From 3b1fae6a1e336696b3c3391b1a9bd33f45d66041 Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Sun, 28 Sep 2025 17:46:16 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E4=BA=86=E8=B7=AF=E5=BE=84?=
 =?UTF-8?q?=E5=9C=A8=E6=96=9C=E9=9D=A2=EF=BC=88=E5=A6=82=E6=A5=BC=E6=A2=AF?=
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---
 src/PathPlanning/AutoPathFinder.cs          | 153 +++++---------------
 src/PathPlanning/ChannelBasedGridBuilder.cs |   2 +-
 src/PathPlanning/GridMap.cs                 |  40 +----
 src/PathPlanning/GridMapGenerator.cs        |  57 +++-----
 src/PathPlanning/VerticalScanProcessor.cs   |  71 +++++----
 5 files changed, 107 insertions(+), 216 deletions(-)

diff --git a/src/PathPlanning/AutoPathFinder.cs b/src/PathPlanning/AutoPathFinder.cs
index 301a9a3..1f681d4 100644
--- a/src/PathPlanning/AutoPathFinder.cs
+++ b/src/PathPlanning/AutoPathFinder.cs
@@ -101,17 +101,14 @@ namespace NavisworksTransport.PathPlanning
                 // 5. 根据网格点通行高度区间对路径点Z坐标调整
                 var enhancedPath = ApplyGridHeightConstraints(pathResult.PathPoints, gridMap, vehicleHeight);
 
-                // 6. 精确高度修正
-                var heightCorrectedPath = ApplyPreciseHeightCorrection(enhancedPath, gridMap);
-
-                // 8. 验证路径中所有点的高度约束（特别是门网格）
-                ValidatePathHeightConstraints(heightCorrectedPath, gridMap, vehicleHeight);
+                // 6. 验证路径中所有点的高度约束（特别是门网格）
+                ValidatePathHeightConstraints(enhancedPath, gridMap, vehicleHeight);
 
                 // 更新PathFindingResult
-                pathResult.PathPoints = heightCorrectedPath;
+                pathResult.PathPoints = enhancedPath;
                 pathResult.OriginalEndPoint = originalEnd;
 
-                LogManager.Info($"[2.5D路径规划] 路径生成完成，最终包含 {heightCorrectedPath.Count} 个路径点，完成度: {pathResult.CompletionPercentage:F1}%");
+                LogManager.Info($"[2.5D路径规划] 路径生成完成，最终包含 {enhancedPath.Count} 个路径点，完成度: {pathResult.CompletionPercentage:F1}%");
 
                 // 路径优化 - 去除共线点
                 pathResult = OptimizePath(pathResult, gridMap);
@@ -198,10 +195,10 @@ namespace NavisworksTransport.PathPlanning
 
                         if (isPassable)
                         {
-                            if (cell.PassableHeights != null && cell.PassableHeights.Any())
+                            if (cell.PassableHeight.MaxZ > cell.PassableHeight.MinZ)
                             {
                                 // vehicleHeight已经是模型单位，直接比较即可
-                                bool heightOk = cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                                bool heightOk = cell.PassableHeight.GetSpan() >= vehicleHeight;
                                 if (!heightOk)
                                 {
                                     heightConstrainedCells++;
@@ -209,7 +206,7 @@ namespace NavisworksTransport.PathPlanning
                                     // 详细日志：记录被高度约束排除的单元格（仅记录前10个避免日志过多）
                                     if (heightConstrainedCells <= 10)
                                     {
-                                        LogManager.Info($"[A*高度约束] 单元格({x},{y})被高度约束排除：车辆高度{vehicleHeight:F2}模型单位，可用区间：{string.Join(", ", cell.PassableHeights.Select(i => $"{i.MinZ:F2}-{i.MaxZ:F2}(跨度{i.GetSpan():F2})"))}");
+                                        LogManager.Info($"[A*高度约束] 单元格({x},{y})被高度约束排除：车辆高度{vehicleHeight:F2}模型单位，可用区间：{cell.PassableHeight.MinZ:F2}-{cell.PassableHeight.MaxZ:F2}(跨度{cell.PassableHeight.GetSpan():F2})");
                                     }
                                     else if (heightConstrainedCells == 11)
                                     {
@@ -236,9 +233,9 @@ namespace NavisworksTransport.PathPlanning
                             {
                                 var rightCell = gridMap.Cells[x + 1, y];
                                 bool rightPassable = rightCell.IsWalkable;
-                                if (rightPassable && rightCell.PassableHeights != null && rightCell.PassableHeights.Any())
+                                if (rightPassable && rightCell.PassableHeight.MaxZ > rightCell.PassableHeight.MinZ)
                                 {
-                                    rightPassable = rightCell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                                    rightPassable = rightCell.PassableHeight.GetSpan() >= vehicleHeight;
                                 }
                                 if (rightPassable)
                                 {
@@ -253,9 +250,9 @@ namespace NavisworksTransport.PathPlanning
                             {
                                 var bottomCell = gridMap.Cells[x, y + 1];
                                 bool bottomPassable = bottomCell.IsWalkable;
-                                if (bottomPassable && bottomCell.PassableHeights != null && bottomCell.PassableHeights.Any())
+                                if (bottomPassable && bottomCell.PassableHeight.MaxZ > bottomCell.PassableHeight.MinZ)
                                 {
-                                    bottomPassable = bottomCell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                                    bottomPassable = bottomCell.PassableHeight.GetSpan() >= vehicleHeight;
                                 }
                                 if (bottomPassable)
                                 {
@@ -368,10 +365,10 @@ namespace NavisworksTransport.PathPlanning
 
