diff --git a/src/commandwidget.cpp b/src/commandwidget.cpp
index 1a9ddcf..5dcdc25 100644
--- a/src/commandwidget.cpp
+++ b/src/commandwidget.cpp
@@ -490,6 +490,11 @@ void CommandWidget::setPodIPConfig(NetworkIPStruct networkIP, bool isConnect)
             qDebug() << "端口号绑定失败";
         }
 
+        if (!m_CUdpSocket->joinMulticast())
+        {
+            qDebug() << "加入组播失败";
+        }
+
         //绑定目标IP Port
         m_CUdpSocket->setTargetInfo(networkIP.remoteIP, networkIP.remotePort);
     }
@@ -526,14 +531,6 @@ void CommandWidget::setStopTracking()
 /***武汉天进吊舱控制***/
 void CommandWidget::initmUdpParam()
 {
-    if (!m_CUdpSocket->bind("172.10.0.249", 10001))
-    {
-        qDebug() << "端口号绑定失败";
-    }
-
-    //绑定目标IP Port
-    m_CUdpSocket->setTargetInfo("172.10.0.249", 10000);
-
     QIntValidator* validator = new QIntValidator(0, 100, this);
     ui->cmdLineEdit->setValidator(validator);
     ui->cmdLineEdit->setText("40");
diff --git a/src/utils/CUdpSocket.cpp b/src/utils/CUdpSocket.cpp
index c256dcb..00fb730 100644
--- a/src/utils/CUdpSocket.cpp
+++ b/src/utils/CUdpSocket.cpp
@@ -1,4 +1,5 @@
 #include "CUdpSocket.h"
+#include "../global.h"
 
 CUdpSocket::CUdpSocket(QObject* parent) : QObject(parent)
 {
@@ -10,6 +11,11 @@ CUdpSocket::CUdpSocket(QObject* parent) : QObject(parent)
 
 CUdpSocket::~CUdpSocket()
 {
+    //离开所有加入的组播组
+    if (m_sock->state() == QAbstractSocket::BoundState) {
+        m_sock->leaveMulticastGroup(m_hostAddr);
+    }
+
     // 释放UDP套接字内存空间
     m_sock->close();
     delete m_sock;
@@ -18,7 +24,10 @@ CUdpSocket::~CUdpSocket()
 bool CUdpSocket::bind(QString ip, ushort port)
 {
     // 返回绑定函数返回值
-     
+    m_localIP = ip;
+    m_localAddr = QHostAddress(ip);
+    m_localPort = port;
+
     if (!m_sock->bind(QHostAddress(ip), port))
     {
         qDebug() << "Bind failed:" << m_sock->errorString();
@@ -40,13 +49,18 @@ void CUdpSocket::sendData(QByteArray data)
 
 void CUdpSocket::setTargetInfo(QString ip, quint16 port)
 {
-    // 存储传入的IP和端口号
+    //存储传入的IP和端口号
     m_hostAddr = QHostAddress(ip);
     m_port = port;
 }
 
 bool CUdpSocket::close()
 {
+    //离开所有加入的组播组
+    if (m_sock->state() == QAbstractSocket::BoundState) {
+        m_sock->leaveMulticastGroup(m_hostAddr);
+    }
+
     m_sock->close();
     if (m_sock->state() == QUdpSocket::UnconnectedState) {
         qDebug() << "Socket 已成功关闭";
@@ -57,16 +71,35 @@ bool CUdpSocket::close()
     return false;
 }
 
+bool CUdpSocket::joinMulticast()
+{
+    bool a = isMulticastAddress(m_localIP);
+
+    if (m_localIP.isNull() || !isMulticastAddress(m_localIP)) { return false; }
+
+    if (!m_sock->joinMulticastGroup(m_localAddr)) {
+        qDebug() << "Join multicast group failed:" << m_sock->errorString();
+        return false;
+    }
+    return true;
+}
+
+QPair<QString, quint16> CUdpSocket::getSenderIPSetting()
+{
+    return qMakePair(m_localIP, m_localPort);
+}
+
 void CUdpSocket::on_readyReadData()
 {
-    // 通过函数判断当前是否有等待读取的数据并循环获取
+    //通过函数判断当前是否有等待读取的数据并循环获取
     while (m_sock->hasPendingDatagrams())
     {
         //创建数据存储容器，并设置长度为将接收的数据长度
         QByteArray data;
         data.resize(m_sock->pendingDatagramSize());
+
         //读取数据并保存信息发送者的地址和ip(方便发送时指定发送位置)
-        m_sock->readDatagram(data.data(), data.size(), &m_hostAddr, &m_port);
+        m_sock->readDatagram(data.data(), data.size(), &senderIP, &senderPort);
         //发送接收数据的信号
         emit recvDataSignal(data);
     }
diff --git a/src/utils/CUdpSocket.h b/src/utils/CUdpSocket.h
index 5d4865d..83278f7 100644
--- a/src/utils/CUdpSocket.h
+++ b/src/utils/CUdpSocket.h
@@ -4,6 +4,7 @@
 #include <QObject>
 #include <QUdpSocket>
 #include <QHostAddress>
+#include <QPair>
 class CUdpSocket : public QObject
 {    Q_OBJECT
 public:    
@@ -22,6 +23,11 @@ public:
     //关闭socket
     bool close();
 
+    //加入组播
+    bool joinMulticast();
+
+    //获取发送者的IP及端口号
+    QPair<QString, quint16> getSenderIPSetting();
 signals:    
     //通过该信号传递接收到的数据    
     void recvDataSignal(QString data);
@@ -31,11 +37,17 @@ public slots:
     void on_readyReadData();
 
 private:    
-    QUdpSocket*     m_sock;         //UDP套接字指针    
-    QHostAddress    m_hostAddr;     //保存目标的地址对象    
-    quint16         m_port;         //保存目标的端口号(类型一致)
+    QUdpSocket*     m_sock{nullptr};        //UDP套接字指针    
+    QHostAddress    m_hostAddr;             //保存目标的地址对象    
+    quint16         m_port{0};              //保存目标的端口号(类型一致)
+
+    QString         m_localIP{""};          //本地IP
+    QHostAddress    m_localAddr;            //保存本地的地址对象    
+    quint16         m_localPort{0};         //保存本地的端口号(类型一致)
 
-    bool isSocketBind{false};       //数据绑定成功or失败
+    QHostAddress    senderIP;               //发送者IP
+    quint16         senderPort{0};          //发送者端口号
+    bool            isSocketBind{false};    //数据绑定成功or失败
 };
 
 #endif
\ No newline at end of file