diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt
new file mode 100644
index 0000000000..c0f6809f37
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt
@@ -0,0 +1,10 @@
+package com.mogo.och.sweeper.bean
+
+data class WeltDataBean(
+    var locLon: Double,//经度
+    var locLat: Double,//纬度
+    var weltDistance: Double,//贴边距离
+    var cleanMode: Int,//清扫模式
+    var cleanDirection: Int,//清扫方向
+    var cleanIntensity: Int,//作业强度
+)
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/CleaningModeStateCallback.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ICleaningModeStateCallback.java
similarity index 87%
rename from OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/CleaningModeStateCallback.java
rename to OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ICleaningModeStateCallback.java
index b1ec2c6867..df0ed8bc1d 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/CleaningModeStateCallback.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ICleaningModeStateCallback.java
@@ -7,6 +7,6 @@ import chassis.ChassisStatesOuterClass;
 /**
  * 上装状态回调
  */
-public interface CleaningModeStateCallback {
+public interface ICleaningModeStateCallback {
     void cleaningModeState(OperateStateEnum cleaningModeState, ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState,boolean isSelectPureSweepMode);
 }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/IWeltMapSwitchToSmallCallback.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/IWeltMapSwitchToSmallCallback.kt
new file mode 100644
index 0000000000..1b3e66bfe7
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/IWeltMapSwitchToSmallCallback.kt
@@ -0,0 +1,5 @@
+package com.mogo.och.sweeper.callback
+
+interface IWeltMapSwitchToSmallCallback {
+    fun onWeltMapSwitchToSmall()
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index a92ebe344d..1ca537c04e 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -24,10 +24,15 @@ import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.sweeper.R;
-import com.mogo.och.sweeper.view.SweeperCurrentTaskInfoView;
+import com.mogo.och.sweeper.bean.WeltDataBean;
+import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback;
 import com.mogo.och.sweeper.view.SweeperTrafficDataView;
-import com.mogo.och.sweeper.view.SweeperWorkModeView;
+import com.mogo.och.sweeper.view.WeltSmallMapView;
+
+import java.util.ArrayList;
+import java.util.List;
 
 import androidx.annotation.NonNull;
 import androidx.constraintlayout.widget.Group;
@@ -41,7 +46,7 @@ import androidx.fragment.app.FragmentTransaction;
  * @author tongchenfei
  */
 public abstract class BaseSweeperTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> implements IMogoMapListener,
-        View.OnClickListener {
+        View.OnClickListener, IWeltMapSwitchToSmallCallback {
 
     private static final String TAG = "BaseSweeperTabFragment";
     //地图放大缩小
@@ -65,8 +70,15 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     private SweeperAmapNaviFragment mOchAmapNaviFragment;
     //关闭人工驾驶小地图
     private ImageView mCloseNavIcon;
-    //
+    //刷新人工驾驶地图按钮
     private ImageView mRefreshNavi;
+    //作业任务贴边数据展示图
+    private WeltSmallMapView mMapWeltView;
+    //切换到任务作业全览图
+    private ImageView mMapSwitchToBig;
+    //任务作业全览图
+    private WeltMapOverViewFragment mWeltMapOverViewFragment;
+    private FrameLayout mFlWeltMapOverView;
 
     @Override
     protected int getLayoutId() {
@@ -90,6 +102,9 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mAICollectBtn = findViewById(R.id.module_mogo_och_ai_collet_rl);
         mCloseNavIcon = findViewById(R.id.sweeper_close_navi_icon);
         mRefreshNavi = findViewById(R.id.sweeper_refresh_navi);
+        mMapWeltView = findViewById(R.id.sweeper_task_welt_small_map);
+        mMapSwitchToBig = findViewById(R.id.sweeper_switch_to_big);
+        mFlWeltMapOverView = findViewById(R.id.sweeper_welt_map_overview);
         initListener();
         //设置左下角四个按钮监听事件
         setBottomBtnListener();
@@ -127,17 +142,22 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     protected void initViews(Bundle savedInstanceState) {
         super.initViews(savedInstanceState);
         mapBizView.onCreate(savedInstanceState);
+        mMapWeltView.onCreateView(savedInstanceState);
+        //mock 贴边数据
+        setWeltData();
     }
 
     @Override
     public void onPause() {
         super.onPause();
+        mMapWeltView.onPause();
     }
 
     @Override
     public void onResume() {
         super.onResume();
         mapBizView.onResume();
+        mMapWeltView.onResume();
     }
 