                         // 检查基本可通行性和高度约束
                         bool isPassable = cell.IsWalkable;
-                        if (isPassable && cell.PassableHeights != null && cell.PassableHeights.Any())
+                        if (isPassable && cell.PassableHeight.MaxZ > cell.PassableHeight.MinZ)
                         {
                             // vehicleHeight已经是模型单位，直接比较即可
-                            bool heightOk = cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                            bool heightOk = cell.PassableHeight.GetSpan() >= vehicleHeight;
                             if (!heightOk)
                             {
                                 heightConstrainedCells++;
@@ -500,10 +497,10 @@ namespace NavisworksTransport.PathPlanning
             if (!cell.IsWalkable)
                 return false;
 
-            if (cell.PassableHeights != null && cell.PassableHeights.Any())
+            if (cell.PassableHeight.MaxZ > cell.PassableHeight.MinZ)
             {
                 // vehicleHeight已经是模型单位，直接比较即可
-                return cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                return cell.PassableHeight.GetSpan() >= vehicleHeight;
             }
 
             return false;
@@ -1074,80 +1071,6 @@ namespace NavisworksTransport.PathPlanning
             return turns;
         }
 
-        /// <summary>
-        /// 对最终路径点应用精确高度校正，使路径点贴合通道表面
-        /// 
-        /// 重要：使用GetChannelTopHeight确保车辆路径点位于正确的行驶表面
-        /// - 楼板类通道：校正到楼板顶面（行驶面）而非底面
-        /// - 走廊类通道：校正到可行驶的表面高度
-        /// </summary>
-        /// <param name="path">原始路径点</param>
-        /// <param name="gridMap">网格地图（包含通道信息，通道可能是楼板、走廊等）</param>
-        /// <returns>高度校正后的路径点</returns>
-        private List<Point3D> ApplyPreciseHeightCorrection(List<Point3D> path, GridMap gridMap)
-        {
-            try
-            {
-                LogManager.Info($"[高度校正] 开始对 {path.Count} 个路径点进行精确高度校正");
-
-                // 如果没有通道数据，直接返回原路径
-                if (gridMap.ChannelItems == null || !gridMap.ChannelItems.Any())
-                {
-                    LogManager.Info("[高度校正] 无通道数据，跳过高度校正");
-                    return path;
-                }
-
-                // 确保高度检测器可用
-                if (gridMap.HeightDetector == null)
-                {
-                    LogManager.Warning("[高度校正] 高度检测器不可用，跳过高度校正");
-                    return path;
-                }
-
-                var correctedPath = new List<Point3D>();
-                int correctedCount = 0;
-
-                for (int i = 0; i < path.Count; i++)
-                {
-                    var originalPoint = path[i];
-
-                    try
-                    {
-                        // 🔥 关键修改：使用GetChannelTopHeight获取通道顶面高度，而不是底面高度
-                        // 因为通道是楼板，车辆应该在楼板顶面行驶
-                        var preciseHeight = gridMap.HeightDetector.GetChannelTopHeight(originalPoint, gridMap.ChannelItems);
-
-                        // 检查高度是否需要校正（容差1cm）
-                        const double heightTolerance = 0.01; // 1cm
-                        if (Math.Abs(originalPoint.Z - preciseHeight) > heightTolerance)
-                        {
-                            var correctedPoint = new Point3D(originalPoint.X, originalPoint.Y, preciseHeight);
-                            correctedPath.Add(correctedPoint);
-                            correctedCount++;
-                        }
-                        else
-                        {
-                            // 高度已经正确，无需校正
-                            correctedPath.Add(originalPoint);
-                        }
-                    }
-                    catch (Exception ex)
-                    {
-                        // 如果某个点的高度检测失败，使用原始点
-                        LogManager.Warning($"[高度校正] 点{i}高度校正失败: {ex.Message}，使用原始高度");
-                        correctedPath.Add(originalPoint);
-                    }
-                }
-
-                LogManager.Info($"[高度校正] 高度校正完成，共校正了 {correctedCount}/{path.Count} 个点");
-                return correctedPath;
-            }
-            catch (Exception ex)
-            {
-                LogManager.Error($"[高度校正] 路径高度校正失败: {ex.Message}，返回原始路径");
-                return path;
-            }
-        }
 
