diff --git a/doc/requirement/todo_features.md b/doc/requirement/todo_features.md
index 9fa7ca8..9d953dc 100644
--- a/doc/requirement/todo_features.md
+++ b/doc/requirement/todo_features.md
@@ -5,6 +5,8 @@
 ### [2025/08/29]
 
 1. [ ]（BUG）路径导出，只有一条路径时，导出按钮不能点击；导出的内容有时不完整，只导出一个包含起点、一个路径点、终点的不存在的路径。
+2. [ ]（性能优化）垂直扫描处理器性能问题：COM API几何提取效率极低，23个候选项需要5715ms，复杂几何体比简单几何体效率低4倍，需要优化批量处理和并行机制。
+3. [ ]（稳定性）修复并行任务未观察异常导致程序崩溃：AggregateException错误表明Task异常处理不当，需要加强并行处理的异常处理和Task生命周期管理。
 
 ### [2025/08/28]
 
diff --git a/src/Core/UIStateManager.cs b/src/Core/UIStateManager.cs
index 70d238e..1ecf377 100644
--- a/src/Core/UIStateManager.cs
+++ b/src/Core/UIStateManager.cs
@@ -28,6 +28,12 @@ namespace NavisworksTransport.Core
         private volatile bool _isProcessing = false;
         private volatile bool _isDisposed = false;
 
+        /// <summary>
+        /// UI操作默认超时时间（毫秒）- 60秒
+        /// 设置较长时间以应对程序性能异常导致的UI线程阻塞
+        /// </summary>
+        private const int DEFAULT_UI_TIMEOUT = 60000;
+
         /// <summary>
         /// 获取UIStateManager的单例实例
         /// </summary>
@@ -150,7 +156,7 @@ namespace NavisworksTransport.Core
         /// <param name="operation">要执行的UI操作</param>
         /// <param name="timeout">超时时间（毫秒），默认5000ms</param>
         /// <returns>操作结果</returns>
-        public async Task<T> ExecuteUIUpdateAsync<T>(Func<T> operation, int timeout = 5000)
+        public async Task<T> ExecuteUIUpdateAsync<T>(Func<T> operation, int timeout = DEFAULT_UI_TIMEOUT)
         {
             if (_isDisposed)
             {
@@ -244,7 +250,8 @@ namespace NavisworksTransport.Core
             }
             finally
             {
-                cancellationToken.Dispose();
+                // 延迟释放，给异步操作清理时间，避免"CancellationTokenSource 已释放"异常
+                _ = Task.Delay(100).ContinueWith(_ => cancellationToken.Dispose());
             }
         }
 
@@ -253,7 +260,7 @@ namespace NavisworksTransport.Core
         /// </summary>
         /// <param name="operation">要执行的UI操作</param>
         /// <param name="timeout">超时时间（毫秒），默认5000ms</param>
-        public async Task ExecuteUIUpdateAsync(Action operation, int timeout = 5000)
+        public async Task ExecuteUIUpdateAsync(Action operation, int timeout = DEFAULT_UI_TIMEOUT)
         {
             await ExecuteUIUpdateAsync<object>(() =>
             {
@@ -272,7 +279,7 @@ namespace NavisworksTransport.Core
         /// </summary>
         /// <param name="updates">要执行的UI更新操作数组</param>
         /// <param name="timeout">超时时间（毫秒），默认10000ms</param>
-        public async Task ExecuteBatchUIUpdate(Action[] updates, int timeout = 10000)
+        public async Task ExecuteBatchUIUpdate(Action[] updates, int timeout = DEFAULT_UI_TIMEOUT)
         {
             if (updates == null || updates.Length == 0)
             {
@@ -311,7 +318,7 @@ namespace NavisworksTransport.Core
         /// <param name="updates">要执行的UI更新操作</param>
         public async Task ExecuteBatchUIUpdate(params Action[] updates)
         {
-            await ExecuteBatchUIUpdate(updates, 10000);
+            await ExecuteBatchUIUpdate(updates, DEFAULT_UI_TIMEOUT);
         }
 
