给网格全部加上高度，解决了门限高的问题。

src/PathPlanning/AutoPathFinder.cs

@@ -165,6 +165,9 @@ namespace NavisworksTransport.PathPlanning
                 // 7. 直接返回高度校正后的路径（不再修改XY坐标）
                 var finalPath = heightCorrectedPath;
 
+                // 8. 验证路径中所有点的高度约束（特别是门网格）
+                ValidatePathHeightConstraints(finalPath, gridMap, vehicleHeight);
+
                 // 更新PathFindingResult
                 pathResult.PathPoints = finalPath;
                 pathResult.OriginalEndPoint = originalEnd;
@@ -251,24 +254,34 @@ 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)
                         {
-                            bool heightOk = cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
-                            if (!heightOk)
+                            if (cell.PassableHeights != null && cell.PassableHeights.Any())
                             {
-                                heightConstrainedCells++;
+                                // 将车辆高度从米转换为模型单位
+                                double vehicleHeightInModelUnits = vehicleHeight * UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
+                                bool heightOk = cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeightInModelUnits);
+                                if (!heightOk)
+                                {
+                                    heightConstrainedCells++;
 
-                                // 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}m，可用区间：{string.Join(", ", cell.PassableHeights.Select(i => $"{i.MinZ:F2}-{i.MaxZ:F2}(跨度{i.GetSpan():F2})"))}");
-                                }
-                                else if (heightConstrainedCells == 11)
-                                {
-                                    LogManager.Info($"[A*高度约束] 还有更多单元格被高度约束排除，不再详细记录...");
+                                    // 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}m({vehicleHeightInModelUnits:F2}模型单位)，可用区间：{string.Join(", ", cell.PassableHeights.Select(i => $"{i.MinZ:F2}-{i.MaxZ:F2}(跨度{i.GetSpan():F2})"))}");
+                                    }
+                                    else if (heightConstrainedCells == 11)
+                                    {
+                                        LogManager.Info($"[A*高度约束] 还有更多单元格被高度约束排除，不再详细记录...");
+                                    }
                                 }
+                                isPassable = heightOk;
+                            }
+                            else
+                            {
+                                // 没有高度信息的网格直接标记为不可通行
+                                isPassable = false;
                             }
-                            isPassable = heightOk;
                         }
 
                         if (isPassable)
@@ -284,7 +297,7 @@ namespace NavisworksTransport.PathPlanning
                                 bool rightPassable = rightCell.IsWalkable;
                                 if (rightPassable && rightCell.PassableHeights != null && rightCell.PassableHeights.Any())
                                 {
-                                    rightPassable = rightCell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                                    rightPassable = rightCell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeightInModelUnits);
                                 }
                                 if (rightPassable)
                                 {
@@ -301,7 +314,7 @@ namespace NavisworksTransport.PathPlanning
                                 bool bottomPassable = bottomCell.IsWalkable;
                                 if (bottomPassable && bottomCell.PassableHeights != null && bottomCell.PassableHeights.Any())
                                 {
-                                    bottomPassable = bottomCell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
+                                    bottomPassable = bottomCell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeightInModelUnits);
                                 }
                                 if (bottomPassable)
                                 {
@@ -550,7 +563,7 @@ namespace NavisworksTransport.PathPlanning
                 return cell.PassableHeights.Any(interval => interval.GetSpan() >= vehicleHeight);
             }
 
-            return true;
+            return false;
         }
 
         /// <summary>
@@ -1282,13 +1295,17 @@ namespace NavisworksTransport.PathPlanning
                 // 检查高度约束
                 if (cell.PassableHeights != null && cell.PassableHeights.Any())
                 {
-                    LogManager.Info($"[高度检查] 检查 {cell.PassableHeights.Count} 个高度区间，车辆高度：{vehicleHeight}m");
+                    // 将车辆高度从米转换为模型单位
+                    double vehicleHeightInModelUnits = vehicleHeight * UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
+                    LogManager.Info($"[高度检查] 检查 {cell.PassableHeights.Count} 个高度区间，车辆高度：{vehicleHeight}m ({vehicleHeightInModelUnits:F2}模型单位)");
 
