The utility model relates to an all -round automation keeps away four shaft air vehicle of barrier system, including frame, motor, rotor, this frame periphery evenly sets up four rotors and dispose a motor bottom every rotor, ya keli ring of frame top installation, four ultrasonic sensor of this yakeli ring upper surface symmetric distribution set up an ultrasonic sensor up at the ring upper surface in addition, ultrasonic sensor down of surface mounting under the ring. The utility model discloses beneficial effect does: form the ultrasonic sensor development and keep away the barrier system, effectively reduce development cost, help improving four shaft air vehicle to dynamic environment's adaptability and the application development who promotes four shaft air vehicle, the stability of keeping away the barrier system is stronger, and the system receives the factor of interference less, the sensitivity of keeping away the barrier system is higher, automatically, it is controllable to keep away the barrier system, does not influence normally to take off and descend, be favorable to follow -up development to realize scanning of indoor flight map and path planning's effect.