         /// <summary>
         /// 修正路径的起点和终点为原始用户指定的坐标，避免网格转换造成的错位
@@ -1232,22 +1155,19 @@ namespace NavisworksTransport.PathPlanning
                 }
 
                 // 检查高度约束
-                if (cell.PassableHeights != null && cell.PassableHeights.Any())
+                if (cell.PassableHeight.MaxZ > cell.PassableHeight.MinZ)
                 {
-                    foreach (var interval in cell.PassableHeights)
-                    {
-                        bool spanOk = interval.GetSpan() >= vehicleHeight;
-                        // 将绝对坐标转换为相对于网格底面的坐标
-                        double relativeZ = point.Z - cell.WorldPosition.Z;
-                        bool containsHeight = interval.Contains(relativeZ);
+                    bool spanOk = cell.PassableHeight.GetSpan() >= vehicleHeight;
+                    // 将绝对坐标转换为相对于网格底面的坐标
+                    double relativeZ = point.Z - cell.WorldPosition.Z;
+                    bool containsHeight = cell.PassableHeight.Contains(relativeZ);
 
-                        if (spanOk && containsHeight)
-                        {
-                            return true;
-                        }
+                    if (spanOk && containsHeight)
+                    {
+                        return true;
                     }
 
-                    LogManager.Warning($"[高度检查] ❌ 所有高度区间都不满足要求");
+                    LogManager.Warning($"[高度检查] ❌ 高度区间不满足要求");
                     return false;
                 }
 
@@ -1278,7 +1198,7 @@ namespace NavisworksTransport.PathPlanning
             {
                 var gridPos = gridMap.WorldToGrid(point);
 
-                // 检查网格有效性
+                // 检查网格位置有效性
                 if (!gridMap.IsValidGridPosition(gridPos))
                 {
                     adjustedPath.Add(point);
@@ -1287,13 +1207,18 @@ namespace NavisworksTransport.PathPlanning
 
                 var cell = gridMap.Cells[gridPos.X, gridPos.Y];
 
-                var bestInterval = cell.PassableHeights
-                    .Where(interval => interval.GetSpan() >= vehicleHeight)
-                    .OrderBy(interval => interval.MinZ)
-                    .FirstOrDefault();
-
-                var optimalZ = cell.WorldPosition.Z + bestInterval.MinZ;
-                adjustedPath.Add(new Point3D(point.X, point.Y, optimalZ));
+                // 检查单个高度区间是否满足车辆高度要求
+                if (cell.PassableHeight.GetSpan() >= vehicleHeight)
+                {
+                    // 使用高度区间的底部作为最优Z坐标
+                    var optimalZ = cell.WorldPosition.Z + cell.PassableHeight.MinZ;
+                    adjustedPath.Add(new Point3D(point.X, point.Y, optimalZ));
+                }
+                else
+                {
+                    // 高度不足，保持原始点
+                    adjustedPath.Add(point);
+                }
                 adjustedCount++;
             }
 