         /// <summary>
@@ -320,7 +327,7 @@ namespace NavisworksTransport.Core
         /// </summary>
         /// <param name="updates">要执行的UI更新操作数组</param>
         /// <param name="timeout">超时时间（毫秒），默认5000ms</param>
-        public void ExecuteBatchUIUpdateSync(Action[] updates, int timeout = 5000)
+        public void ExecuteBatchUIUpdateSync(Action[] updates, int timeout = DEFAULT_UI_TIMEOUT)
         {
             if (updates == null || updates.Length == 0)
             {
@@ -566,7 +573,7 @@ namespace NavisworksTransport.Core
         /// <param name="operation">要执行的UI操作</param>
         /// <param name="operationType">操作类型描述，用于日志记录</param>
         /// <param name="timeout">超时时间（毫秒），默认2000ms</param>
-        public void ExecuteImmediateUIUpdate(Action operation, string operationType = "立即UI更新", int timeout = 2000)
+        public void ExecuteImmediateUIUpdate(Action operation, string operationType = "立即UI更新", int timeout = DEFAULT_UI_TIMEOUT)
         {
             if (_isDisposed || operation == null)
             {
diff --git a/src/PathPlanning/GridMapGenerator.cs b/src/PathPlanning/GridMapGenerator.cs
index 075b782..2ea9ab6 100644
--- a/src/PathPlanning/GridMapGenerator.cs
+++ b/src/PathPlanning/GridMapGenerator.cs
@@ -41,7 +41,21 @@ namespace NavisworksTransport.PathPlanning
         {
             _categoryManager = new CategoryAttributeManager();
             _channelBuilder = new ChannelBasedGridBuilder();
-            _verticalScanner = new VerticalScanProcessor();
+            
+            double spatialHashSize = CalculateSpatialHashSize();
+            _verticalScanner = new VerticalScanProcessor(spatialHashSize);
+            
+            LogManager.Info($"[网格生成器] 初始化完成，空间哈希大小: {spatialHashSize:F1}模型单位");
+        }
+
+        /// <summary>
+        /// 根据当前模型单位计算合适的空间哈希桶大小
+        /// </summary>
+        /// <returns>适合当前模型单位的空间哈希桶大小</returns>
+        private double CalculateSpatialHashSize()
+        {
+            // 目标：10米在当前模型单位下的等价值
+            return 10.0 * GetMetersToModelUnitsConversionFactor();
         }
 
         /// <summary>
@@ -57,7 +71,7 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="mode">网格生成模式，默认为边界框模式以保持向后兼容</param>
         /// <param name="vehicleHeight">车辆高度（用于垂直通行检查）</param>
         /// <returns>生成的网格地图</returns>
-        public GridMap GenerateFromBIM(Document document, BoundingBox3D bounds, double cellSize = 2.0, double vehicleRadius = 1.0, double safetyMargin = 0.5, Point3D planningStartPoint = default(Point3D), Point3D planningEndPoint = default(Point3D), GridGenerationMode mode = GridGenerationMode.BoundingBox, double vehicleHeight = 2.0)
+        public GridMap GenerateFromBIM(Document document, BoundingBox3D bounds, double cellSize, double vehicleRadius, double safetyMargin, Point3D planningStartPoint, Point3D planningEndPoint, GridGenerationMode mode, double vehicleHeight)
         {
             try
             {
@@ -205,14 +219,19 @@ namespace NavisworksTransport.PathPlanning
             {
                 LogManager.Info("[通道2.5D模式] 开始生成网格地图");
                 
+                // 重要：将米制网格大小转换为模型单位
+                double metersToModelUnitsConversionFactor = GetMetersToModelUnitsConversionFactor();
+                double cellSizeInModelUnits = cellSize * metersToModelUnitsConversionFactor;
+                LogManager.Info($"[通道2.5D模式] 网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})");
+                
                 // 1. 使用通道构建器构建基础通道覆盖网格
                 LogManager.Info("[通道2.5D模式] 步骤1: 构建通道覆盖网格");
-                var channelCoverage = _channelBuilder.BuildChannelCoverage(cellSize, document);
+                var channelCoverage = _channelBuilder.BuildChannelCoverage(cellSizeInModelUnits, document);
                 
                 if (channelCoverage?.GridMap == null)
                 {
                     LogManager.Warning("[通道2.5D模式] 通道构建失败，回退到边界框模式");
-                    return GenerateBoundingBoxMode(document, bounds, cellSize, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint);
+                    return GenerateBoundingBoxMode(document, bounds, cellSizeInModelUnits, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint);
                 }
                 
