diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index a1ec8fbe49..1b10213717 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -68,6 +68,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     private RawUnpack rawUnpack;//业务数据拆包
     private RawPack rawPack;//数据打包
     private DispatchHandler dispatchHandler;//分发
+    private DispatchHandler dispatchHandlerPointCloud;//点云分发
     private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
     /**
      * 与工控机链接状态
@@ -161,6 +162,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         //司机端以及启用线程分发时
         if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
             dispatchHandler = new DispatchHandler(this);
+            dispatchHandlerPointCloud = new DispatchHandler(this);
         }
     }
 
@@ -269,8 +271,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //                    CupidLogUtils.w("--->websocket byte read header = " + messageType.toString());
                     //判断是否是司机屏幕，是否切换分发线程
                     if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
-                        if (dispatchHandler != null)
-                            dispatchHandler.sendRawMessage(raw);
+                        if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
+                            if (dispatchHandlerPointCloud != null)
+                                dispatchHandlerPointCloud.sendRawMessage(raw);
+                        } else {
+                            if (dispatchHandler != null)
+                                dispatchHandler.sendRawMessage(raw);
+                        }
                     } else {
                         dispatchRaw(raw);
                     }
@@ -471,8 +478,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
         }
         if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
-            if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER && dispatchHandler != null) {
-                dispatchHandler.start();
+            if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
+                if (dispatchHandler != null) {
+                    dispatchHandler.start();
+                }
+                if (dispatchHandlerPointCloud != null) {
+                    dispatchHandlerPointCloud.start();
+                }
             }
             startCheckCompatibility();
         } else {
@@ -480,8 +492,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         }
         if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             AdasManager.getInstance().setCarConfig(null);
-            if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER && dispatchHandler != null) {
-                dispatchHandler.stop();
+            if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
+                if (dispatchHandler != null) {
+                    dispatchHandler.stop();
+                }
+                if (dispatchHandlerPointCloud != null) {
+                    dispatchHandlerPointCloud.stop();
+                }
             }
         }
         CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason);