The invention belongs to the field of ultrasonic range finding and particularly relates to an ultrasonic range finding obstacle avoidance system, comprising a control processing unit, a serial port circuit, a power management module, a multichannel ultrasonic transceiver circuit and a CAN transceiver circuit, wherein the control processing unit is connected with the ultrasonic transceiver circuit,the serial port circuit, the power management module, and the CAN transceiver circuit; the power management module is used for supplying power to the ultrasonic transceiver circuit, the CAN transceiver circuit, and the control processing unit; the control processing unit is configured to communicate with a main control system and to control the operation of each module; the ultrasonic transceivercircuit is used for detecting an obstacle and measuring a distance; an isolation transformer drives a ultrasonic transmission circuit to match an adaptive transmission pulse control algorithm, so that the detection distance of the ultrasonic range finding obstacle avoidance system is increased, a transducer is driven by ultra-high voltage, and the power for transmitting ultrasonic waves is sufficiently large, thereby achieving higher detection sensitivity than that of a conventional driving method.