                     foreach (var interval in cell.PassableHeights)
                     {
-                        bool spanOk = interval.GetSpan() >= vehicleHeight;
-                        bool containsHeight = interval.Contains(point.Z);
-                        LogManager.Info($"[高度检查] 区间 {interval}: 跨度={interval.GetSpan():F2}m (需要≥{vehicleHeight}m): {spanOk}, 包含Z={point.Z:F2}: {containsHeight}");
+                        bool spanOk = interval.GetSpan() >= vehicleHeightInModelUnits;
+                        // 将绝对坐标转换为相对于网格底面的坐标
+                        double relativeZ = point.Z - cell.WorldPosition.Z;
+                        bool containsHeight = interval.Contains(relativeZ);
+                        LogManager.Info($"[高度检查] 区间 {interval}: 跨度={interval.GetSpan():F2}模型单位 (需要≥{vehicleHeightInModelUnits:F2}模型单位): {spanOk}, 包含相对Z={relativeZ:F2}: {containsHeight}");
 
                         if (spanOk && containsHeight)
                         {
@@ -1301,9 +1318,7 @@ namespace NavisworksTransport.PathPlanning
                     return false;
                 }
 
-                // 如果没有高度信息，认为可通行（向后兼容）
-                LogManager.Info($"[高度检查] 无高度信息，默认可通行（向后兼容模式）");
-                return true;
+                return false;
             }
             catch (Exception ex)
             {
@@ -1509,6 +1524,64 @@ namespace NavisworksTransport.PathPlanning
             }
         }
 
+        /// <summary>
+        /// 验证路径中所有点的高度约束（特别检查门网格）
+        /// </summary>
+        /// <param name="path">路径点列表</param>
+        /// <param name="gridMap">网格地图</param>
+        /// <param name="vehicleHeight">车辆高度</param>
+        private void ValidatePathHeightConstraints(List<Point3D> path, GridMap gridMap, double vehicleHeight)
+        {
+            LogManager.Info($"[路径高度验证] 开始验证 {path.Count} 个路径点的高度约束");
+
+            int checkedPoints = 0;
+            int passedPoints = 0;
+            int failedPoints = 0;
+            int doorPoints = 0;
+
+            for (int i = 0; i < path.Count; i++)
+            {
+                var point = path[i];
+                var gridPos = gridMap.WorldToGrid(point);
+
+                if (gridMap.IsValidGridPosition(gridPos))
+                {
+                    var cell = gridMap.Cells[gridPos.X, gridPos.Y];
+                    checkedPoints++;
+
+                    // 特别标记门网格点
+                    if (cell.CellType == CategoryAttributeManager.LogisticsElementType.门)
+                    {
+                        doorPoints++;
+                        LogManager.Info($"[路径高度验证] 检查路径点{i}（门网格）: ({point.X:F2}, {point.Y:F2}, {point.Z:F2}) -> 网格({gridPos.X},{gridPos.Y})");
+                    }
+                    else
+                    {
+                        LogManager.Info($"[路径高度验证] 检查路径点{i}（{cell.CellType}）: ({point.X:F2}, {point.Y:F2}, {point.Z:F2}) -> 网格({gridPos.X},{gridPos.Y})");
+                    }
+
+                    // 进行高度约束检查
+                    bool isPassable = IsPointPassableAtHeight(point, gridMap, vehicleHeight);
+                    if (isPassable)
+                    {
+                        passedPoints++;
+                    }
+                    else
+                    {
+                        failedPoints++;
+                        LogManager.Warning($"[路径高度验证] ❌ 路径点{i}高度约束检查失败！");
+                    }
+                }
+            }
+
+            LogManager.Info($"[路径高度验证] 完成 - 检查点数: {checkedPoints}, 通过: {passedPoints}, 失败: {failedPoints}, 门网格点: {doorPoints}");
+
+            if (failedPoints > 0)
+            {
+                LogManager.Warning($"[路径高度验证] 警告：发现 {failedPoints} 个点不满足高度约束！");
+            }
+        }
+
         /// <summary>
         /// 计算两点间的3D距离
         /// </summary>

src/PathPlanning/GridMapGenerator.cs

@@ -243,7 +243,12 @@ namespace NavisworksTransport.PathPlanning
                 LogManager.Info("【包围盒2.5D模式】步骤2.5: 处理门元素");
                 ProcessDoorElements(channelCoverage.GridMap, allChannelItems);
                 LogManager.Info($"【阶段2.5完成】门元素处理后网格统计: {channelCoverage.GridMap.GetStatistics()}");
-                
+
+                // 2.6. 为通道网格设置PassableHeights确保高度约束检查
+                LogManager.Info("【包围盒2.5D模式】步骤2.6: 为通道网格设置高度约束");
+                SetChannelPassableHeights(channelCoverage.GridMap, scanHeight);
+                LogManager.Info($"【阶段2.6完成】通道高度约束设置后网格统计: {channelCoverage.GridMap.GetStatistics()}");
+
                 // 3. 应用车辆尺寸膨胀（如果需要）
                 if (vehicleRadius > 0 || safetyMargin > 0)
                 {
@@ -335,20 +340,27 @@ namespace NavisworksTransport.PathPlanning
                         
