diff --git a/NavisworksTransportPlugin.csproj b/NavisworksTransportPlugin.csproj
index 45e9265..30f4315 100644
--- a/NavisworksTransportPlugin.csproj
+++ b/NavisworksTransportPlugin.csproj
@@ -194,7 +194,8 @@
     <!-- PathPlanning - Voxel 3D Path Planning (Experimental) -->
     <Compile Include="src\PathPlanning\VoxelCell.cs" />
     <Compile Include="src\PathPlanning\VoxelGrid.cs" />
-    
+    <Compile Include="src\PathPlanning\VoxelGridGenerator.cs" />
+
     <!-- UI - WPF -->
     <Compile Include="src\UI\WPF\Views\LogisticsControlPanel.xaml.cs">
       <DependentUpon>LogisticsControlPanel.xaml</DependentUpon>
diff --git a/src/PathPlanning/VoxelGridGenerator.cs b/src/PathPlanning/VoxelGridGenerator.cs
new file mode 100644
index 0000000..48524b8
--- /dev/null
+++ b/src/PathPlanning/VoxelGridGenerator.cs
@@ -0,0 +1,341 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using Autodesk.Navisworks.Api;
+using NavisworksTransport.Utils;
+using static NavisworksTransport.CategoryAttributeManager;
+
+namespace NavisworksTransport.PathPlanning
+{
+    /// <summary>
+    /// 体素网格生成器 - 从 Navisworks BIM 模型生成 3D 体素网格
+    /// 阶段 1 原型版本：使用简单的包围盒方法进行体素化
+    /// </summary>
+    public class VoxelGridGenerator
+    {
+        /// <summary>
+        /// 从 BIM 模型生成体素网格（简化版 - 使用包围盒）
+        /// </summary>
+        /// <param name="bounds">网格边界（世界坐标，模型单位）</param>
+        /// <param name="voxelSizeMeters">体素尺寸（米）</param>
+        /// <param name="vehicleRadiusMeters">车辆半径（米），用于膨胀障碍物</param>
+        /// <param name="vehicleHeightMeters">车辆高度（米），用于检测通行空间</param>
+        /// <param name="modelItems">BIM 模型元素列表</param>
+        /// <returns>生成的体素网格</returns>
+        public VoxelGrid GenerateFromBIM(
+            BoundingBox3D bounds,
+            double voxelSizeMeters,
+            double vehicleRadiusMeters,
+            double vehicleHeightMeters,
+            IEnumerable<ModelItem> modelItems)
+        {
+            var stopwatch = Stopwatch.StartNew();
+            LogManager.Info("=== 开始体素网格生成（简单包围盒方法） ===");
+
+            // 第一步：单位转换（米 → 模型单位）
+            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(
+                Autodesk.Navisworks.Api.Application.ActiveDocument.Units);
+
+            double voxelSizeInModelUnits = voxelSizeMeters * metersToModelUnits;
+            double vehicleRadiusInModelUnits = vehicleRadiusMeters * metersToModelUnits;
+            double vehicleHeightInModelUnits = vehicleHeightMeters * metersToModelUnits;
+
+            LogManager.Info($"单位转换系数: {metersToModelUnits:F4}");
+            LogManager.Info($"体素尺寸: {voxelSizeMeters}米 = {voxelSizeInModelUnits:F2}模型单位");
+            LogManager.Info($"车辆半径: {vehicleRadiusMeters}米 = {vehicleRadiusInModelUnits:F2}模型单位");
+            LogManager.Info($"车辆高度: {vehicleHeightMeters}米 = {vehicleHeightInModelUnits:F2}模型单位");
+
+            // 第二步：创建体素网格
+            var voxelGrid = new VoxelGrid(bounds, voxelSizeInModelUnits);
+            LogManager.Info($"创建体素网格: {voxelGrid.SizeX} × {voxelGrid.SizeY} × {voxelGrid.SizeZ} = {voxelGrid.TotalVoxels:N0} 个体素");
+
+            // 第三步：提取模型元素并分类
+            var obstacleItems = new List<(ModelItem item, BoundingBox3D bbox, LogisticsElementType type)>();
+            int processedCount = 0;
+            int skippedCount = 0;
+
+            foreach (var item in modelItems)
+            {
+                processedCount++;
+
+                // 跳过没有几何体的元素
+                if (!item.HasGeometry)
+                {
+                    skippedCount++;
+                    continue;
+                }
+
+                // 获取包围盒
+                var bbox = item.BoundingBox();
+                if (bbox == null)
+                {
+                    skippedCount++;
+                    continue;
+                }
+
+                // 获取物流类型（从自定义属性或使用默认值）
+                var elementType = GetLogisticsElementType(item);
+
+                obstacleItems.Add((item, bbox, elementType));
+            }
+
+            LogManager.Info($"模型元素统计: 总数={processedCount}, 有效={obstacleItems.Count}, 跳过={skippedCount}");
+
+            // 第四步：体素化 - 使用包围盒标记障碍物
+            int obstacleVoxelCount = 0;
+            int passableVoxelCount = 0;
+
+            foreach (var (item, bbox, elementType) in obstacleItems)
+            {
+                // 判断是否为障碍物
+                bool isObstacle = IsObstacleType(elementType);
+
+                // 体素化该包围盒
+                int markedCount = VoxelizeBoundingBox(
+                    voxelGrid,
+                    bbox,
+                    isObstacle,
+                    elementType,
