Abstract: To solve the obstacle avoidance problem in plant protection UAV in operation, especially for farmland areas, a technology based on structured light vision was proposed. Based on the laser triangulation principle, through the special optical path design between the semiconductor laser and CCD sensor, an optical detection system to detect front obstacle information was designed. The line structured light emitted by the laser was reflected by the surface of the obstacle and was imaged on the CCD target surface. Through the image acquisition, processing and calculation, the distance, azimuth, width and other parameter information of front obstacle were extracted. Experiments show that this method can effectively detect the distance, azimuth and width of the obstacle in the unknown environment. The deviation of distance detection is less than 0.06 m.