diff --git a/OCH/mogo-och-sweeper/build.gradle b/OCH/mogo-och-sweeper/build.gradle
index c0e3198f9f..71ca061517 100644
--- a/OCH/mogo-och-sweeper/build.gradle
+++ b/OCH/mogo-och-sweeper/build.gradle
@@ -53,6 +53,19 @@ dependencies {
     implementation rootProject.ext.dependencies.rxandroid
     implementation rootProject.ext.dependencies.androidxcardview
     implementation project(":OCH:mogo-och-common-module")
+    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
+        implementation rootProject.ext.dependencies.mogoutils
+        implementation rootProject.ext.dependencies.mogocommons
+        implementation rootProject.ext.dependencies.mogo_core_data
+        implementation rootProject.ext.dependencies.mogo_core_function_call
+        implementation rootProject.ext.dependencies.mogo_core_function_hmi
+    }else {
+        implementation project(":core:mogo-core-utils")
+        implementation project(":foudations:mogo-commons")
+        implementation project(':core:mogo-core-data')
+        implementation project(':core:mogo-core-function-call')
+        implementation project(':core:function-impl:mogo-core-function-hmi')
+    }
 
     implementation rootProject.ext.dependencies.androidxrecyclerview
 }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 2dde3d85d1..113e689501 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -180,7 +180,7 @@ public class SweeperTaskModel {
     public void release() {
         MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
         // 注销定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG,false);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
         //自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
         OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
index 78fbf507ab..3e05460226 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
@@ -10,11 +10,12 @@ import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
 import chassis.ChassisStatesOuterClass.BMSSystemStates
 import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
-import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.setProxyTrafficLightView
-import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -38,8 +39,6 @@ class SweeperTrafficDataView : ConstraintLayout,
             : TextView? = null
     private var sweeperTurnSignal //转向灯
             : TurnSignalView? = null
-    private var sweeperLimitingVelocity //限速
-            : SweeperLimitingVelocityView? = null
     private var tvBattery //电量百分比展示
             : TextView? = null
     private var ivBgWaterWarning //水位预警背景图
@@ -65,7 +64,6 @@ class SweeperTrafficDataView : ConstraintLayout,
         speedImage = findViewById(R.id.sweeperSpeedImage)
         speedTextView = findViewById(R.id.sweeperSpeedText)
         sweeperTurnSignal = findViewById(R.id.sweeperTurnSignal)
-        sweeperLimitingVelocity = findViewById(R.id.sweeperLimitingVelocity)
         tvBattery = findViewById(R.id.tvBattery)
         ivBgWaterWarning = findViewById(R.id.sweeperIvBgWaterWarning)
         ivWater = findViewById(R.id.sweeperIvWater)
@@ -78,8 +76,6 @@ class SweeperTrafficDataView : ConstraintLayout,
         CallerChassisLamplightListenerManager.addListener(TAG, this)
         CallerChassisGearStateListenerManager.addListener(TAG, this)
         CallerSweeperFutianCleanSystemListenerManager.addListener(TAG, this)
-        //增加限速监听
-        CallLimitingVelocityListenerManager.addListener(TAG, limitingVelocityListener)
         setProxyTrafficLightView(trafficLight!!)
     }
 
@@ -91,8 +87,6 @@ class SweeperTrafficDataView : ConstraintLayout,
         CallerChassisGearStateListenerManager.removeListener(TAG)
         CallerChassisThrottleStateListenerManager.removeListener(TAG)
         CallerSweeperFutianCleanSystemListenerManager.removeListener(TAG)
-
-        CallLimitingVelocityListenerManager.removeListener(limitingVelocityListener)
     }
 
     override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {}
@@ -145,16 +139,6 @@ class SweeperTrafficDataView : ConstraintLayout,
         }
     }
 
-    /**
-     * 限速监听
-     */
-    private val limitingVelocityListener: LimitingVelocityListener = object : LimitingVelocityListener {
-        override fun onLimitingVelocityChange(limitingVelocity: Int) {
-            //设置限速
-            sweeperLimitingVelocity?.updateLimitingSpeed(limitingVelocity,1)
-        }
-    }
-
     /**
      * 速度设置
      */