diff --git a/RBcore/client_setting.c b/RBcore/client_setting.c
index 8777d33..82c3f4f 100644
--- a/RBcore/client_setting.c
+++ b/RBcore/client_setting.c
@@ -126,7 +126,6 @@ static void SendIV_ModuleHandler(const Msg_t *pstMsg)
 				g_IV_buffer[IV_o_stream.bytes_written + 3] =  crc & 0xff;;
 
 				rd_ComSend(g_ptlpuart, g_IV_buffer, IV_o_stream.bytes_written + 4);
-				Rd_Delay(1000);
 			}
 			break;
 		}
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index b626e1d..aecf95a 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -57,6 +57,8 @@ static IV_struct_define g_stIV;
  * 宏定义                                       *
  *----------------------------------------------*/
 
+#define IV_SEND_TIME 500 // IV上报周期（单位毫秒）
+
 static void Custom_ModuleHandler(const Msg_t *pstMsg)
 {
     if (NULL == pstMsg)
@@ -89,6 +91,15 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
 			}
 
+			int iSpeedSelection = 3 * (g_stMK32.CH11_RD1 + 1000) / 200;
+			int iVehicleSpeed = 1;
+			if (iSpeedSelection > 0)
+			{
+				iVehicleSpeed = g_stCV.Speed_m_per_min*iSpeedSelection/30;
+			}
+			g_stIV.RobotMoveSpeed = iVehicleSpeed;
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_VEHICLE_SPEED, (void *)&iVehicleSpeed, sizeof(int));
+
 			if (abs(g_stMK32.CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(g_stMK32.CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance)
 			{
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
@@ -151,10 +162,17 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 void Custom_Task(void *argument)
 {
 	g_uiCustomModuleID = MsgCenter_Register(MODULE_NAME_CUSTOM, Custom_ModuleHandler);
+    uint32_t uiLastSendTick = Rd_GetTime();
     while(1)
     {
         MsgCenter_ProcessWait(g_uiCustomModuleID, 2);
-        MsgCenter_SendTo(MODULE_NAME_SENDIV, CUSTOM_SET_IV, (void *)&g_stIV, sizeof(g_stIV));
+
+        uint32_t uiNowTick = Rd_GetTime();
+        if ((int32_t)(uiNowTick - uiLastSendTick) >= IV_SEND_TIME)
+        {
+            uiLastSendTick = uiNowTick;
+            MsgCenter_SendTo(MODULE_NAME_SENDIV, CUSTOM_SET_IV, (void *)&g_stIV, sizeof(g_stIV));
+        }
     }
 }