                         // 获取门的限高属性
                         string heightLimitStr = CategoryAttributeManager.GetLogisticsPropertyValue(doorItem, CategoryAttributeManager.LogisticsProperties.HEIGHT_LIMIT);
-                        double doorHeight = CategoryAttributeManager.ParseLogisticsLimitValue(heightLimitStr, "限高");
-                        
-                        // 如果没有限高属性或解析失败，使用门包围盒的高度
-                        if (doorHeight <= 0)
+                         double configuredHeight = CategoryAttributeManager.ParseLogisticsLimitValue(heightLimitStr, "限高");
+
+                        // 计算门的实际物理高度
+                        double actualDoorHeight = bbox.Max.Z - bbox.Min.Z;
+
+                        double doorHeight;
+                        if (configuredHeight <= 0)
                         {
-                            doorHeight = bbox.Max.Z - bbox.Min.Z;
+                            // 没有限高配置，使用实际门高
+                            doorHeight = actualDoorHeight;
                             LogManager.Debug($"【门元素处理】门元素 {doorItem.DisplayName} 未设置限高，使用包围盒高度: {doorHeight:F2}");
                         }
                         else
                         {
                             // 转换限高到模型单位
                             double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
-                            doorHeight = doorHeight * metersToModelUnits;
-                            LogManager.Debug($"【门元素处理】门元素 {doorItem.DisplayName} 限高: {doorHeight:F2} 模型单位");
+                            double configuredHeightInModelUnits = configuredHeight * metersToModelUnits;
+
+                            // 取实际门高和配置限高的最小值
+                            doorHeight = Math.Min(actualDoorHeight, configuredHeightInModelUnits);
+                            LogManager.Debug($"【门元素处理】门元素 {doorItem.DisplayName} 实际高度: {actualDoorHeight:F2}, 限高:{configuredHeightInModelUnits:F2}, 有效高度: {doorHeight:F2}");
                         }
                         
                         // 获取门底部的Z坐标
@@ -368,7 +380,7 @@ namespace NavisworksTransport.PathPlanning
                             var worldPos = gridMap.GridToWorld3D(gridPos, doorBottomZ);
                             cell.WorldPosition = worldPos;
 
-                            // 将门的高度范围存储在PassableHeights中供后续使用
+                            // 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>
@@ -399,6 +411,40 @@ namespace NavisworksTransport.PathPlanning
             }
         }
 
+        /// <summary>
+        /// 为通道网格设置PassableHeights确保高度约束检查
+        /// </summary>
+        /// <param name="gridMap">网格地图</param>
+        /// <param name="scanHeight">扫描高度（车辆高度+安全间隙）</param>
+        private void SetChannelPassableHeights(GridMap gridMap, double scanHeight)
+        {
+            // scanHeight是米，需要转换为模型单位
+            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
+            double scanHeightInModelUnits = scanHeight * metersToModelUnits;
+
+            LogManager.Info($"【通道高度设置】开始为通道网格设置高度约束，扫描高度: {scanHeight:F2}米 ({scanHeightInModelUnits:F2}模型单位)");
+
+            int processedCount = 0;
+            for (int x = 0; x < gridMap.Width; x++)
+            {
+                for (int y = 0; y < gridMap.Height; y++)
+                {
+                    var cell = gridMap.Cells[x, y];
+                    if (cell.CellType == CategoryAttributeManager.LogisticsElementType.通道 && cell.IsWalkable)
+                    {
+                        cell.PassableHeights = new List<HeightInterval>
+                        {
+                            new HeightInterval(0, scanHeightInModelUnits)
+                        };
+                        gridMap.Cells[x, y] = cell;
+                        processedCount++;
+                    }
+                }
+            }
+
+            LogManager.Info($"【通道高度设置】完成，已处理 {processedCount} 个通道网格");
+        }
+
         /// <summary>
         /// 从物流元素集合中过滤出门类型的元素
         /// </summary>