     @Override
@@ -163,13 +183,16 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().registerHostMapListener(TAG, this);
         mCloseNavIcon.setOnClickListener(this);
         mRefreshNavi.setOnClickListener(this);
+        mMapSwitchToBig.setOnClickListener(this);
     }
+
     /**
      * 清扫车任务列表面板view，在{@link #initViews()}时候添加到container中
      *
      * @return 站点面板view
      */
     public abstract int getTaskListPanelViewId();
+
     /**
      * 模拟自动驾驶返回状态
      *
@@ -201,6 +224,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     @Override
     public void onDestroy() {
         super.onDestroy();
+        mMapWeltView.onDestroy();
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 
@@ -282,10 +306,9 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     /**
      * 展示人工驾驶地图导航
-     *
      */
     protected void showAmapNaviToStationFragment(boolean isShow) {
-        if(isShow){
+        if (isShow) {
             FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
             mOchAmapNaviFragment = SweeperAmapNaviFragment.newInstance();
             if (mOchAmapNaviFragment.isAdded()) {
@@ -294,11 +317,12 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
             transaction.add(R.id.module_mogo_och_navi_panel_container, mOchAmapNaviFragment).show(mOchAmapNaviFragment);
             transaction.commitAllowingStateLoss();
             mGroupNaviPanel.setVisibility(View.VISIBLE);
-        }else{
+        } else {
             AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
             mGroupNaviPanel.setVisibility(View.GONE);
         }
     }
+
     @Override
     public void onClick(View v) {
         int id = v.getId();
@@ -306,7 +330,65 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
             showAmapNaviToStationFragment(false);
         } else if (id == R.id.sweeper_refresh_navi) {
             refreshNavi();
+        } else if (id == R.id.sweeper_switch_to_big) {
+            showOrHideOverMapViewFragment(true);
         }
     }
+
     public abstract void refreshNavi();
+
+    /**
+     * 设置作业任务全览图隐藏或者显示
+     * @param isShow
+     */
+    public void showOrHideOverMapViewFragment(boolean isShow) {
+        FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
+        if (isShow) {
+            mFlWeltMapOverView.setVisibility(View.VISIBLE);
+            if (mWeltMapOverViewFragment == null) {
+                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance(this);
+            }
+            if (mWeltMapOverViewFragment.isHidden()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(mWeltMapOverViewFragment).commitAllowingStateLoss();
+                return;
+            }
+            if (mWeltMapOverViewFragment.isAdded()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(mWeltMapOverViewFragment).commitAllowingStateLoss();
+                return;
+            }
+            transaction
+                    .setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                    .add(R.id.sweeper_welt_map_overview, mWeltMapOverViewFragment)
+                    .show(mWeltMapOverViewFragment).commitAllowingStateLoss();
+        } else {
+            mFlWeltMapOverView.setVisibility(View.GONE);
+            if (mWeltMapOverViewFragment != null) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_CLOSE)
+                        .hide(mWeltMapOverViewFragment).commitAllowingStateLoss();
+            }
+        }
+    }
+
+    @Override
+    public void onWeltMapSwitchToSmall() {
+        showOrHideOverMapViewFragment(false);
+    }
+
+    /**
+     * mock 贴边假数据
+     */
+    private void setWeltData() {
+        List<WeltDataBean> weltDataBean = new ArrayList<>();
+        weltDataBean.add(new WeltDataBean(116.38851540542558, 39.97419244219622, -10, 1, 1, 1));
+        weltDataBean.add(new WeltDataBean(116.38777443467706, 39.96694323029558, 8, 1, 1, 1));
+        weltDataBean.add(new WeltDataBean(116.39311478161825, 39.967085313029074, 16, 1, 1, 1));
+        weltDataBean.add(new WeltDataBean(116.40963237692603, 39.975055860562826, 30, 1, 1, 1));
+        weltDataBean.add(new WeltDataBean(116.41146331146084, 39.97513910337909, -9999.0, 1, 1, 1));
+        weltDataBean.add(new WeltDataBean(116.40748849300006, 39.96752223478818, -10000.0, 1, 1, 1));
+        weltDataBean.add(new WeltDataBean(116.42670283855335, 39.97526250389533, 1000, 1, 1, 1));
+        mMapWeltView.setWeltData(weltDataBean);
+        mMapWeltView.drawablePolyline();
+    }
 }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
index 235f0074f5..06aa396ffa 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -4,7 +4,6 @@ import android.os.Bundle
 import android.view.View
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.ChassisStatesOuterClass
-import com.elegant.utils.UiThreadHandler
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.och.sweeper.R
 import com.mogo.och.sweeper.bean.SubInfo
@@ -24,7 +23,7 @@ import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
 /**
  * 清扫车主界面
  */
-class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresenter?>(), MenuPopWindow.OnMenuItemOnClickListener {
+class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresenter?>(), MenuPopWindow.OnMenuItemOnClickListener{
     private var mAdapter: TaskListAdapter? = null
     private var mCurrentSubPosition: Int = 0 //子任务下标
     private var mMainMutableList: MutableList<SweeperMainTaskBean>? = null
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
new file mode 100644
index 0000000000..1d78438404
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
@@ -0,0 +1,94 @@
+package com.mogo.och.sweeper.fragment
+
+import android.os.Bundle
+import com.mogo.commons.mvp.BaseFragment
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
+import com.mogo.och.sweeper.R
+import com.mogo.och.sweeper.bean.WeltDataBean
+import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback
+import kotlinx.android.synthetic.main.fragment_welt_map_overview.*
+import kotlinx.android.synthetic.main.sweeper_welt_map_overview.*
+
+class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback?) : BaseFragment() {
+    override fun getLayoutId(): Int = R.layout.fragment_welt_map_overview
+    override fun getTagName(): String {
+        return "WeltMapOverViewFragment"
+    }
+
+    override fun initViews() {
+
+    }
+
+    override fun initViews(savedInstanceState: Bundle?) {
+        super.initViews(savedInstanceState)
+        weltMapOverView.onCreateView(savedInstanceState)
+    }
+
+    override fun onActivityCreated(savedInstanceState: Bundle?) {
+        super.onActivityCreated(savedInstanceState)
+        setWeltData()
+        setLegendData()
+        sweeperSwitchToSmall.setOnClickListener {
+            mIWeltMapSwitchToSmallCallBack?.onWeltMapSwitchToSmall()
+        }
+    }
+
+    companion object {
+        @JvmStatic
+        fun newInstance(mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback): WeltMapOverViewFragment {
+            val args = Bundle()
+            val fragment = WeltMapOverViewFragment(mIWeltMapSwitchToSmallCallBack)
+            fragment.arguments = args
+            return fragment
+        }
+    }
+
+    override fun onPause() {
+        super.onPause()
+        weltMapOverView.onPause()
+    }
+
+    override fun onResume() {
+        super.onResume()
+        weltMapOverView.onResume()
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        weltMapOverView.onDestroy()
+    }
+
+    /**
+     * mock 贴边假数据
+     */
+    private fun setWeltData() {
+        val weltDataBean: MutableList<WeltDataBean> = ArrayList()
+        weltDataBean.add(WeltDataBean(116.38851540542558, 39.97419244219622, -10.0, 1, 1, 1))
+        weltDataBean.add(WeltDataBean(116.38777443467706, 39.96694323029558, 8.0, 1, 1, 1))
+        weltDataBean.add(WeltDataBean(116.39311478161825, 39.967085313029074, 16.0, 1, 1, 1))
+        weltDataBean.add(WeltDataBean(116.40963237692603, 39.975055860562826, 30.0, 1, 1, 1))
+        weltDataBean.add(WeltDataBean(116.41146331146084, 39.97513910337909, -9999.0, 1, 1, 1))
+        weltDataBean.add(WeltDataBean(116.40748849300006, 39.96752223478818, -10000.0, 1, 1, 1))
+        weltDataBean.add(WeltDataBean(116.42670283855335, 39.97526250389533, 1000.0, 1, 1, 1))
+        weltMapOverView.setWeltData(weltDataBean)
+        weltMapOverView.drawablePolyline()
+        weltMapOverView.addStartAndEndMarker(
+            CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, 116.38851540542558, 39.97419244219622),
+            CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                context, 116.42670283855335, 39.97526250389533
+            )
+        )
+    }
+
+    /**
+     * 设置图例数据
+     */
+    private fun setLegendData() {
+        sweeperLegend1.setData(R.drawable.sweeper_legend1, "a<10")
+        sweeperLegend2.setData(R.drawable.sweeper_legend2, "0≤a<10")
+        sweeperLegend3.setData(R.drawable.sweeper_legend3, "10≤a<20")
+        sweeperLegend4.setData(R.drawable.sweeper_legend4, "a≥20")
+        sweeperLegend5.setData(R.drawable.sweeper_legend5, "非贴边")
+        sweeperLegend6.setData(R.drawable.sweeper_legend6, "未经过")
+    }
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
index 844fe8733d..36508c47a5 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
@@ -292,6 +292,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     @Override
     public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
 