+                    item,
+                    vehicleRadiusInModelUnits);
+
+                if (isObstacle)
+                    obstacleVoxelCount += markedCount;
+                else
+                    passableVoxelCount += markedCount;
+            }
+
+            LogManager.Info($"体素标记完成: 障碍物体素={obstacleVoxelCount:N0}, 可通行体素={passableVoxelCount:N0}");
+
+            // 第五步：统计信息
+            var (total, passable, obstacle) = voxelGrid.GetStatistics();
+            double passableRatio = (double)passable / total * 100.0;
+
+            stopwatch.Stop();
+            LogManager.Info($"=== 体素网格生成完成 ===");
+            LogManager.Info($"总体素数: {total:N0}");
+            LogManager.Info($"可通行体素: {passable:N0} ({passableRatio:F1}%)");
+            LogManager.Info($"障碍物体素: {obstacle:N0} ({100 - passableRatio:F1}%)");
+            LogManager.Info($"生成耗时: {stopwatch.ElapsedMilliseconds} ms ({stopwatch.Elapsed.TotalSeconds:F2} 秒)");
+
+            return voxelGrid;
+        }
+
+        /// <summary>
+        /// 使用包围盒标记体素
+        /// </summary>
+        /// <param name="voxelGrid">体素网格</param>
+        /// <param name="bbox">包围盒（模型单位）</param>
+        /// <param name="isObstacle">是否为障碍物</param>
+        /// <param name="elementType">元素类型</param>
+        /// <param name="sourceItem">源模型元素</param>
+        /// <param name="inflationRadius">膨胀半径（模型单位），用于障碍物</param>
+        /// <returns>标记的体素数量</returns>
+        private int VoxelizeBoundingBox(
+            VoxelGrid voxelGrid,
+            BoundingBox3D bbox,
+            bool isObstacle,
+            LogisticsElementType elementType,
+            ModelItem sourceItem,
+            double inflationRadius)
+        {
+            int markedCount = 0;
+
+            // 膨胀包围盒（仅对障碍物）
+            BoundingBox3D inflatedBbox = bbox;
+            if (isObstacle && inflationRadius > 0)
+            {
+                double inflation = inflationRadius;
+                inflatedBbox = new BoundingBox3D(
+                    new Point3D(bbox.Min.X - inflation, bbox.Min.Y - inflation, bbox.Min.Z - inflation),
+                    new Point3D(bbox.Max.X + inflation, bbox.Max.Y + inflation, bbox.Max.Z + inflation)
+                );
+            }
+
+            // 计算包围盒覆盖的体素范围
+            var (minX, minY, minZ) = voxelGrid.WorldToVoxel(inflatedBbox.Min);
+            var (maxX, maxY, maxZ) = voxelGrid.WorldToVoxel(inflatedBbox.Max);
+
+            // 遍历该范围内的所有体素
+            for (int x = Math.Max(0, minX); x <= Math.Min(voxelGrid.SizeX - 1, maxX); x++)
+            {
+                for (int y = Math.Max(0, minY); y <= Math.Min(voxelGrid.SizeY - 1, maxY); y++)
+                {
+                    for (int z = Math.Max(0, minZ); z <= Math.Min(voxelGrid.SizeZ - 1, maxZ); z++)
+                    {
+                        // 检查体素中心是否在膨胀后的包围盒内
+                        Point3D voxelCenter = voxelGrid.VoxelToWorldCenter(x, y, z);
+
+                        if (IsPointInBoundingBox(voxelCenter, inflatedBbox))
+                        {
+                            var cell = voxelGrid.GetCell(x, y, z);
+
+                            // 标记体素
+                            if (isObstacle)
+                            {
+                                // 障碍物：标记为不可通行
+                                cell.SetAsObstacle(sourceItem);
+                                cell.Type = elementType;
+                            }
+                            else
+                            {
+                                // 可通行元素（门、通道等）：保持可通行，但设置类型
+                                // 注意：不覆盖已经标记为障碍物的体素
+                                if (cell.IsPassable)
+                                {
+                                    cell.Type = elementType;
+                                    cell.SourceItem = sourceItem;
+
+                                    // 设置速度限制（根据类型）
+                                    if (elementType == LogisticsElementType.门)
+                                    {
+                                        cell.SpeedLimit = 1.0; // 门的速度限制 1 m/s
+                                    }
+                                    else if (elementType == LogisticsElementType.楼梯)
+                                    {
+                                        cell.SpeedLimit = 0.5; // 楼梯速度限制 0.5 m/s
+                                    }
+                                }
+                            }
+
+                            markedCount++;
+                        }
+                    }
+                }
+            }
+
+            return markedCount;
+        }
