diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
index eb7f101fc1..d9833a54ed 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
@@ -97,11 +97,24 @@
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintEnd_toEndOf="parent"
         android:layout_marginEnd="@dimen/dp_36"
-        android:layout_marginTop="@dimen/dp_27">
+        android:layout_marginTop="@dimen/dp_27"
+        app:roundLayoutRadius="@dimen/dp_16"
+        >
+        <com.mogo.eagle.core.function.hmi.ui.widget.SweeperVideoView
+            android:id="@+id/sweeper_video_view"
+            android:layout_width="match_parent"
+            android:layout_height="@dimen/dp_401"
+            app:layout_constraintTop_toTopOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"
+            android:src="#999999"/>
         <com.mogo.och.sweepercloud.view.WeltSmallMapView
             android:id="@+id/sweeper_task_welt_small_map"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content" />
+            android:layout_width="match_parent"
+            android:layout_height="@dimen/dp_401"
+            app:layout_constraintTop_toBottomOf="@+id/sweeper_video_view"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
     </com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
 
     <ImageView
diff --git a/OCH/sweeper/sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/sweeper/sweeper/src/main/res/layout/sweeper_base_fragment.xml
index 1039ecdcc6..6cc4cd7de7 100644
--- a/OCH/sweeper/sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/sweeper/sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -97,11 +97,15 @@
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintEnd_toEndOf="parent"
         android:layout_marginEnd="@dimen/dp_36"
-        android:layout_marginTop="@dimen/dp_27">
+        android:layout_marginTop="@dimen/dp_27"
+        app:roundLayoutRadius="@dimen/dp_16"
+        >
         <com.mogo.och.sweeper.view.WeltSmallMapView
             android:id="@+id/sweeper_task_welt_small_map"
             android:layout_width="wrap_content"
-            android:layout_height="wrap_content" />
+            android:layout_height="wrap_content"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
     </com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
 
     <ImageView
diff --git a/config.gradle b/config.gradle
index 3bc6477fa7..6a52ed0d76 100644
--- a/config.gradle
+++ b/config.gradle
@@ -40,10 +40,10 @@ ext {
             arouter                      : "com.alibaba:arouter-api:1.0.12-mogo",
             aroutercompiler              : "com.alibaba:arouter-compiler:1.0.12-mogo",
             // glide
-            glide                        : 'com.github.bumptech.glide:glide:4.8.0',
-            glideokhttp3                 : 'com.github.bumptech.glide:okhttp3-integration:4.8.0',
-            glideanno                    : 'com.github.bumptech.glide:annotations:4.8.0',
-            glidecompiler                : 'com.github.bumptech.glide:compiler:4.8.0',
+            glide                        : 'com.github.bumptech.glide:glide:4.11.0',
+            glideokhttp3                 : 'com.github.bumptech.glide:okhttp3-integration:4.11.0',
+            glideanno                    : 'com.github.bumptech.glide:annotations:4.11.0',
+            glidecompiler                : 'com.github.bumptech.glide:compiler:4.11.0',
             androidxannotation           : "androidx.annotation:annotation:1.2.0",
             okhttpinterceptor            : "com.squareup.okhttp3:logging-interceptor:3.12.0",
             // fresco
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java
new file mode 100644
index 0000000000..ce038d1457
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java
@@ -0,0 +1,87 @@
+package com.mogo.eagle.core.function.hmi.ui.widget;
+
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.drawable.Drawable;
+import android.util.AttributeSet;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.appcompat.widget.AppCompatImageView;
+
+import com.bumptech.glide.Priority;
+import com.bumptech.glide.load.engine.DiskCacheStrategy;
+import com.bumptech.glide.request.RequestOptions;
+import com.bumptech.glide.request.target.CustomTarget;
+import com.bumptech.glide.request.transition.Transition;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
+
+/**
+ * 清扫车摄像头展示View
+ */
+public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener {
+    private static final String TAG = SweeperVideoView.class.getSimpleName();
+    private final RequestOptions requestOptions = new RequestOptions()
+            .priority(Priority.HIGH)
+            .skipMemoryCache(true)
+            .diskCacheStrategy(DiskCacheStrategy.NONE)
+            .dontAnimate();
+
+    public SweeperVideoView(@NonNull Context context) {
+        super(context);
+    }
+
+    public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
+        super(context, attrs);
+    }
+
+    public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+    }
+
+    @Override
+    protected void onAttachedToWindow() {
+        super.onAttachedToWindow();
+        CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
+    }
+
+    @Override
+    protected void onDetachedFromWindow() {
+        super.onDetachedFromWindow();
+        CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
+    }
+
+    private final CustomTarget<Bitmap> target = new CustomTarget<Bitmap>() {
+        @Override
+        public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition<? super Bitmap> transition) {
+            //回调内容
+            if (!resource.isRecycled()) {
+                SweeperVideoView.this.setImageBitmap(resource);
+            }
+        }
+
+        @Override
+        public void onLoadCleared(@Nullable Drawable placeholder) {
+            //这个方法在target被回收时调用，如果在除了imageView以外的地方引用了imageView中的bitmap，在这里清除引用以避免崩溃
+        }
+    };
+
+    @Override
+    public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
+        ThreadUtils.runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                GlideApp.with(SweeperVideoView.this)
+                        .asBitmap()
+                        .load(data)
+                        .placeholder(SweeperVideoView.this.getDrawable())
+                        .apply(requestOptions)
+                        .into(target);
+            }
+        });
+    }
+}