+
     }
 
     /**
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
index e8620e25f9..934cc029de 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
@@ -30,10 +30,9 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
-import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.sweeper.R;
-import com.mogo.och.sweeper.callback.CleaningModeStateCallback;
+import com.mogo.och.sweeper.callback.ICleaningModeStateCallback;
 import com.mogo.och.sweeper.constant.OperateStateEnum;
 import com.mogo.och.sweeper.util.SweeperFutianCmdUtil;
 import com.mogo.och.sweeper.view.NoTouchConstraintLayout;
@@ -121,7 +120,7 @@ public class SweeperOperatePanelView extends LinearLayout {
     };
     private boolean isSelectPureSweepMode = false;//用于标注是否选中纯扫
 
-    private CleaningModeStateCallback cleaningModeStateCallback;
+    private ICleaningModeStateCallback cleaningModeStateCallback;
 
     private OperateStateEnum operateStateEnum = OperateStateEnum.SYNCING_STATUS;
 
@@ -724,7 +723,7 @@ public class SweeperOperatePanelView extends LinearLayout {
     }
 
     public void setSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState,
-                                                 CleaningModeStateCallback cleaningModeStateCallback) {
+                                                 ICleaningModeStateCallback cleaningModeStateCallback) {
         this.cleaningModeStateCallback = cleaningModeStateCallback;
         // 有命令正在执行
         if (mCurrentCmdRequestCallback != null) {
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt
index 17f5fae813..1004555886 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt
@@ -8,7 +8,7 @@ import android.view.ViewGroup
 import android.widget.PopupWindow
 import chassis.ChassisStatesOuterClass
 import com.mogo.och.sweeper.R
-import com.mogo.och.sweeper.callback.CleaningModeStateCallback
+import com.mogo.och.sweeper.callback.ICleaningModeStateCallback
 import com.mogo.och.sweeper.constant.OperateStateEnum
 import com.mogo.och.sweeper.ui.SweeperOperatePanelView
 
@@ -35,7 +35,7 @@ class SweeperOperatePanelPopWindow : PopupWindow{
      */
     fun setCleanSystemState(
         cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates?,
-        cleaningModeStateCallback: CleaningModeStateCallback
+        cleaningModeStateCallback: ICleaningModeStateCallback
     ) {
         mOperatePanelView?.setSweeperFutianCleanSystemState(cleanSystemState, cleaningModeStateCallback)
     }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/LegendItemView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/LegendItemView.kt
new file mode 100644
index 0000000000..9a6e360b14
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/LegendItemView.kt
@@ -0,0 +1,32 @@
+package com.mogo.och.sweeper.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.LinearLayout
+import com.mogo.och.sweeper.R
+import kotlinx.android.synthetic.main.sweeper_item_legend.view.*
+
+/**
+ * 任务路线全览图图例
+ */
+class LegendItemView:LinearLayout {
+    constructor(context: Context) : super(context) {}
+    constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+        initView(context)
+    }
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+
+    private fun initView(context: Context) {
+        LayoutInflater.from(context).inflate(R.layout.sweeper_item_legend, this)
+    }
+
+    /**
+     * 设置数据
+     */
+    fun setData(resId:Int,text:String){
+        sweeperLegendIcon.setImageResource(resId)
+        sweeperLegendText.text = text
+    }
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt
index e1dfbf38c1..565ec75a99 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt
@@ -10,7 +10,7 @@ import com.elegant.utils.UiThreadHandler
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.sweeper.R
-import com.mogo.och.sweeper.callback.CleaningModeStateCallback
+import com.mogo.och.sweeper.callback.ICleaningModeStateCallback
 import com.mogo.och.sweeper.constant.OperateStateEnum
 import com.mogo.och.sweeper.constant.SubTaskTypeEnum
 import com.mogo.och.sweeper.ui.popwindow.SweeperOperatePanelPopWindow
@@ -20,7 +20,7 @@ import kotlinx.android.synthetic.main.sweeper_work_mode.view.*
 /**
  * 清扫车模式信息展示
  */
-class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
+class SweeperWorkModeView : ConstraintLayout, ICleaningModeStateCallback {
 