@@ -1600,10 +1525,10 @@ namespace NavisworksTransport.PathPlanning
 
                         // 检查基本可通行性和高度约束
                         bool isPassable = cell.IsWalkable;
-                        if (isPassable && cell.PassableHeights != null && cell.PassableHeights.Any())
+                        if (isPassable && cell.PassableHeight.MaxZ > cell.PassableHeight.MinZ)
                         {
                             // vehicleHeight已经是模型单位，直接比较即可
-                            bool heightOk = cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                            bool heightOk = cell.PassableHeight.GetSpan() >= vehicleHeight;
                             if (!heightOk)
                             {
                                 heightConstrainedCells++;
diff --git a/src/PathPlanning/ChannelBasedGridBuilder.cs b/src/PathPlanning/ChannelBasedGridBuilder.cs
index 922e34b..a0be163 100644
--- a/src/PathPlanning/ChannelBasedGridBuilder.cs
+++ b/src/PathPlanning/ChannelBasedGridBuilder.cs
@@ -225,7 +225,7 @@ namespace NavisworksTransport.PathPlanning
                                 IsWalkable = true,
                                 CellType = CategoryAttributeManager.LogisticsElementType.通道,
                                 IsInChannel = true,
-                                PassableHeights = new List<HeightInterval>(),
+                                PassableHeight = new HeightInterval(),
                                 ChannelType = ChannelType.Corridor,
                                 WorldPosition = new Point3D(worldPos.X, worldPos.Y, gridCenterHeight),
                                 RelatedModelItem = null
diff --git a/src/PathPlanning/GridMap.cs b/src/PathPlanning/GridMap.cs
index a8f0cb8..32105ee 100644
--- a/src/PathPlanning/GridMap.cs
+++ b/src/PathPlanning/GridMap.cs
@@ -163,7 +163,7 @@ namespace NavisworksTransport.PathPlanning
                         IsWalkable = false,
                         CellType = CategoryAttributeManager.LogisticsElementType.Unknown, // 修改：默认为未知/空洞类型
                         IsInChannel = false,
-                        PassableHeights = new List<HeightInterval>(),
+                        PassableHeight = new HeightInterval(),
                         ChannelType = ChannelType.Other,
                         WorldPosition = worldPos
                     };
@@ -256,7 +256,7 @@ namespace NavisworksTransport.PathPlanning
                 IsWalkable = isWalkable,
                 CellType = cellType,
                 IsInChannel = cellType == CategoryAttributeManager.LogisticsElementType.通道,
-                PassableHeights = new List<HeightInterval>(),
+                PassableHeight = new HeightInterval(),
                 ChannelType = cellType == CategoryAttributeManager.LogisticsElementType.通道 ? ChannelType.Corridor : ChannelType.Other,
                 WorldPosition = worldPos
             };
@@ -277,26 +277,6 @@ namespace NavisworksTransport.PathPlanning
             Cells[gridPosition.X, gridPosition.Y] = cell;
         }
 
-
-        /// <summary>
-        /// 添加可通行高度区间到指定网格单元
-        /// </summary>
-        /// <param name="gridPosition">网格坐标</param>
-        /// <param name="heightInterval">高度区间</param>
-        public void AddPassableHeight(GridPoint2D gridPosition, HeightInterval heightInterval)
-        {
-            if (!IsValidGridPosition(gridPosition))
-                return;
-
-            var cell = Cells[gridPosition.X, gridPosition.Y];
-            if (cell.PassableHeights == null)
-            {
-                cell.PassableHeights = new List<HeightInterval>();
-            }
-            cell.PassableHeights.Add(heightInterval);
-            Cells[gridPosition.X, gridPosition.Y] = cell;
-        }
-
         /// <summary>
         /// 检查指定位置在指定高度是否可通行
         /// </summary>
@@ -312,12 +292,8 @@ namespace NavisworksTransport.PathPlanning
             if (!cell.IsWalkable)
                 return false;
 
-            // 如果没有设置高度区间，使用传统的可通行性判断
-            if (cell.PassableHeights == null || !cell.PassableHeights.Any())
-                return true;
-
             // 检查是否有任何高度区间包含指定高度
-            return cell.PassableHeights.Any(interval => interval.Contains(height));
+            return (cell.PassableHeight.MaxZ - cell.PassableHeight.MinZ) >= height;
         }
 
         /// <summary>
@@ -589,7 +565,7 @@ namespace NavisworksTransport.PathPlanning
         /// <summary>
         /// 可通行高度区间列表 - 支持2.5D路径规划
         /// </summary>
-        public List<HeightInterval> PassableHeights { get; set; }
+        public HeightInterval PassableHeight { get; set; }
 
