diff --git a/src/config.js b/src/config.js
index 93a0e05..bf5bc2d 100644
--- a/src/config.js
+++ b/src/config.js
@@ -5,6 +5,7 @@ export const ROSBRIDGE_URL = 'ws://192.168.0.11:9090'
 
 export const MJPEG_AUTO_URL = 'http://192.168.0.11/stream?topic=/vision/result_image&mode=auto'
 export const MJPEG_MANUAL_URL = 'http://192.168.0.11/stream?topic=/vision/result_image&mode=manual'
+export const MJPEG_DEBUG_URL = 'http://192.168.0.11/stream?topic=/vision/debug_image&mode=debug'
 
 // ROS 话题
 export const CMD_WHEEL_TOPIC = '/cmd_wheel'
diff --git a/src/views/AutoMode.vue b/src/views/AutoMode.vue
index 99055e0..506e94a 100644
--- a/src/views/AutoMode.vue
+++ b/src/views/AutoMode.vue
@@ -56,5 +56,5 @@ async function switchToAuto() {
   display: flex;
   justify-content: center;
 }
-.stream { max-width: 100%; height: auto; }
+.stream { max-width: 100%; max-height: 70vh; object-fit: contain; }
 </style>
diff --git a/src/views/DebugMode.vue b/src/views/DebugMode.vue
index 60b09cc..c69c31c 100644
--- a/src/views/DebugMode.vue
+++ b/src/views/DebugMode.vue
@@ -51,14 +51,27 @@
         {{ saving ? '保存中...' : '保存配置' }}
       </button>
     </div>
+
+    <div class="stream-container">
+      <img ref="streamImg" :src="streamUrl" alt="MJPEG Stream" class="stream" />
+    </div>
   </div>
 </template>
 
 <script setup>
 import { reactive, ref, onMounted } from 'vue'
-import { HTTP_API_BASE, ROSBRIDGE_URL } from '../config.js'
+import { onBeforeRouteLeave } from 'vue-router'
+import { HTTP_API_BASE, ROSBRIDGE_URL, MJPEG_DEBUG_URL } from '../config.js'
 import { useRosbridge } from '../composables/useRosbridge.js'
 
+const streamUrl = MJPEG_DEBUG_URL
+const streamImg = ref(null)
+
+onBeforeRouteLeave((_to, _from, next) => {
+  if (streamImg.value) streamImg.value.src = ''
+  next()
+})
+
 const { connected, connect } = useRosbridge()
 connect(ROSBRIDGE_URL)
 
@@ -165,6 +178,15 @@ async function toggleLaser() {
 .debug-mode { display: flex; flex-direction: column; gap: 20px; }
 .header h2 { font-size: 18px; font-weight: 500; }
 
+.stream-container {
+  background: #000;
+  border-radius: 8px;
+  overflow: hidden;
+  display: flex;
+  justify-content: center;
+}
+.stream { max-width: 100%; max-height: 70vh; object-fit: contain; }
+
 .mode-buttons { display: flex; gap: 10px; }
 .btn-mode {
   padding: 8px 20px;
diff --git a/src/views/ManualMode.vue b/src/views/ManualMode.vue
index 49c5260..0fde9e1 100644
--- a/src/views/ManualMode.vue
+++ b/src/views/ManualMode.vue
@@ -164,7 +164,7 @@ onUnmounted(() => {
   display: flex;
   justify-content: center;
 }
-.stream { max-width: 100%; height: auto; }
+.stream { max-width: 100%; max-height: 70vh; object-fit: contain; }
 
 .hint {
   text-align: center; font-size: 13px; color: #666;