     private var isSelectPureSweepMode: Boolean = false
     private val TAG = "SweeperWorkModeView"
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
new file mode 100644
index 0000000000..749767df93
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
@@ -0,0 +1,212 @@
+package com.mogo.och.sweeper.view
+
+import android.content.Context
+import android.graphics.Color
+import android.os.Bundle
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.amap.api.maps.AMap
+import com.amap.api.maps.CameraUpdateFactory
+import com.amap.api.maps.model.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
+import com.mogo.och.sweeper.R
+import com.mogo.och.sweeper.bean.WeltDataBean
+import kotlinx.android.synthetic.main.sweeper_welt_map_overview.view.*
+
+/**
+ * 作业任务全览图
+ */
+class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
+    private var mWeltData: MutableList<WeltDataBean> = mutableListOf() //任务数据集合
+    private var mCoordinatesLatLng: MutableList<LatLng> = mutableListOf() //任务坐标点
+    private var mCarMarker: Marker? = null
+    private var mAMap: AMap? = null
+    private var mPolyline: Polyline? = null
+    private var colorList: MutableList<Int> = mutableListOf()
+    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    //清扫车任务地图
+    private val TAG = "WeltMapOverView"
+    constructor(context: Context) : super(context) {}
+    constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+        initView(context)
+    }
+
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
+
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+
+    private fun initView(context: Context) {
+        LayoutInflater.from(context).inflate(R.layout.sweeper_welt_map_overview, this)
+        initAMapView()
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+        setLegendData()
+    }
+    private fun initAMapView() {
+        mAMap = sweeperTextureMapView.map
+        // 地图文字标注
+        mAMap?.showMapText(true)
+        //显示3D建筑物
+        mAMap?.showBuildings(true)
+        // 设置导航地图模式，aMap是地图控制器对象。
+        mAMap?.mapType = AMap.MAP_TYPE_NIGHT
+        // 关闭显示实时路况图层，aMap是地图控制器对象。
+        mAMap?.isTrafficEnabled = false
+        // 设置 锚点 图标
+        mCarMarker = mAMap?.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_small))
+                .anchor(0.5f, 0.5f)
+        )
+        // 设置地图的样式
+        val uiSettings = mAMap?.uiSettings
+        uiSettings?.isZoomControlsEnabled = false // 地图缩放级别的交换按钮
+        uiSettings?.setAllGesturesEnabled(false) // 所有手势
+        uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
+        uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+        mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
+            CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "WeltView---onMapLoaded")
+            // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
+            mAMap?.isTrafficEnabled = false
+            mAMap?.showBuildings(true)
+        })
+    }
+
+    /**
+     * 添加画线颜色值
+     */
+    private fun addRouteColorList() {
+        for (i in mWeltData.indices) {
+            if (mWeltData[i].weltDistance == -9999.0) {//未经过
+                colorList.add(Color.parseColor("#3BA1CC"))
+            } else if (mWeltData[i].weltDistance == -10000.0) {//非贴边
+                colorList.add(Color.parseColor("#236299"))
+            } else if (mWeltData[i].weltDistance < 0) {
+                colorList.add(Color.parseColor("#C22101"))
+            } else if (mWeltData[i].weltDistance >= 0 && mWeltData[i].weltDistance < 10) {
+                colorList.add(Color.parseColor("#4DFFA4"))
+            } else if (mWeltData[i].weltDistance >= 10 && mWeltData[i].weltDistance < 20) {
+                colorList.add(Color.parseColor("#FFDD4D"))
+            } else if (mWeltData[i].weltDistance >= 20) {
+                colorList.add(Color.parseColor("#FF912B"))
+            }
+        }
+    }
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        mogoLocation?.let { gnssInfo ->
+            val currentLatLng = LatLng(gnssInfo.latitude, gnssInfo.longitude)
+            //更新车辆位置
+            mCarMarker?.rotateAngle = (360 - gnssInfo.heading).toFloat()
+            mCarMarker?.position = currentLatLng
+            mCarMarker?.setToTop()
+            //圈定地图显示范围
+            val boundsBuilder = LatLngBounds.Builder()
+            if (mCoordinatesLatLng.size > 0) {
+                //存放经纬度
+                for (i in mCoordinatesLatLng.indices) {
+                    boundsBuilder.include(mCoordinatesLatLng[i])
+                }
+                boundsBuilder.include(currentLatLng)
+                mAMap?.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100))
+            }
+        }
+    }
+    /**
+     * 根据贴边数据绘制任务路线
+     */
+    fun drawablePolyline() {
+        mPolyline?.remove()
+        if (mAMap != null) {
+            addRouteColorList()
+            if (mWeltData.size >= 2 && mCoordinatesLatLng.size > 2) {
+                //设置线段纹理
+                val polylineOptions = PolylineOptions()
+                polylineOptions.addAll(mCoordinatesLatLng)
+                polylineOptions.width(14f) //线段宽度
+                polylineOptions.isUseTexture = false
+                polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
+                polylineOptions.colorValues(colorList)
+                // 绘制线
+                mPolyline = mAMap?.addPolyline(polylineOptions)
+            }
+        }
+    }
+
+    /**
+     * 添加起点和终点的marker
+     */
+    fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
+        startMarker?.position = startPoint
+        mLineMarkers.add(startMarker)
+        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.end_maker_icon)))
+        endMarker?.position = endPoint
+        mLineMarkers.add(endMarker)
+    }
+
+    /**
+     * 清除maker
+     */
+    private fun clearMarkers() {
+        for (i in mLineMarkers.indices) {
+            mLineMarkers[i]?.isVisible = false
+            mLineMarkers[i]?.remove()
+        }
+        mLineMarkers.clear()
+    }
+
+    /**
+     * 清除任务路线
+     */
+    fun clearPolyline() {
+        mPolyline?.remove()
+    }
+
+    /**
+     * 设置贴边数据
