The invention relates to a method for controlling single-rotor plant protection unmanned plane obstacle avoidance flight. According to the method, P1, firstly, the relative distance between an unmanned plane and an obstacle is determined, and the relative distance is divided into three parts in three scopes of being smaller than N1m, between N1m and N2m and between N2m and N3m; P2, secondly, afterdistance division, dangerous grade division is carried out according to the relative speed between the unmanned plane and the barrier; P3, a height value between the unmanned plane and the ground isdetermined, and grade division of the height value H is carried out; P4, for the dangerous grade, step P3 operation is needed to carry out; for the alarm grade, step P3 operation after emergent speedreduction is needed to carry out; for the prompting grade and the irrelevant grade, third-step determination is not needed, and the process returns for re-detection. The method is advantaged in that after-disaster rescue on-site complex environment sensing of the after-disaster rescue rotor unmanned plane can be better realized, the more accurate obstacle data information is acquired, and more accurate obstacle avoidance decision and obstacle avoidance control can be carried out.