         /// <summary>
         /// 通道类型 - 用于区分不同类型的通道
@@ -650,7 +626,7 @@ namespace NavisworksTransport.PathPlanning
                 IsWalkable = false,
                 CellType = CategoryAttributeManager.LogisticsElementType.障碍物,
                 IsInChannel = false,
-                PassableHeights = new List<HeightInterval>(),
+                PassableHeight = new HeightInterval(),
                 ChannelType = ChannelType.Other
             };
             cell.Cost = cell.GetCost();
@@ -668,7 +644,7 @@ namespace NavisworksTransport.PathPlanning
                 IsWalkable = true,
                 CellType = CategoryAttributeManager.LogisticsElementType.楼板,
                 IsInChannel = false,
-                PassableHeights = new List<HeightInterval>(),
+                PassableHeight = new HeightInterval(),
                 ChannelType = ChannelType.Other
             };
             cell.Cost = cell.GetCost();
@@ -687,7 +663,7 @@ namespace NavisworksTransport.PathPlanning
                 IsWalkable = isOpen,
                 CellType = CategoryAttributeManager.LogisticsElementType.门,
                 IsInChannel = isOpen,
-                PassableHeights = new List<HeightInterval>(),
+                PassableHeight = new HeightInterval(),
                 ChannelType = ChannelType.Other
             };
             cell.Cost = cell.GetCost();
@@ -706,7 +682,7 @@ namespace NavisworksTransport.PathPlanning
                 IsWalkable = true,
                 CellType = CategoryAttributeManager.LogisticsElementType.通道,
                 IsInChannel = true,
-                PassableHeights = new List<HeightInterval>(),
+                PassableHeight = new HeightInterval(),
                 ChannelType = channelType
             };
             cell.Cost = cell.GetCost();
diff --git a/src/PathPlanning/GridMapGenerator.cs b/src/PathPlanning/GridMapGenerator.cs
index b7addde..91170e6 100644
--- a/src/PathPlanning/GridMapGenerator.cs
+++ b/src/PathPlanning/GridMapGenerator.cs
@@ -298,10 +298,7 @@ namespace NavisworksTransport.PathPlanning
                             // 将门的高度范围存储在PassableHeights中供后续使用（使用相对坐标）
                             if (doorHeight > 0)
                             {
-                                cell.PassableHeights = new List<HeightInterval>
-                                {
-                                    new HeightInterval(0, doorHeight)
-                                };
+                                cell.PassableHeight = new HeightInterval(0, doorHeight);
                             }
 
                             // 将修改后的结构体设置回数组
@@ -343,10 +340,7 @@ namespace NavisworksTransport.PathPlanning
                     var cell = gridMap.Cells[x, y];
                     if (cell.IsWalkable)
                     {
-                        cell.PassableHeights = new List<HeightInterval>
-                        {
-                            new HeightInterval(0, scanHeightInModelUnits)
-                        };
+                        cell.PassableHeight = new HeightInterval(0, scanHeightInModelUnits);
                         gridMap.Cells[x, y] = cell;
                         processedCount++;
                     }
@@ -461,12 +455,7 @@ namespace NavisworksTransport.PathPlanning
         /// </summary>
         /// <param name="gridMap">网格地图</param>
         /// <param name="heightIntervals">高度区间数据</param>
-        /// <summary>
-        /// 将高度区间信息集成到网格地图中
-        /// </summary>
-        /// <param name="gridMap">网格地图</param>
-        /// <param name="heightIntervals">高度区间数据</param>
-        private void IntegrateHeightIntervalsToGrid(GridMap gridMap, Dictionary<Point3D, List<HeightInterval>> heightIntervals)
+        private void IntegrateHeightIntervalsToGrid(GridMap gridMap, Dictionary<Point3D, HeightInterval> heightIntervals)
         {
             int updatedCells = 0;
             int channelCellsWithHeightData = 0;
@@ -475,44 +464,39 @@ namespace NavisworksTransport.PathPlanning
             foreach (var kvp in heightIntervals)
             {
                 var point = kvp.Key;
-                var intervals = kvp.Value;
-                
+                var interval = kvp.Value;
+
                 // 将世界坐标转换为网格坐标
                 var gridPos = gridMap.WorldToGrid(new Point3D(point.X, point.Y, 0));
                 int gridX = gridPos.X;
                 int gridY = gridPos.Y;
-                
+
                 // 确保坐标在有效范围内
                 if (gridX >= 0 && gridX < gridMap.Width && gridY >= 0 && gridY < gridMap.Height)
                 {
                     // 更新网格单元格的高度区间信息
                     var cell = gridMap.Cells[gridX, gridY];
-                    
-                    if (cell.PassableHeights == null)
-                    {
-                        cell.PassableHeights = new List<HeightInterval>();
-                    }
-                    
-                    cell.PassableHeights.Clear();
-                    cell.PassableHeights.AddRange(intervals);
+
+                    // 直接设置高度区间
+                    cell.PassableHeight = interval;
                     