+     */
+    fun setWeltData(weltData: MutableList<WeltDataBean>) {
+        this.mWeltData = weltData
+        for (i in mWeltData.indices) {
+            mCoordinatesLatLng.add(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, mWeltData[i].locLon, mWeltData[i].locLat))
+        }
+    }
+    /**
+     * 设置图例数据
+     */
+    private fun setLegendData() {
+        sweeperLegend1.setData(R.drawable.sweeper_legend1, "a<10")
+        sweeperLegend2.setData(R.drawable.sweeper_legend2, "0≤a<10")
+        sweeperLegend3.setData(R.drawable.sweeper_legend3, "10≤a<20")
+        sweeperLegend4.setData(R.drawable.sweeper_legend4, "a≥20")
+        sweeperLegend5.setData(R.drawable.sweeper_legend5, "非贴边")
+        sweeperLegend6.setData(R.drawable.sweeper_legend6, "未经过")
+    }
+
+    fun onCreateView(savedInstanceState: Bundle?) {
+        sweeperTextureMapView.onCreate(savedInstanceState)
+    }
+
+    fun onResume() {
+        sweeperTextureMapView.onResume()
+    }
+
+    fun onPause() {
+        sweeperTextureMapView.onPause()
+    }
+
+    fun onDestroy() {
+        sweeperTextureMapView.onDestroy()
+    }
+
+    fun getSweeperSwitchToSmall(): ImageView {
+        return sweeperSwitchToSmall
+    }
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
new file mode 100644
index 0000000000..0f0829095e
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
@@ -0,0 +1,208 @@
+package com.mogo.och.sweeper.view
+
+import android.content.Context
+import android.graphics.Color
+import android.os.Bundle
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.amap.api.maps.AMap
+import com.amap.api.maps.CameraUpdateFactory
+import com.amap.api.maps.model.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
+import com.mogo.och.sweeper.R
+import com.mogo.och.sweeper.bean.WeltDataBean
+import kotlinx.android.synthetic.main.sweeper_welt_small_map_view.view.*
+
+/**
+ * 作业任务小地图
+ */
+class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
+    private var mWeltData: MutableList<WeltDataBean> = mutableListOf() //任务数据集合
+    private var mCoordinatesLatLng: MutableList<LatLng> = mutableListOf() //任务坐标点
+    private var mCarMarker: Marker? = null
+    private var mAMap: AMap? = null
+    private var mPolyline: Polyline? = null
+    private var colorList: MutableList<Int> = mutableListOf()
+    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+
+    //清扫车任务地图
+    private val TAG = "WeltMapView"
+
+    constructor(context: Context) : super(context) {}
+    constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+        initView(context)
+    }
+
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+
+    private fun initView(context: Context) {
+        LayoutInflater.from(context).inflate(R.layout.sweeper_welt_small_map_view, this)
+        initAMapView()
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+    }
+
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        mogoLocation?.let {
+            val currentLatLng = LatLng(it.latitude, it.longitude)
+            drawCarMarker(mogoLocation)
+            //圈定地图显示范围
+            val boundsBuilder = LatLngBounds.Builder()
+            if (mCoordinatesLatLng.size > 0) {
+                //存放经纬度
+                for (i in mCoordinatesLatLng.indices) {
+                    boundsBuilder.include(mCoordinatesLatLng[i])
+                }
+            }
+            boundsBuilder.include(currentLatLng)
+            mAMap!!.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100))
+        }
+    }
+
+    /**
+     * 绘制自车
+     *
+     * @param location
+     */
+    private fun drawCarMarker(location: MogoLocation?) {
+        if (location == null) return
+        val currentLatLng = LatLng(location.latitude, location.longitude)
+        //更新车辆位置
+        if (mCarMarker != null) {
+            mCarMarker!!.rotateAngle = (360 - location.heading).toFloat()
+            mCarMarker!!.position = currentLatLng
+            mCarMarker!!.setToTop()
+        }
+    }
+
+    private fun initAMapView() {
+        mAMap = sweeperSmallTextureMapView?.map
+        // 地图文字标注
+        mAMap?.showMapText(true)
+        // 设置导航地图模式，aMap是地图控制器对象。
+        mAMap?.mapType = AMap.MAP_TYPE_NIGHT
+        // 关闭显示实时路况图层，aMap是地图控制器对象。
+        mAMap?.isTrafficEnabled = false
+        // 设置 锚点 图标
+        mCarMarker = mAMap?.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_small))
+                .anchor(0.5f, 0.5f)
+        )
+        // 设置地图的样式
+        val uiSettings = mAMap?.uiSettings
+        uiSettings?.isZoomControlsEnabled = false // 地图缩放级别的交换按钮
+        uiSettings?.setAllGesturesEnabled(false) // 所有手势
+        uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
+        uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+        mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
+            d(SceneConstant.M_SWEEPER + TAG, "WeltView---onMapLoaded")
+            //mAMap?.setPointToCenter(mAMapNaviView?.width?.div(2) ?: 0, mAMapNaviView?.height?.div(2) ?: 0)
+        })
+    }
+
+    /**
+     * 添加画线颜色值
+     */
+    private fun addRouteColorList() {
+        for (i in mWeltData.indices) {
+            if (mWeltData[i].weltDistance == -9999.0) {//未经过
+                colorList.add(Color.parseColor("#3BA1CC"))
+            } else if (mWeltData[i].weltDistance == -10000.0) {//非贴边
+                colorList.add(Color.parseColor("#236299"))
+            } else if (mWeltData[i].weltDistance < 0) {
+                colorList.add(Color.parseColor("#C22101"))
+            } else if (mWeltData[i].weltDistance >= 0 && mWeltData[i].weltDistance < 10) {
+                colorList.add(Color.parseColor("#4DFFA4"))
+            } else if (mWeltData[i].weltDistance >= 10 && mWeltData[i].weltDistance < 20) {
+                colorList.add(Color.parseColor("#FFDD4D"))
+            } else if (mWeltData[i].weltDistance >= 20) {
+                colorList.add(Color.parseColor("#FF912B"))
+            }
+        }
+    }
+
+    /**
+     * 根据贴边数据绘制任务路线
+     */
+    fun drawablePolyline() {
+        mPolyline?.remove()
+        if (mAMap != null) {
+            addRouteColorList()
+            if (mWeltData.size >= 2 && mCoordinatesLatLng.size > 2) {
