = 0
                print("偏左",num,flag)
            elif up_flag==1 and up_right_flag==1:
                num=0
                flag = 0
                print('前进道路',num,flag)
            elif up_flag==1 and up_left_flag==1:
                num=0
                flag = 0
                print('前进道路',num,flag)
            elif up_flag==1 and up_right_flag==1 and up_left_flag==1:
                num=0
                flag = 0
                print('前进道路',num,flag)
            elif up_flag==1 and up_left_flag==1:
                num=0
                flag = 0
                print('前进道路',num,flag)
            elif up_flag==1 and up_left_flag==0:
                num=0
                flag = 0
                print('左前检测道路',num,flag)
            elif up_flag==1 and up_right_flag==0:
                num=0
                flag = 0
                print('右前检测道路',num,flag)

        else:
            num = 0
            flag = 0
            print("<8",flag)
    else:
        num = 101
        flag = 0
        print("101",flag)
        #pass
    data = bytearray([0xb3,0xb3,num,flag,0x5b])
    uart.write(data)
    #print(clock.fps())

图片接线就接了个VCC（5V）、GND和P4（负责向STM32发送数据）
当脱机运行时，如果摄像头被近距离遮挡（我是用手捂住）后，openmv就会闪红灯接着程序挂掉，不遮挡的话就会正常执行