diff --git a/include/rtmp_manager.hpp b/include/rtmp_manager.hpp
index 6d09465..18c8a43 100644
--- a/include/rtmp_manager.hpp
+++ b/include/rtmp_manager.hpp
@@ -55,6 +55,12 @@ private:
         // movable? we avoid moving by using unique_ptr
     };
 
+    // RTMPManager 内部增加
+    std::mutex stop_queue_mutex;
+    std::condition_variable stop_cv;
+    std::queue<std::unique_ptr<StreamContext>> stop_queue;
+    std::atomic<bool> stop_thread_running{false};
+    std::thread stop_thread;
     // store unique_ptr to avoid copy/move issues with atomic/thread
     static std::unordered_map<std::string, std::unique_ptr<StreamContext>> streams;
     static std::mutex streams_mutex;
diff --git a/src/rtmp_manager.cpp b/src/rtmp_manager.cpp
index a49d18d..086537c 100644
--- a/src/rtmp_manager.cpp
+++ b/src/rtmp_manager.cpp
@@ -26,6 +26,31 @@ void RTMPManager::init()
 {
     gst_init(nullptr, nullptr);
     LOG_INFO("[RTMP] GStreamer initialized.");
+
+    // 启动 stop_worker_thread
+    stop_thread_running.store(true);
+    stop_thread = std::thread([]
+                              {
+        while (stop_thread_running.load())
+        {
+            std::unique_ptr<StreamContext> ctx;
+            {
+                std::unique_lock<std::mutex> lock(RTMPManager::stop_queue_mutex);
+                RTMPManager::stop_cv.wait(lock, []{
+                    return !RTMPManager::stop_queue.empty() || !RTMPManager::stop_thread_running.load();
+                });
+                if (!RTMPManager::stop_queue.empty())
+                {
+                    ctx = std::move(RTMPManager::stop_queue.front());
+                    RTMPManager::stop_queue.pop();
+                }
+            }
+            if (ctx && ctx->thread.joinable())
+            {
+                ctx->thread.join();
+                LOG_INFO("[RTMP] Stream thread joined asynchronously: " + ctx->name);
+            }
+        } });
 }
 
 void RTMPManager::set_status_callback(StreamCallback cb)
@@ -229,8 +254,8 @@ void RTMPManager::start_camera(const Camera &cam, StreamType type)
 void RTMPManager::stop_camera(const std::string &cam_name, StreamType type)
 {
     std::string key = make_stream_key(cam_name, type);
-
     std::unique_ptr<StreamContext> taken_ctx;
+
     {
         std::lock_guard<std::mutex> lock(streams_mutex);
         auto it = streams.find(key);
@@ -240,18 +265,23 @@ void RTMPManager::stop_camera(const std::string &cam_name, StreamType type)
             return;
         }
 
-        // mark it to stop and take ownership
         it->second->running.store(false);
         taken_ctx = std::move(it->second);
         streams.erase(it);
     }
 
-    // join outside lock
-    if (taken_ctx && taken_ctx->thread.joinable())
-        taken_ctx->thread.join();
+    // 异步加入 stop 队列，由 stop_worker_thread join
+    if (taken_ctx)
+    {
+        {
+            std::lock_guard<std::mutex> lock(stop_queue_mutex);
+            stop_queue.push(std::move(taken_ctx));
+        }
+        stop_cv.notify_one();
+    }
 
     update_status(key, {false, StreamResult::OK, "Stopped manually"});
-    LOG_INFO("[RTMP] stop_camera finished for " + key);
+    LOG_INFO("[RTMP] stop_camera queued for async stop: " + key);
 }
 
 void RTMPManager::stop_all()