                     // 关键修复：只处理通道单元格的高度信息集成
                     // 非通道单元格不应该通过高度扫描而改变其类型或可通行性
                     if (cell.CellType == CategoryAttributeManager.LogisticsElementType.通道 && cell.IsInChannel)
                     {
                         channelCellsWithHeightData++;
-                        
-                        if (intervals.Any())
+
+                        if (interval.MaxZ > interval.MinZ)
                         {
                             // 通道区域有足够净空高度，设置为可通行
                             // 🔥 关键修复：使用SetCell方法正确更新网格统计
                             var cellPos = new GridPoint2D(gridX, gridY);
                             gridMap.SetCell(cellPos, true, 1.0, CategoryAttributeManager.LogisticsElementType.通道);
-                            
+
                             // 设置世界坐标和高度信息
                             var updatedCell = gridMap.Cells[gridX, gridY];
                             updatedCell.WorldPosition = point;
-                            updatedCell.PassableHeights = new List<HeightInterval>(intervals);
+                            updatedCell.PassableHeight = interval;
                             updatedCell.IsInChannel = true;
                             gridMap.Cells[gridX, gridY] = updatedCell;
                         }
@@ -521,14 +505,14 @@ namespace NavisworksTransport.PathPlanning
                             // 通道区域但净空高度不足，标记为不可通行但保持通道类型
                             var cellPos = new GridPoint2D(gridX, gridY);
                             gridMap.SetCell(cellPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.通道);
-                            
+
                             // 设置世界坐标和高度信息
                             var updatedCell = gridMap.Cells[gridX, gridY];
                             updatedCell.WorldPosition = point;
-                            updatedCell.PassableHeights = new List<HeightInterval>(intervals);
+                            updatedCell.PassableHeight = interval;
                             updatedCell.IsInChannel = true;
                             gridMap.Cells[gridX, gridY] = updatedCell;
-                            
+
                             channelCellsBecomingUnwalkable++;
                         }
                     }
@@ -540,7 +524,7 @@ namespace NavisworksTransport.PathPlanning
                         
                         // 仍然更新高度信息，但保持原有状态
                         cell.WorldPosition = point;
-                        cell.PassableHeights = new List<HeightInterval>(intervals);
+                        cell.PassableHeight = interval;
                         gridMap.Cells[gridX, gridY] = cell;
                     }
                     updatedCells++;
@@ -1259,14 +1243,11 @@ namespace NavisworksTransport.PathPlanning
                         cell.RelatedModelItem = update.Item;
                         
                         // 记录高度信息
-                        if (cell.PassableHeights == null)
-                            cell.PassableHeights = new List<HeightInterval>();
-                        
                         var groundHeight = cell.WorldPosition.Z;
-                        cell.PassableHeights.Add(new HeightInterval(
+                        cell.PassableHeight = new HeightInterval(
                             update.BoundingBox.Min.Z - groundHeight,
                             update.BoundingBox.Max.Z - groundHeight
-                        ));
+                        );
                         
                         gridMap.Cells[update.X, update.Y] = cell;
                         updatedCells++;
diff --git a/src/PathPlanning/VerticalScanProcessor.cs b/src/PathPlanning/VerticalScanProcessor.cs
index 62d15d5..aa1549b 100644
--- a/src/PathPlanning/VerticalScanProcessor.cs
+++ b/src/PathPlanning/VerticalScanProcessor.cs
@@ -280,8 +280,8 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="gridPoints">网格点列表</param>
         /// <param name="scanHeight">扫描高度（从地面向上的距离）</param>
         /// <param name="vehicleHeight">车辆高度（用于通行检查）</param>
-        /// <returns>每个网格点的高度区间列表</returns>
-        public Dictionary<Point3D, List<HeightInterval>> ParallelScanHeightIntervals(
+        /// <returns>每个网格点的高度区间</returns>
+        public Dictionary<Point3D, HeightInterval> ParallelScanHeightIntervals(
             IEnumerable<Point3D> gridPoints, 
             double scanHeight = 20.0, 
             double vehicleHeight = 3.0)
@@ -289,7 +289,7 @@ namespace NavisworksTransport.PathPlanning
             LogManager.Info($"[垂直扫描处理器] 开始并行扫描高度区间，扫描高度: {scanHeight}m, 车辆高度: {vehicleHeight}m");
             var startTime = DateTime.Now;
 
