diff --git a/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/avcodec.lib b/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/avcodec.lib
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diff --git a/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/avutil.lib b/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/avutil.lib
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diff --git a/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/swscale.lib b/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/swscale.lib
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diff --git a/lib/libmedia_codec/src/ffmpeg-dll/avcodec-58.dll b/lib/libmedia_codec/src/ffmpeg-dll/avcodec-58.dll
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diff --git a/lib/libmedia_codec/src/ffmpeg-dll/avutil-56.dll b/lib/libmedia_codec/src/ffmpeg-dll/avutil-56.dll
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diff --git a/lib/libmedia_codec/src/ffmpeg-dll/swresample-3.dll b/lib/libmedia_codec/src/ffmpeg-dll/swresample-3.dll
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diff --git a/lib/libmedia_codec/src/ffmpeg-dll/swscale-5.dll b/lib/libmedia_codec/src/ffmpeg-dll/swscale-5.dll
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diff --git a/lib/libmedia_codec/src/opus-dll/opus.dll b/lib/libmedia_codec/src/opus-dll/opus.dll
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diff --git a/lib/libmedia_codec/src/opus-share/lib/opus.lib b/lib/libmedia_codec/src/opus-share/lib/opus.lib
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diff --git a/requirements.txt b/requirements.txt
index 4f21fa9..52b87fb 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,7 +2,7 @@
 ####### example-requirements.txt #######
 #
 ###### Requirements without Version Specifiers ######
-robomaster
+# robomaster
 #
 ###### Requirements with Version Specifiers ######
 #   See https://www.python.org/dev/peps/pep-0440/#version-specifiers
diff --git a/src/multi_robomaster/multi_robot.py b/src/multi_robomaster/multi_robot.py
index b38f170..3debf49 100644
--- a/src/multi_robomaster/multi_robot.py
+++ b/src/multi_robomaster/multi_robot.py
@@ -18,6 +18,7 @@
 import time
 import random
 import threading
+import socket
 from robomaster import protocol
 from robomaster import conn
 from robomaster import robot
@@ -161,6 +162,7 @@ class MultiEP(MultiRobotBase):
     """ S1_EP"""
     def __init__(self):
         super().__init__()
+        self._port_list = []
 
     def initialize(self, proto_type=config.DEFAULT_PROTO_TYPE):
         """scan all robots and init its
@@ -193,7 +195,23 @@ def _scan_multi_robot(self, proto_type=config.DEFAULT_PROTO_TYPE):
                 proto._ip = config.LOCAL_IP_STR
             else:
                 proto._ip = '0.0.0.0'
-            proto._port = random.randint(config.ROBOT_SDK_PORT_MIN, config.ROBOT_SDK_PORT_MAX)
+
+            while True:
+                port = random.randint(config.ROBOT_SDK_PORT_MIN, config.ROBOT_SDK_PORT_MAX)
+                if port not in self._port_list:
+                    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+                        logger.info(port,proto._ip,s.connect_ex((proto._ip, port)))
+                        if s.connect_ex((proto._ip, port)) != 0:
+                            self._port_list.append(port)
+                            proto._port = port
+                            logger.info("Set up port: {0}".format(proto._port))
+                            break
+                        else:
+                            logger.info("port {0} are using".format(port))
+                else:
+                    logger.info("Repeated port: {0}".format(port))
+            # proto._port = random.randint(config.ROBOT_SDK_PORT_MIN, config.ROBOT_SDK_PORT_MAX)
+
             msg = protocol.Msg(robot.ROBOT_DEFAULT_HOST, protocol.host2byte(9, 0), proto)
             result, local_ip = sdk_conn.switch_remote_route(msg, proxy_addr)
             proto._ip = local_ip