                 LogManager.Info($"[通道2.5D模式] 通道覆盖构建完成: {channelCoverage.GetStatistics()}");
@@ -278,7 +297,10 @@ namespace NavisworksTransport.PathPlanning
             {
                 LogManager.Error($"[通道2.5D模式] 生成失败: {ex.Message}");
                 LogManager.Warning("[通道2.5D模式] 回退到边界框模式");
-                return GenerateBoundingBoxMode(document, bounds, cellSize, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint);
+                // 注意：catch块中也需要使用转换后的单位，但这里需要重新计算因为cellSizeInModelUnits变量作用域问题
+                double metersToModelUnitsConversionFactor = GetMetersToModelUnitsConversionFactor();
+                double cellSizeInModelUnits = cellSize * metersToModelUnitsConversionFactor;
+                return GenerateBoundingBoxMode(document, bounds, cellSizeInModelUnits, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint);
             }
         }
 
diff --git a/src/PathPlanning/VerticalScanProcessor.cs b/src/PathPlanning/VerticalScanProcessor.cs
index db87e9a..d8aa550 100644
--- a/src/PathPlanning/VerticalScanProcessor.cs
+++ b/src/PathPlanning/VerticalScanProcessor.cs
@@ -168,20 +168,8 @@ namespace NavisworksTransport.PathPlanning
             LogManager.Info($"  - 超出扫描边界的元素: {outOfBoundsCounter}");
             LogManager.Info($"  - 符合条件并添加到空间哈希的元素: {itemsWithBounds.Count}");
 
-            // 【新增】详细记录前10个元素的信息
-            LogManager.Info($"【空间哈希调试】 前10个待索引元素详情:");
-            var itemsList = itemsWithBounds.Take(10).ToList();
-            for (int i = 0; i < itemsList.Count; i++)
-            {
-                var (item, bbox) = itemsList[i];
-                var hashKeys = GetSpatialHashKeys(bbox);
-                LogManager.Info($"【空间哈希调试】  元素 {i}: 名称=\"{item.DisplayName ?? "无名称"}\"");
-                LogManager.Info($"【空间哈希调试】    InstanceGuid: {item.InstanceGuid}");
-                LogManager.Info($"【空间哈希调试】    GetHashCode: {item.GetHashCode():X}");
-                LogManager.Info($"【空间哈希调试】    边界框: Min({bbox.Min.X:F2}, {bbox.Min.Y:F2}, {bbox.Min.Z:F2})");
-                LogManager.Info($"【空间哈希调试】    边界框: Max({bbox.Max.X:F2}, {bbox.Max.Y:F2}, {bbox.Max.Z:F2})");
-                LogManager.Info($"【空间哈希调试】    哈希键数量: {hashKeys.Count()}, 示例键: [{string.Join(", ", hashKeys.Take(3))}]");
-            }
+            // 记录待索引元素数量
+            LogManager.Info($"【垂直扫描处理器】 待索引元素数量: {itemsWithBounds.Count()}");
 
             // 构建空间哈希
             var totalHashEntries = 0;
@@ -211,44 +199,11 @@ namespace NavisworksTransport.PathPlanning
                 }
             }
 
-            // 【新增】哈希桶分布统计
+            // 统计哈希桶信息（简化版）
             var bucketSizes = _spatialHashMap.Values.Select(list => list.Count).ToList();
-            LogManager.Info($"【空间哈希调试】 哈希桶分布统计:");
-            LogManager.Info($"【空间哈希调试】   - 最小桶大小: {bucketSizes.DefaultIfEmpty(0).Min()}");
-            LogManager.Info($"【空间哈希调试】   - 最大桶大小: {bucketSizes.DefaultIfEmpty(0).Max()}");
-            LogManager.Info($"【空间哈希调试】   - 平均桶大小: {bucketSizes.DefaultIfEmpty(0).Average():F1}");
+            LogManager.Info($"【垂直扫描处理器】 空间哈希构建完成 - 哈希桶数量: {_spatialHashMap.Count}, 平均桶大小: {bucketSizes.DefaultIfEmpty(0).Average():F1}");
 