-            var results = new ConcurrentDictionary<Point3D, List<HeightInterval>>();
+            var results = new ConcurrentDictionary<Point3D, HeightInterval>();
             var pointsList = gridPoints?.ToList() ?? new List<Point3D>();
 
             LogManager.Info($"[垂直扫描处理器] 准备处理{pointsList.Count}个点");
@@ -307,8 +307,8 @@ namespace NavisworksTransport.PathPlanning
                     {
                         if (gridPoint != null)
                         {
-                            var intervals = ScanVerticalLine(gridPoint, scanHeight, vehicleHeight);
-                            results[gridPoint] = intervals ?? new List<HeightInterval>();
+                            var interval = ScanVerticalLine(gridPoint, scanHeight, vehicleHeight);
+                            results[gridPoint] = interval;
                         }
                     }
                     catch (OutOfMemoryException)
@@ -316,7 +316,7 @@ namespace NavisworksTransport.PathPlanning
                         LogManager.Error($"[垂直扫描处理器] 内存不足，跳过点 {gridPoint}");
                         if (gridPoint != null)
                         {
-                            results[gridPoint] = new List<HeightInterval>();
+                            results[gridPoint] = new HeightInterval();
                         }
                         throw; // 内存不足需要重新抛出
                     }
@@ -325,7 +325,7 @@ namespace NavisworksTransport.PathPlanning
                         LogManager.Error($"[垂直扫描处理器] 扫描点 {gridPoint} 失败: {ex.Message}");
                         if (gridPoint != null)
                         {
-                            results[gridPoint] = new List<HeightInterval>();
+                            results[gridPoint] = new HeightInterval();
                         }
                     }
                 });
@@ -342,8 +342,8 @@ namespace NavisworksTransport.PathPlanning
                     {
                         if (gridPoint != null && !results.ContainsKey(gridPoint))
                         {
-                            var intervals = ScanVerticalLine(gridPoint, scanHeight, vehicleHeight);
-                            results[gridPoint] = intervals ?? new List<HeightInterval>();
+                            var interval = ScanVerticalLine(gridPoint, scanHeight, vehicleHeight);
+                            results[gridPoint] = interval;
                         }
                     }
                     catch (Exception serialEx)
@@ -351,14 +351,14 @@ namespace NavisworksTransport.PathPlanning
                         LogManager.Error($"[垂直扫描处理器] 串行扫描点 {gridPoint} 也失败: {serialEx.Message}");
                         if (gridPoint != null)
                         {
-                            results[gridPoint] = new List<HeightInterval>();
+                            results[gridPoint] = new HeightInterval();
                         }
                     }
                 }
             }
 
             var elapsed = (DateTime.Now - startTime).TotalMilliseconds;
-            var totalIntervals = results.Values.Sum(list => list.Count);
+            var validIntervals = results.Values.Count(interval => interval.MaxZ > interval.MinZ);
             
             // 输出缓存统计信息
             if (_cacheHits + _cacheMisses > 0)
@@ -367,14 +367,14 @@ namespace NavisworksTransport.PathPlanning
                 LogManager.Info($"[垂直扫描处理器] 缓存统计 - 命中: {_cacheHits}, 未命中: {_cacheMisses}, 命中率: {hitRate:F1}%, 缓存大小: {_candidateCache.Count}");
             }
             
-            LogManager.Info($"[垂直扫描处理器] 并行扫描完成，耗时: {elapsed:F1}ms, 扫描点: {pointsList.Count}, 总区间: {totalIntervals}");
+            LogManager.Info($"[垂直扫描处理器] 并行扫描完成，耗时: {elapsed:F1}ms, 扫描点: {pointsList.Count}, 有效区间: {validIntervals}");
 
             // 清理缓存，为下次扫描做准备
             _candidateCache.Clear();
             _cacheHits = 0;
             _cacheMisses = 0;
 
-            return new Dictionary<Point3D, List<HeightInterval>>(results);
+            return new Dictionary<Point3D, HeightInterval>(results);
         }
 
         /// <summary>
@@ -383,8 +383,8 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="basePoint">基础点（X,Y坐标）</param>
         /// <param name="scanHeight">扫描高度</param>
         /// <param name="vehicleHeight">车辆高度</param>
-        /// <returns>可通行的高度区间列表</returns>
-        public List<HeightInterval> ScanVerticalLine(Point3D basePoint, double scanHeight, double vehicleHeight)
+        /// <returns>可通行的高度区间</returns>
+        public HeightInterval ScanVerticalLine(Point3D basePoint, double scanHeight, double vehicleHeight)
         {
             // 第一级筛选：邻域筛选 - 获取空间哈希邻域内的候选项
             var candidateItems = GetCandidateItemsFromSpatialHash(basePoint);
@@ -396,9 +396,9 @@ namespace NavisworksTransport.PathPlanning
             var intersectionResults = PerformIntersectionTests(heightFilteredItems, basePoint, scanHeight);
 