+                val polylineOptions = PolylineOptions()
+                polylineOptions.addAll(mCoordinatesLatLng)
+                polylineOptions.width(14f) //线段宽度
+                polylineOptions.isUseTexture = false
+                polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
+                polylineOptions.colorValues(colorList)
+                // 绘制线
+                mPolyline = mAMap?.addPolyline(polylineOptions)
+                addStartAndEndMarker(mCoordinatesLatLng[0], mCoordinatesLatLng[mCoordinatesLatLng.size - 1])
+            }
+        }
+    }
+
+    /**
+     * 添加起点和终点的marker
+     */
+    private fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
+        startMarker?.position = startPoint
+        mLineMarkers.add(startMarker)
+        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.end_maker_icon)))
+        endMarker?.position = endPoint
+        mLineMarkers.add(endMarker)
+    }
+
+    /**
+     * 清除数据
+     */
+    private fun clearMarkers() {
+        for (i in mLineMarkers.indices) {
+            mLineMarkers[i]?.isVisible = false
+            mLineMarkers[i]?.remove()
+        }
+        mLineMarkers.clear()
+    }
+
+    /**
+     * 清除任务路线
+     */
+    fun clearPolyline() {
+        mPolyline?.remove()
+    }
+
+    /**
+     * 设置贴边数据
+     */
+    fun setWeltData(weltData: MutableList<WeltDataBean>) {
+        this.mWeltData = weltData
+        for (i in mWeltData.indices) {
+            mCoordinatesLatLng.add(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, mWeltData[i].locLon, mWeltData[i].locLat))
+        }
+    }
+
+    fun onCreateView(savedInstanceState: Bundle?) {
+        sweeperSmallTextureMapView?.onCreate(savedInstanceState)
+    }
+
+    fun onResume() {
+        sweeperSmallTextureMapView?.onResume()
+    }
+
+    fun onPause() {
+        sweeperSmallTextureMapView?.onPause()
+    }
+
+    fun onDestroy() {
+        sweeperSmallTextureMapView?.onDestroy()
+    }
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/end_maker_icon.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/end_maker_icon.png
new file mode 100644
index 0000000000..438ee2136a
Binary files /dev/null and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/end_maker_icon.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/start_maker_icon.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/start_maker_icon.png
index 9eca61e199..ba3747994c 100644
Binary files a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/start_maker_icon.png and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/start_maker_icon.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_small.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_small.png
new file mode 100644
index 0000000000..c3762f55bb
Binary files /dev/null and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_small.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png
new file mode 100644
index 0000000000..f39894922d
Binary files /dev/null and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend1.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend1.xml
new file mode 100644
index 0000000000..3698943bc9
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend1.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<solid android:color="#C22101"/>
+<corners android:radius="@dimen/dp_10"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend2.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend2.xml
new file mode 100644
index 0000000000..d521b0a45d
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend2.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<solid android:color="#4DFFA4"/>
+<corners android:radius="@dimen/dp_10"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend3.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend3.xml
new file mode 100644
index 0000000000..59edb172fa
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend3.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<solid android:color="#FFDD4D"/>
+<corners android:radius="@dimen/dp_10"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend4.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend4.xml
new file mode 100644
index 0000000000..2a4efb7072
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend4.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<solid android:color="#FF912B"/>
+<corners android:radius="@dimen/dp_10"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend5.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend5.xml
new file mode 100644
index 0000000000..c3ac48e545
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend5.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<solid android:color="#3BA1CC"/>
+<corners android:radius="@dimen/dp_10"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend6.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend6.xml
new file mode 100644
index 0000000000..a8b8ac1b06
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_legend6.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<solid android:color="#236299"/>
+<corners android:radius="@dimen/dp_10"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/fragment_welt_map_overview.xml b/OCH/mogo-och-sweeper/src/main/res/layout/fragment_welt_map_overview.xml
new file mode 100644
index 0000000000..e5655ea229
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/fragment_welt_map_overview.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+    <com.mogo.och.sweeper.view.WeltMapOverView
+        android:id="@+id/weltMapOverView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+</FrameLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
index 9fd699603b..17bf4d63a9 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -2,15 +2,15 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/sweeper_root_View"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:layout_marginTop="@dimen/dp_72"
-    android:id="@+id/sweeper_root_View">
+    android:layout_marginTop="@dimen/dp_72">
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
         android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
+        android:layout_height="match_parent" />
 