-            // 【新增】显示前5个最大的哈希桶内容
-            var topBuckets = _spatialHashMap.OrderByDescending(kvp => kvp.Value.Count).Take(5).ToList();
-            LogManager.Info($"【空间哈希调试】 前5个最大哈希桶:");
-            for (int i = 0; i < topBuckets.Count; i++)
-            {
-                var bucket = topBuckets[i];
-                LogManager.Info($"【空间哈希调试】   桶 {i}: 键=\"{bucket.Key}\", 元素数量={bucket.Value.Count}");
-                var sampleElements = bucket.Value.Take(3).ToList();
-                foreach (var element in sampleElements)
-                {
-                    LogManager.Info($"【空间哈希调试】     包含元素: \"{element.DisplayName ?? "无名称"}\" (GUID: {element.InstanceGuid}, Hash: {element.GetHashCode():X})");
-                }
-            }
-
-            // 【新增】验证几个测试点的哈希键计算
-            LogManager.Info($"【空间哈希调试】 测试点哈希键验证:");
-            var testPoints = new[]
-            {
-                new Point3D(-228.17, -57.82, 35.40), // 对应日志中的点11370
-                new Point3D(-212.17, 69.18, 35.40),  // 对应日志中的点7580 
-                new Point3D(-79.17, -9.82, 35.40)    // 对应日志中找到34个候选项的点
-            };
-
-            foreach (var point in testPoints)
-            {
-                var testKeys = GetSpatialHashKeysForPoint(point);
-                var candidates = testKeys.SelectMany(key => _spatialHashMap.ContainsKey(key) ? _spatialHashMap[key] : new List<ModelItem>()).Distinct().ToList();
-                var candidatesCount = candidates.Count;
-                LogManager.Info($"【空间哈希调试】   测试点({point.X:F2}, {point.Y:F2}, {point.Z:F2}): 哈希键数量={testKeys.Count()}, 候选项={candidatesCount}");
-                LogManager.Info($"【空间哈希调试】     哈希键: [{string.Join(", ", testKeys)}]");
-            }
+            // 空间哈希索引构建完成
 
             var elapsed = (DateTime.Now - startTime).TotalMilliseconds;
             LogManager.Info($"【垂直扫描处理器】 空间哈希索引构建完成，耗时: {elapsed:F1}ms");
@@ -274,27 +229,7 @@ namespace NavisworksTransport.PathPlanning
             var results = new ConcurrentDictionary<Point3D, List<HeightInterval>>();
             var pointsList = gridPoints?.ToList() ?? new List<Point3D>();
 
-            // 性能测试模式：随机抽样10个有代表性的点进行详细分析
-            if (pointsList.Count > 10)
-            {
-                LogManager.Info($"[性能测试] 原计划处理{pointsList.Count}个点，测试模式随机抽样10个点");
-                
-                var random = new System.Random(42); // 固定种子确保可重复
-                var sampledPoints = new List<Point3D>();
-                
-                // 分区抽样：从不同区域抽取点
-                int sectionSize = pointsList.Count / 10;
-                for (int i = 0; i < 10 && i * sectionSize < pointsList.Count; i++)
-                {
-                    int startIndex = i * sectionSize;
-                    int endIndex = Math.Min((i + 1) * sectionSize, pointsList.Count);
-                    int randomIndex = random.Next(startIndex, endIndex);
-                    sampledPoints.Add(pointsList[randomIndex]);
-                }
-                
-                pointsList = sampledPoints;
-                LogManager.Info($"[性能测试] 抽样完成，选择了10个分布均匀的测试点");
-            }
+            LogManager.Info($"[垂直扫描处理器] 准备处理{pointsList.Count}个点");
 
