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 d9833a54ed..548ae4505e 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
@@ -100,7 +100,7 @@
         android:layout_marginTop="@dimen/dp_27"
         app:roundLayoutRadius="@dimen/dp_16"
         >
-        <com.mogo.eagle.core.function.hmi.ui.widget.SweeperVideoView
+        <com.mogo.eagle.core.function.hmi.ui.widget.MogoVideoView
             android:id="@+id/sweeper_video_view"
             android:layout_width="match_parent"
             android:layout_height="@dimen/dp_401"
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index d0e73edff8..d4e1fcd752 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -922,6 +922,22 @@ class MoGoAutopilotControlProvider :
         }
     }
 
+    override fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
+        if (isSubscribe) {
+            AdasManager.getInstance().subscribeInterface(
+                Constants.TERMINAL_ROLE.DRIVER,
+                Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
+                MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO
+            )
+        } else {
+            AdasManager.getInstance().subscribeInterface(
+                Constants.TERMINAL_ROLE.DRIVER,
+                Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
+                MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO
+            )
+        }
+    }
+
     override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
         return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
     }
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index d9fd0ce007..cfc8d3ae9e 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -742,6 +742,20 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    /**
+     * M1拼接视频 10Hz
+     * 此接口需要订阅，默认不发送数据
+     * 订阅调用：{@link AdasManager#subscribeInterface(int, int, MessageType)}
+     * 订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.SUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
+     * 取消订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    override fun onM1StitchedVideo(header: MessagePad.Header, data: ByteArray) {
+        CallerRoboBusJinlvM1StitchedVideoListenerManager.invokeRoboBusJinlvM1StitchedVideo(data)
+    }
+
     /**
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
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/MogoVideoView.java
similarity index 65%
rename from core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java
rename to core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
index ce038d1457..6c8b01a1e0 100644
--- 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/MogoVideoView.java
@@ -15,31 +15,34 @@ 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.IMoGoRoboBusJinlvM1StitchedVideoListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager;
 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
+ * 清扫车摄像头展示View 10Hz
+ * M1拼接视频展示View 10Hz  需要订阅此数据：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
  */
-public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener {
-    private static final String TAG = SweeperVideoView.class.getSimpleName();
+public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
+    private static final String TAG = MogoVideoView.class.getSimpleName();
     private final RequestOptions requestOptions = new RequestOptions()
             .priority(Priority.HIGH)
             .skipMemoryCache(true)
             .diskCacheStrategy(DiskCacheStrategy.NONE)
             .dontAnimate();
 
-    public SweeperVideoView(@NonNull Context context) {
+    public MogoVideoView(@NonNull Context context) {
         super(context);
     }
 
-    public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
+    public MogoVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
         super(context, attrs);
     }
 
-    public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
+    public MogoVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
         super(context, attrs, defStyleAttr);
     }
 
@@ -47,12 +50,14 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
     protected void onAttachedToWindow() {
         super.onAttachedToWindow();
         CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
+        CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     @Override
     protected void onDetachedFromWindow() {
         super.onDetachedFromWindow();
         CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
+        CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.removeListener(this);
     }
 
     private final CustomTarget<Bitmap> target = new CustomTarget<Bitmap>() {
@@ -60,7 +65,7 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
         public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition<? super Bitmap> transition) {
             //回调内容
             if (!resource.isRecycled()) {
-                SweeperVideoView.this.setImageBitmap(resource);
+                MogoVideoView.this.setImageBitmap(resource);
             }
         }
 
@@ -70,18 +75,28 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
         }
     };
 
-    @Override
-    public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
+    private void draw(@NonNull byte[] data) {
         ThreadUtils.runOnUiThread(new Runnable() {
             @Override
             public void run() {
-                GlideApp.with(SweeperVideoView.this)
+                GlideApp.with(MogoVideoView.this)
                         .asBitmap()
                         .load(data)
-                        .placeholder(SweeperVideoView.this.getDrawable())
+                        .placeholder(MogoVideoView.this.getDrawable())
                         .apply(requestOptions)
                         .into(target);
             }
         });
     }
+
+    @Override
+    public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
+        draw(data);
+    }
+
+    @Override
+    public void onRoboBusJinlvM1StitchedVideo(@NonNull byte[] data) {
+        draw(data);
+    }
+
 }
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
index 03509c9813..6292b53abc 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -367,6 +367,12 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      */
     fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
 
+    /**
+     * 设置M1拼接视频接口订阅
+     * @param isSubscribe 是否订阅
+     */
+    fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean)
+
     fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
 
     fun sendRoboBusJinlvM1AirConditionerCmd(
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt
new file mode 100644
index 0000000000..701b364821
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt
@@ -0,0 +1,11 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+/**
+ * M1拼接视频 10Hz
+ */
+interface IMoGoRoboBusJinlvM1StitchedVideoListener {
+    /**
+     * 金旅M1拼接视频数据 10Hz 每一帧为一张图片
+     */
+    fun onRoboBusJinlvM1StitchedVideo(data: ByteArray)
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index 02d52f2a61..ac9d0f4e5d 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -511,6 +511,14 @@ object CallerAutoPilotControlManager {
         providerApi?.setIsDrawPointCloud(isDrawPointCloud)
     }
 
+    /**
+     * 设置M1拼接视频接口订阅
+     * @param isSubscribe 是否订阅
+     */
+    fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
+        providerApi?.setIsSubscribeM1StitchedVideo(isSubscribe)
+    }
+
     fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
         return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
     }
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt
new file mode 100644
index 0000000000..7b40b6ffb5
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt
@@ -0,0 +1,20 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 清扫车（福田）后摄像头视频数据
+ */
+object CallerRoboBusJinlvM1StitchedVideoListenerManager : CallerBase<IMoGoRoboBusJinlvM1StitchedVideoListener>() {
+
+    /**
+     * 后摄像头视频数据
+     */
+    fun invokeRoboBusJinlvM1StitchedVideo(data: ByteArray) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onRoboBusJinlvM1StitchedVideo(data)
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
index 95d2dde9e8..ecf3d4dbff 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
@@ -1,9 +1,6 @@
 package com.mogo.eagle.core.function.call.autopilot
 
-import chassis.ChassisStatesOuterClass
-import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 
 /**