+
+        /// <summary>
+        /// 检查点是否在包围盒内
+        /// </summary>
+        private bool IsPointInBoundingBox(Point3D point, BoundingBox3D bbox)
+        {
+            return point.X >= bbox.Min.X && point.X <= bbox.Max.X &&
+                   point.Y >= bbox.Min.Y && point.Y <= bbox.Max.Y &&
+                   point.Z >= bbox.Min.Z && point.Z <= bbox.Max.Z;
+        }
+
+        /// <summary>
+        /// 获取模型元素的物流类型
+        /// </summary>
+        private LogisticsElementType GetLogisticsElementType(ModelItem item)
+        {
+            // 尝试从自定义属性读取
+            try
+            {
+                var categories = item.PropertyCategories;
+                foreach (var category in categories)
+                {
+                    if (category.DisplayName == LogisticsCategories.LOGISTICS ||
+                        category.Name == LogisticsCategories.CATEGORY_INTERNAL_NAME)
+                    {
+                        foreach (var prop in category.Properties)
+                        {
+                            if (prop.DisplayName == LogisticsProperties.TYPE)
+                            {
+                                string typeStr = prop.Value.ToDisplayString();
+                                if (Enum.TryParse<LogisticsElementType>(typeStr, out var parsedType))
+                                {
+                                    return parsedType;
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Debug($"读取物流属性失败: {ex.Message}");
+            }
+
+            // 默认：根据元素名称推断类型
+            string displayName = item.DisplayName?.ToLower() ?? "";
+
+            if (displayName.Contains("门") || displayName.Contains("door"))
+                return LogisticsElementType.门;
+            else if (displayName.Contains("楼梯") || displayName.Contains("stair"))
+                return LogisticsElementType.楼梯;
+            else if (displayName.Contains("电梯") || displayName.Contains("elevator"))
+                return LogisticsElementType.电梯;
+            else if (displayName.Contains("通道") || displayName.Contains("corridor"))
+                return LogisticsElementType.通道;
+            else
+                return LogisticsElementType.障碍物; // 默认为障碍物
+        }
+
+        /// <summary>
+        /// 判断物流类型是否为障碍物
+        /// </summary>
+        private bool IsObstacleType(LogisticsElementType type)
+        {
+            switch (type)
+            {
+                case LogisticsElementType.障碍物:
+                    return true;
+
+                case LogisticsElementType.门:
+                case LogisticsElementType.通道:
+                case LogisticsElementType.楼梯:
+                case LogisticsElementType.电梯:
+                case LogisticsElementType.装卸区:
+                case LogisticsElementType.停车位:
+                    return false;
+
+                default:
+                    return true; // 未知类型默认为障碍物
+            }
+        }
+
+        /// <summary>
+        /// 快速测试方法 - 生成简单的测试场景体素网格
+        /// </summary>
+        /// <returns>测试用体素网格</returns>
+        public static VoxelGrid CreateTestGrid()
+        {
+            // 创建 10m × 10m × 3m 的测试房间
+            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(
+                Autodesk.Navisworks.Api.Application.ActiveDocument.Units);
+
+            var bounds = new BoundingBox3D(
+                new Point3D(0, 0, 0),
+                new Point3D(10 * metersToModelUnits, 10 * metersToModelUnits, 3 * metersToModelUnits)
+            );
+
+            double voxelSize = 0.5 * metersToModelUnits; // 0.5米体素
+
+            var grid = new VoxelGrid(bounds, voxelSize);
+
+            LogManager.Info($"创建测试网格: {grid}");
+
+            // 添加一个简单的障碍物（中心位置的柱子）
+            int centerX = grid.SizeX / 2;
+            int centerY = grid.SizeY / 2;
+
+            for (int z = 0; z < grid.SizeZ; z++)
+            {
+                for (int dx = -1; dx <= 1; dx++)
+                {
+                    for (int dy = -1; dy <= 1; dy++)
+                    {
+                        int x = centerX + dx;
+                        int y = centerY + dy;
+
+                        if (grid.IsValidIndex(x, y, z))
+                        {
+                            var cell = grid.GetCell(x, y, z);
+                            cell.SetAsObstacle();
+                        }
+                    }
+                }
+            }
+
+            var (total, passable, obstacle) = grid.GetStatistics();
+            LogManager.Info($"测试网格统计: 总={total}, 可通行={passable}, 障碍={obstacle}");
+
+            return grid;
+        }
+    }
+}