             try
             {
@@ -366,82 +301,21 @@ namespace NavisworksTransport.PathPlanning
         /// <returns>可通行的高度区间列表</returns>
         public List<HeightInterval> ScanVerticalLine(Point3D basePoint, double scanHeight, double vehicleHeight)
         {
-            // 判断是否为抽样调试点（从15160个点中平均选择5个）
-            var debugSamplingPoints = new int[] { 0, 3790, 7580, 11370, 15159 };
-            var currentPointIndex = GetCurrentScanIndex(basePoint); // 需要实现此方法获取当前点索引
-            bool isDebugPoint = debugSamplingPoints.Contains(currentPointIndex);
-            
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】开始扫描点 {currentPointIndex}: 坐标({basePoint.X:F2}, {basePoint.Y:F2}, {basePoint.Z:F2}), 扫描高度: {scanHeight}m");
-            }
-
             // 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);
             
-            // 性能测试模式：为所有点输出详细候选项信息
-            bool isTestMode = candidateItems.Count <= 50; // 假设测试模式下候选项不会太多
-            if (isDebugPoint || isTestMode)
-            {
-                LogManager.Info($"=== 详细分析扫描点 {currentPointIndex} ===");
-                LogManager.Info($"空间哈希候选项: {candidateItems.Count} 个");
-                
-                for (int i = 0; i < candidateItems.Count; i++)
-                {
-                    var item = candidateItems[i];
-                    var bbox = item.BoundingBox();
-                    LogManager.Info($"候选项 {i}: 名称='{item.DisplayName}'");
-                    LogManager.Info($"  - 边界框: {bbox?.Min} -> {bbox?.Max}");
-                    LogManager.Info($"  - 有几何体: {item.HasGeometry}");
-                    LogManager.Info($"  - 子项数量: {item.Children?.Count() ?? 0}");
-                    LogManager.Info($"  - 类名: {item.ClassName}");
-                }
-            }
-
             // 第二级筛选：高度筛选 - 只保留在扫描高度范围内的项目
             var heightFilteredItems = HeightFiltering(candidateItems, basePoint.Z, basePoint.Z + scanHeight);
 
-            if (isDebugPoint || isTestMode)
-            {
-                LogManager.Info($"高度筛选后: {heightFilteredItems.Count} 个候选项 (筛选范围: [{basePoint.Z:F2}, {basePoint.Z + scanHeight:F2}])");
-                if (candidateItems.Count != heightFilteredItems.Count)
-                {
-                    LogManager.Info($"高度筛选过滤掉了 {candidateItems.Count - heightFilteredItems.Count} 个候选项");
-                }
-            }
-
             // 第三级筛选：空间哈希 - 精确的几何相交测试
-            var intersectionResults = PerformIntersectionTests(heightFilteredItems, basePoint, scanHeight, isDebugPoint, currentPointIndex);
-
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】点 {currentPointIndex} 相交检测结果: {intersectionResults.Count} 个相交项");
-            }
+            var intersectionResults = PerformIntersectionTests(heightFilteredItems, basePoint, scanHeight);
 
             // 计算可通行区间
-            var passableIntervals = CalculatePassableIntervals(intersectionResults, basePoint.Z, scanHeight, vehicleHeight, isDebugPoint, currentPointIndex);
-
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】点 {currentPointIndex} 最终高度区间: {passableIntervals.Count} 个区间");
-                foreach (var interval in passableIntervals)
-                {
-                    LogManager.Info($"【调试抽样】  区间: [{interval.MinZ:F2}, {interval.MaxZ:F2}]");
-                }
-            }
+            var passableIntervals = CalculatePassableIntervals(intersectionResults, basePoint.Z, scanHeight, vehicleHeight);
 
             return passableIntervals;
         }
 
-        /// <summary>
-        /// 获取当前扫描点的索引（用于调试抽样）
-        /// </summary>
-        private int GetCurrentScanIndex(Point3D point)
-        {
-            // 简化实现：基于坐标计算一个伪索引
-            // 实际应用中可能需要更精确的索引计算
-            return Math.Abs(point.GetHashCode()) % 15160;
-        }
 
         #endregion
 
@@ -546,15 +420,10 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="basePoint">基础点</param>
         /// <param name="scanHeight">扫描高度</param>
         /// <returns>相交测试结果</returns>
-        private List<IntersectionResult> PerformIntersectionTests(List<ModelItem> items, Point3D basePoint, double scanHeight, bool isDebugPoint = false, int pointIndex = -1)
+        private List<IntersectionResult> PerformIntersectionTests(List<ModelItem> items, Point3D basePoint, double scanHeight)
         {
             var results = new ConcurrentBag<IntersectionResult>();
 