             // 计算可通行区间
-            var passableIntervals = CalculatePassableIntervals(intersectionResults, basePoint.Z, scanHeight, vehicleHeight);
+            var passableInterval = CalculatePassableInterval(intersectionResults, basePoint.Z, scanHeight, vehicleHeight);
 
-            return passableIntervals;
+            return passableInterval;
         }
 
 
@@ -625,8 +625,8 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="baseZ">基础Z坐标</param>
         /// <param name="scanHeight">扫描高度</param>
         /// <param name="vehicleHeight">车辆高度</param>
-        /// <returns>可通行区间列表</returns>
-        private List<HeightInterval> CalculatePassableIntervals(
+        /// <returns>可通行区间</returns>
+        private HeightInterval CalculatePassableInterval(
             List<IntersectionResult> intersectionResults,
             double baseZ,
             double scanHeight,
@@ -664,8 +664,8 @@ namespace NavisworksTransport.PathPlanning
             // 合并重叠的障碍物区间
             var mergedObstacles = MergeOverlappingIntervals(obstacles);
 
-            // 计算可通行区间
-            var passableIntervals = new List<HeightInterval>();
+            // 计算最优可通行区间（取最大的一个）
+            HeightInterval bestInterval = new HeightInterval();
             var scanRange = new HeightInterval(baseZ, baseZ + scanHeight);
 
             // 如果没有找到地面，使用基础Z坐标作为默认地面
@@ -674,7 +674,7 @@ namespace NavisworksTransport.PathPlanning
                 floors.Add(new HeightInterval(baseZ - 0.1, baseZ + 0.1));
             }
 
-            // 对每个潜在的地面，计算其上方的可通行空间
+            // 对每个潜在的地面，计算其上方的可通行空间，取最大的
             foreach (var floor in floors)
             {
                 double floorTop = floor.MaxZ;
@@ -694,18 +694,21 @@ namespace NavisworksTransport.PathPlanning
                     if (clearHeight >= MIN_PASSABLE_HEIGHT)
                     {
                         var interval = new HeightInterval(floorTop, availableTop);
-                        passableIntervals.Add(interval);
+                        if (interval.MaxZ - interval.MinZ > bestInterval.MaxZ - bestInterval.MinZ)
+                        {
+                            bestInterval = interval;
+                        }
                     }
                 }
                 else
                 {
-                    // 有障碍物，计算障碍物之间的可通行空间
+                    // 有障碍物，计算障碍物之间的可通行空间，取最大的
                     double currentBottom = floorTop;
-                    
+
                     foreach (var obstacle in conflictingObstacles)
                     {
                         double obstacleBottom = Math.Max(obstacle.MinZ, currentBottom);
-                        
+
                         if (obstacleBottom > currentBottom)
                         {
                             double clearHeight = obstacleBottom - currentBottom;
@@ -713,13 +716,16 @@ namespace NavisworksTransport.PathPlanning
                             if (clearHeight >= vehicleHeight)
                             {
                                 var interval = new HeightInterval(currentBottom, obstacleBottom);
-                                passableIntervals.Add(interval);
+                                if (interval.MaxZ - interval.MinZ > bestInterval.MaxZ - bestInterval.MinZ)
+                                {
+                                    bestInterval = interval;
+                                }
                             }
                         }
-                        
+
                         currentBottom = Math.Max(currentBottom, obstacle.MaxZ);
                     }
-                    
+
                     // 检查最后一个障碍物之后的空间
                     if (currentBottom < availableTop)
                     {
@@ -728,13 +734,16 @@ namespace NavisworksTransport.PathPlanning
                         if (clearHeight >= vehicleHeight)
                         {
                             var interval = new HeightInterval(currentBottom, availableTop);
-                            passableIntervals.Add(interval);
+                            if (interval.MaxZ - interval.MinZ > bestInterval.MaxZ - bestInterval.MinZ)
+                            {
+                                bestInterval = interval;
+                            }
                         }
                     }
                 }
             }
 
-            return passableIntervals;
+            return bestInterval;
         }
 
         #endregion