     <!--车辆基本交通信息-->
     <com.mogo.och.sweeper.view.SweeperTrafficDataView
@@ -18,8 +18,8 @@
         android:layout_width="@dimen/dp_616"
         android:layout_height="@dimen/dp_320"
         android:layout_marginLeft="@dimen/dp_13"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintStart_toStartOf="parent"/>
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
 
     <!--V2X预警红色边框-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
@@ -92,11 +92,25 @@
         android:layout_width="wrap_content"
         android:layout_height="0dp"
         android:layout_marginStart="@dimen/dp_41"
+        android:layout_marginBottom="@dimen/dp_30"
+        app:layout_constraintBottom_toTopOf="@+id/sweeper_switch_model_layout"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toBottomOf="@id/sweeper_arc"
-        app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call"
-        app:layout_constraintBottom_toTopOf="@+id/sweeper_switch_model_layout"
-        android:layout_marginBottom="@dimen/dp_30"/>
+        app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call" />
+
+    <com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
+        android:layout_width="@dimen/dp_711"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_27"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        app:roundLayoutRadius="@dimen/dp_20"
+        android:layout_marginEnd="@dimen/dp_36">
+        <com.mogo.och.sweeper.view.WeltSmallMapView
+            android:id="@+id/sweeper_task_welt_small_map"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"/>
+    </com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
     <!--切换地图远近事件-->
     <LinearLayout
         android:id="@+id/sweeper_switch_model_layout"
@@ -131,6 +145,7 @@
         android:elevation="@dimen/dp_10"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/module_mogo_och_setting_layout">
+
         <ImageView
             android:layout_width="@dimen/dp_80"
             android:layout_height="@dimen/dp_80"
@@ -148,12 +163,12 @@
         android:elevation="@dimen/dp_10"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/sweeper_switch_model_layout">
+
         <ImageView
             android:layout_width="@dimen/dp_80"
             android:layout_height="@dimen/dp_80"
             android:layout_gravity="center"
-            android:background="@drawable/sweeper_setting_btn_bg"
-            />
+            android:background="@drawable/sweeper_setting_btn_bg" />
     </FrameLayout>
 