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】点 {pointIndex} 开始相交测试，候选项目数量: {items.Count}");
-            }
-
             try
             {
                 // 并行执行相交测试，添加更强的异常处理
@@ -567,14 +436,6 @@ namespace NavisworksTransport.PathPlanning
                             var intersectionData = TestVerticalLineIntersection(item, basePoint, scanHeight);
                             if (intersectionData != null)
                             {
-                                if (isDebugPoint)
-                                {
-                                    LogManager.Info($"【调试抽样】点 {pointIndex} 发现相交项目: {item.DisplayName}");
-                                    LogManager.Info($"【调试抽样】  - Z高度范围: [{intersectionData.MinZ:F2}, {intersectionData.MaxZ:F2}]");
-                                    LogManager.Info($"【调试抽样】  - 相交点: ({intersectionData.IntersectionPoint.X:F2}, {intersectionData.IntersectionPoint.Y:F2}, {intersectionData.IntersectionPoint.Z:F2})");
-                                    LogManager.Info($"【调试抽样】  - 高度跨度: {intersectionData.MaxZ - intersectionData.MinZ:F2}m");
-                                }
-
                                 // 简化逻辑：所有与垂直射线相交的非通道元素都视为障碍物
                                 // 因为在空间哈希构建时已经排除了通道元素
                                 results.Add(new IntersectionResult
@@ -585,10 +446,6 @@ namespace NavisworksTransport.PathPlanning
                                     IsPassable = false  // 不可通行
                                 });
                             }
-                            else if (isDebugPoint)
-                            {
-                                LogManager.Info($"【调试抽样】点 {pointIndex} 项目无相交: {item.DisplayName}");
-                            }
                         }
                     }
                     catch (Exception ex)
@@ -611,13 +468,6 @@ namespace NavisworksTransport.PathPlanning
                             var intersectionData = TestVerticalLineIntersection(item, basePoint, scanHeight);
                             if (intersectionData != null)
                             {
-                                if (isDebugPoint)
-                                {
-                                    LogManager.Info($"【调试抽样】点 {pointIndex} 串行发现相交项目: {item.DisplayName}");
-                                    LogManager.Info($"【调试抽样】  - Z高度范围: [{intersectionData.MinZ:F2}, {intersectionData.MaxZ:F2}]");
-                                    LogManager.Info($"【调试抽样】  - 相交点: ({intersectionData.IntersectionPoint.X:F2}, {intersectionData.IntersectionPoint.Y:F2}, {intersectionData.IntersectionPoint.Z:F2})");
-                                }
-
                                 // 简化逻辑：所有与垂直射线相交的非通道元素都视为障碍物
                                 results.Add(new IntersectionResult
                                 {
@@ -636,11 +486,6 @@ namespace NavisworksTransport.PathPlanning
                 }
             }
 
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】点 {pointIndex} 相交测试完成，找到 {results.Count} 个相交项目");
-            }
-
             return results.ToList();
         }
 
@@ -656,16 +501,8 @@ namespace NavisworksTransport.PathPlanning
             List<IntersectionResult> intersectionResults,
             double baseZ,
             double scanHeight,
-            double vehicleHeight,
-            bool isDebugPoint = false,
-            int pointIndex = -1)
+            double vehicleHeight)
         {
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】点 {pointIndex} 开始计算可通行区间");
-                LogManager.Info($"【调试抽样】  - 基础Z: {baseZ:F2}, 扫描高度: {scanHeight:F2}, 车辆高度: {vehicleHeight:F2}");
-                LogManager.Info($"【调试抽样】  - 相交结果数量: {intersectionResults.Count}");
-            }
 
             // 收集所有障碍物的高度范围
             var obstacles = new List<HeightInterval>();
@@ -680,11 +517,6 @@ namespace NavisworksTransport.PathPlanning
                         result.IntersectionData.MaxZ
                     );
                     obstacles.Add(obstacleInterval);
-
-                    if (isDebugPoint)
-                    {
-                        LogManager.Info($"【调试抽样】  - 障碍物: {result.ModelItem.DisplayName}, 高度范围: [{obstacleInterval.MinZ:F2}, {obstacleInterval.MaxZ:F2}]");
-                    }
                 }
                 else if (result.IsPassable && result.IntersectionData != null)
                 {
@@ -696,26 +528,12 @@ namespace NavisworksTransport.PathPlanning
                             result.IntersectionData.MaxZ
                         );
                         floors.Add(floorInterval);
-
-                        if (isDebugPoint)
-                        {
-                            LogManager.Info($"【调试抽样】  - 地面: {result.ModelItem.DisplayName}, 高度范围: [{floorInterval.MinZ:F2}, {floorInterval.MaxZ:F2}]");
-                        }
                     }
                 }
             }
 
             // 合并重叠的障碍物区间
             var mergedObstacles = MergeOverlappingIntervals(obstacles);
-            
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】  - 合并后障碍物数量: {mergedObstacles.Count}");
-                foreach (var obs in mergedObstacles)
-                {
-                    LogManager.Info($"【调试抽样】    合并障碍物: [{obs.MinZ:F2}, {obs.MaxZ:F2}]");
-                }
-            }
 
             // 计算可通行区间
             var passableIntervals = new List<HeightInterval>();
@@ -725,10 +543,6 @@ namespace NavisworksTransport.PathPlanning
             if (!floors.Any())
             {
                 floors.Add(new HeightInterval(baseZ - 0.1, baseZ + 0.1));
-                if (isDebugPoint)
-                {
-                    LogManager.Info($"【调试抽样】  - 未找到地面，使用默认地面: [{baseZ - 0.1:F2}, {baseZ + 0.1:F2}]");
-                }
             }
 
             // 对每个潜在的地面，计算其上方的可通行空间
@@ -737,39 +551,21 @@ namespace NavisworksTransport.PathPlanning
                 double floorTop = floor.MaxZ;
                 double availableTop = baseZ + scanHeight;
 
-                if (isDebugPoint)
-                {
-                    LogManager.Info($"【调试抽样】  - 处理地面: 地面顶部={floorTop:F2}, 可用顶部={availableTop:F2}");
-                }
-
                 // 检查地面上方是否有足够的净空高度
                 var conflictingObstacles = mergedObstacles
                     .Where(obs => obs.MinZ < availableTop && obs.MaxZ > floorTop)
                     .OrderBy(obs => obs.MinZ)
                     .ToList();
 
-                if (isDebugPoint)
-                {
-                    LogManager.Info($"【调试抽样】  - 冲突障碍物数量: {conflictingObstacles.Count}");
-                }
-
                 if (!conflictingObstacles.Any())
                 {
                     // 没有障碍物，整个高度范围都可通行
                     double clearHeight = availableTop - floorTop;
-                    if (isDebugPoint)
-                    {
-                        LogManager.Info($"【调试抽样】  - 无障碍物，净空高度: {clearHeight:F2}m, 最小需要: {MIN_PASSABLE_HEIGHT:F2}m");
-                    }
 
                     if (clearHeight >= MIN_PASSABLE_HEIGHT)
                     {
                         var interval = new HeightInterval(floorTop, availableTop);
                         passableIntervals.Add(interval);
-                        if (isDebugPoint)
-                        {
-                            LogManager.Info($"【调试抽样】  - 添加可通行区间: [{interval.MinZ:F2}, {interval.MaxZ:F2}]");
-                        }
                     }
                 }
                 else
@@ -777,11 +573,6 @@ namespace NavisworksTransport.PathPlanning
                     // 有障碍物，计算障碍物之间的可通行空间
                     double currentBottom = floorTop;
                     