     <FrameLayout
@@ -179,30 +194,37 @@
         android:id="@+id/module_mogo_och_navi_panel_container"
         android:layout_width="@dimen/dp_600"
         android:layout_height="@dimen/dp_600"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"
         android:layout_marginEnd="@dimen/module_mogo_och_margin_right"
-        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"/>
+        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent" />
+
     <ImageView
         android:id="@+id/sweeper_close_navi_icon"
         android:layout_width="@dimen/dp_80"
         android:layout_height="@dimen/dp_80"
-        android:visibility="gone"
-        android:src="@drawable/sweeper_close_navi_icon"
-        app:layout_constraintTop_toTopOf="@+id/module_mogo_och_navi_panel_container"
-        app:layout_constraintStart_toStartOf="@+id/module_mogo_och_navi_panel_container"
-        android:layout_marginTop="@dimen/dp_26"
         android:layout_marginStart="@dimen/dp_24"
-        />
+        android:layout_marginTop="@dimen/dp_26"
+        android:src="@drawable/sweeper_close_navi_icon"
+        android:visibility="gone"
+        app:layout_constraintStart_toStartOf="@+id/module_mogo_och_navi_panel_container"
+        app:layout_constraintTop_toTopOf="@+id/module_mogo_och_navi_panel_container" />
+
     <ImageView
         android:id="@+id/sweeper_refresh_navi"
         android:layout_width="@dimen/dp_80"
         android:layout_height="@dimen/dp_80"
         android:layout_marginTop="@dimen/dp_26"
         android:layout_marginEnd="@dimen/dp_24"
-        app:layout_constraintTop_toTopOf="@+id/module_mogo_och_navi_panel_container"
-        app:layout_constraintEnd_toEndOf="@+id/module_mogo_och_navi_panel_container"
         android:src="@drawable/sweeper_navi_refresh"
+        app:layout_constraintEnd_toEndOf="@+id/module_mogo_och_navi_panel_container"
+        app:layout_constraintTop_toTopOf="@+id/module_mogo_och_navi_panel_container" />
+    <FrameLayout
+        android:id="@+id/sweeper_welt_map_overview"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:visibility="gone"
+        tools:visibility="visible"
         />
     <androidx.constraintlayout.widget.Group
         android:id="@+id/group_navi_panel"
@@ -212,6 +234,7 @@
         app:constraint_referenced_ids="module_mogo_och_navi_panel_container,sweeper_close_navi_icon
         ,sweeper_refresh_navi"
         tools:visibility="visible" />
+
     <Button
         android:id="@+id/btnAutopilotDisable"
         android:layout_width="wrap_content"
@@ -241,6 +264,7 @@
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotEnable" />
+
     <androidx.constraintlayout.widget.Group
         android:id="@+id/groupTestPanel"
         android:layout_width="wrap_content"
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_item_legend.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_item_legend.xml
new file mode 100644
index 0000000000..cb9c40f195
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_item_legend.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="@dimen/dp_210"
+    android:layout_height="@dimen/dp_80"
+    android:orientation="horizontal">
+
+    <ImageView
+        android:id="@+id/sweeperLegendIcon"
+        android:layout_width="@dimen/dp_60"
+        android:layout_height="@dimen/dp_16"
+        android:layout_gravity="center_vertical"
+        android:src="@drawable/sweeper_legend1" />
+
+    <TextView
+        android:id="@+id/sweeperLegendText"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_gravity="center_vertical"
+        android:layout_marginStart="@dimen/dp_15"
+        android:gravity="center"
+        android:text="10_a_20"
+        android:textColor="@color/white"
+        android:textSize="@dimen/dp_32" />
+</LinearLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_map_overview.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_map_overview.xml
new file mode 100644
index 0000000000..b3e3f9bb62
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_map_overview.xml
@@ -0,0 +1,108 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+    <com.amap.api.maps.TextureMapView
+        android:id="@+id/sweeperTextureMapView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+    <ImageView
+        android:id="@+id/sweeperSwitchToSmall"
+        android:layout_width="@dimen/dp_73"
+        android:layout_height="@dimen/dp_73"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        android:src="@drawable/sweeper_full_screen_icon"
+        android:layout_marginEnd="@dimen/dp_50"
+        android:layout_marginTop="@dimen/dp_50"/>
+    <com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
+        android:layout_width="@dimen/dp_366"
+        android:layout_height="@dimen/dp_573"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        android:layout_marginBottom="@dimen/dp_80"
+        android:layout_marginEnd="@dimen/dp_80"
+        app:roundLayoutRadius="@dimen/dp_16"
+        android:background="#0E1D38">
+        <TextView
+            android:id="@+id/taskProgressTv"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:text="进度:60%"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toTopOf="parent"
+            android:background="#3f69d9"
+            android:textColor="@color/white"
+            android:paddingTop="4dp"
+            android:paddingBottom="4dp"
+            android:paddingLeft="6dp"
+            android:paddingRight="6dp"
+            android:textSize="@dimen/dp_34"
+            app:layout_constraintWidth_percent="0.5"
+            android:gravity="center"
+            />
+        <TextView
+            android:id="@+id/taskWeltDistanceTv"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:text="贴边:8cm"
+            app:layout_constraintTop_toTopOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"
+            android:background="#3d98c7"
+            android:textColor="@color/white"
+            app:layout_constraintStart_toEndOf="@+id/taskProgressTv"
+            android:paddingTop="4dp"
+            android:paddingBottom="4dp"
+            android:paddingLeft="6dp"
+            android:paddingRight="6dp"
+            android:textSize="@dimen/dp_34"
+            android:gravity="center"
+            app:layout_constraintWidth_percent="0.5"/>
+        <com.mogo.och.sweeper.view.LegendItemView
+            android:id="@+id/sweeperLegend1"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="@dimen/dp_20"
+            app:layout_constraintTop_toBottomOf="@+id/taskProgressTv"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"
+            />
+        <com.mogo.och.sweeper.view.LegendItemView
+            android:id="@+id/sweeperLegend2"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            app:layout_constraintTop_toBottomOf="@+id/sweeperLegend1"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
+        <com.mogo.och.sweeper.view.LegendItemView
+            android:id="@+id/sweeperLegend3"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            app:layout_constraintTop_toBottomOf="@+id/sweeperLegend2"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
+        <com.mogo.och.sweeper.view.LegendItemView
+            android:id="@+id/sweeperLegend4"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            app:layout_constraintTop_toBottomOf="@+id/sweeperLegend3"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
+        <com.mogo.och.sweeper.view.LegendItemView
+            android:id="@+id/sweeperLegend5"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            app:layout_constraintTop_toBottomOf="@+id/sweeperLegend4"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
+        <com.mogo.och.sweeper.view.LegendItemView
+            android:id="@+id/sweeperLegend6"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            app:layout_constraintTop_toBottomOf="@+id/sweeperLegend5"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
+    </com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_small_map_view.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_small_map_view.xml
new file mode 100644
index 0000000000..efb9e61a3d
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_small_map_view.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+    <com.amap.api.maps.TextureMapView
+        android:id="@+id/sweeperSmallTextureMapView"
+        android:layout_width="match_parent"
+        android:layout_height="@dimen/dp_400"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"/>
+    <ImageView
+        android:id="@+id/sweeper_switch_to_big"
+        android:layout_width="@dimen/dp_45"
+        android:layout_height="@dimen/dp_45"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:src="@drawable/sweeper_full_screen_icon"
+        android:layout_marginEnd="@dimen/dp_20"
+        android:layout_marginBottom="@dimen/dp_20"/>
+    <TextView
+        android:id="@+id/taskProgressTv"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="进度:60%"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:background="#3f69d9"
+        android:textColor="@color/white"
+        android:paddingTop="4dp"
+        android:paddingBottom="4dp"
+        android:paddingLeft="6dp"
+        android:paddingRight="6dp"
+        />
+    <TextView
+        android:id="@+id/taskWeltDistanceTv"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="贴边:8cm"
+        app:layout_constraintTop_toTopOf="parent"
+        android:background="#3d98c7"
+        android:textColor="@color/white"
+        app:layout_constraintStart_toEndOf="@+id/taskProgressTv"
+        android:paddingTop="4dp"
+        android:paddingBottom="4dp"
+        android:paddingLeft="6dp"
+        android:paddingRight="6dp"/>
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/values/style.xml b/OCH/mogo-och-sweeper/src/main/res/values/style.xml
index 36d7ef0d93..1f8f971a41 100644
--- a/OCH/mogo-och-sweeper/src/main/res/values/style.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/values/style.xml
@@ -1,23 +1,3 @@
 <?xml version="1.0" encoding="utf-8"?>
-<resources>
-    <style name="SwitchLineDialogStyle" parent="Theme.AppCompat.Dialog">
-        <item name="theme">@android:style/Theme.Translucent</item>
-        <!--是否去除标题 -->
-        <item name="windowNoTitle">true</item>
-        <!-- 背景透明 -->
-        <item name="android:background">#00000000</item>
-        <item name="android:windowBackground">#00000000</item>
-        <!-- 没有windowActionBar-->
-        <item name="windowActionBar">false</item>
-        <item name="android:windowContentOverlay">@null</item>
-        <!-- 设置窗体外面允不允许点击-->
-        <item name="android:windowCloseOnTouchOutside">true</item>
-        <item name="android:windowFullscreen">true</item>
-        <item name="android:windowIsFloating">true</item>
-        <item name="android:windowIsTranslucent">true</item>
-        <item name="android:windowNoTitle">true</item>
-        <item name="android:windowFrame">@null</item>
-        <item name="android:windowAnimationStyle">@android:style/Animation.Translucent</item>
-        <item name="android:backgroundDimEnabled">false</item>
-    </style>
+<resources xmlns:tools="http://schemas.android.com/tools">
 </resources>