-                    if (isDebugPoint)
-                    {
-                        LogManager.Info($"【调试抽样】  - 有障碍物，开始计算空隙，起始底部: {currentBottom:F2}");
-                    }
-                    
                     foreach (var obstacle in conflictingObstacles)
                     {
                         double obstacleBottom = Math.Max(obstacle.MinZ, currentBottom);
@@ -789,56 +580,31 @@ namespace NavisworksTransport.PathPlanning
                         if (obstacleBottom > currentBottom)
                         {
                             double clearHeight = obstacleBottom - currentBottom;
-                            if (isDebugPoint)
-                            {
-                                LogManager.Info($"【调试抽样】    - 障碍物前空隙: 底部={currentBottom:F2}, 顶部={obstacleBottom:F2}, 净空={clearHeight:F2}");
-                            }
 
                             if (clearHeight >= vehicleHeight)
                             {
                                 var interval = new HeightInterval(currentBottom, obstacleBottom);
                                 passableIntervals.Add(interval);
-                                if (isDebugPoint)
-                                {
-                                    LogManager.Info($"【调试抽样】    - 添加障碍物前区间: [{interval.MinZ:F2}, {interval.MaxZ:F2}]");
-                                }
                             }
                         }
                         
                         currentBottom = Math.Max(currentBottom, obstacle.MaxZ);
-                        if (isDebugPoint)
-                        {
-                            LogManager.Info($"【调试抽样】    - 障碍物后，更新底部为: {currentBottom:F2}");
-                        }
                     }
                     
                     // 检查最后一个障碍物之后的空间
                     if (currentBottom < availableTop)
                     {
                         double clearHeight = availableTop - currentBottom;
-                        if (isDebugPoint)
-                        {
-                            LogManager.Info($"【调试抽样】    - 最后障碍物后空隙: 底部={currentBottom:F2}, 顶部={availableTop:F2}, 净空={clearHeight:F2}");
-                        }
 
                         if (clearHeight >= vehicleHeight)
                         {
                             var interval = new HeightInterval(currentBottom, availableTop);
                             passableIntervals.Add(interval);
-                            if (isDebugPoint)
-                            {
-                                LogManager.Info($"【调试抽样】    - 添加最后区间: [{interval.MinZ:F2}, {interval.MaxZ:F2}]");
-                            }
                         }
                     }
                 }
             }
 
-            if (isDebugPoint)
-            {
-                LogManager.Info($"【调试抽样】点 {pointIndex} 计算完成，最终可通行区间数量: {passableIntervals.Count}");
-            }
-
             return passableIntervals;
         }
 
@@ -918,6 +684,38 @@ namespace NavisworksTransport.PathPlanning
         {
             try
             {
+                // 使用包围盒进行快速垂直相交检测
+                var bbox = item.BoundingBox();
+                if (bbox == null)
+                    return null;
+
+                // 检查XY平面投影是否包含扫描点
+                bool intersectsXY = (basePoint.X >= bbox.Min.X && basePoint.X <= bbox.Max.X &&
+                                     basePoint.Y >= bbox.Min.Y && basePoint.Y <= bbox.Max.Y);
+
+                if (intersectsXY)
+                {
+                    // 计算Z轴相交区间
+                    double scanMinZ = basePoint.Z;
+                    double scanMaxZ = basePoint.Z + scanHeight;
+                    
+                    double intersectionMinZ = Math.Max(bbox.Min.Z, scanMinZ);
+                    double intersectionMaxZ = Math.Min(bbox.Max.Z, scanMaxZ);
+
+                    if (intersectionMaxZ > intersectionMinZ)
+                    {
+                        return new IntersectionData
+                        {
+                            MinZ = intersectionMinZ,
+                            MaxZ = intersectionMaxZ,
+                            IntersectionPoint = new Point3D(basePoint.X, basePoint.Y, (intersectionMinZ + intersectionMaxZ) / 2)
+                        };
+                    }
+                }
+
+                return null;
+
+                /* 原有射线法实现 - 保留作为参考
                 if (!item.HasGeometry)
                     return null;
 
@@ -957,10 +755,11 @@ namespace NavisworksTransport.PathPlanning
                 }
 
                 return null;
+                */
             }
             catch (Exception ex)
             {
-                LogManager.Debug($"【垂直扫描处理器】 射线相交测试异常: {item.DisplayName}, {ex.Message}");
+                LogManager.Debug($"【垂直扫描处理器】 包围盒相交测试异常: {item.DisplayName}, {ex.Message}");
                 return null;
             }
         }