Control method and equipment for semi-autonomous canopy-imitating flight of plant protection unmanned aerial vehicle and medium

The invention discloses a control method and device for semi-autonomous canopy-imitating flight of a plant protection unmanned aerial vehicle and a medium, and the method comprises the steps: carrying out the self-inspection of a function module of the plant protection unmanned aerial vehicle after the plant protection unmanned aerial vehicle is started, and then setting an optimal operation height value; the plant protection unmanned aerial vehicle flies according to the planned path, and on the way, the millimeter-wave radar ranging module collects vertical distance information from the plant protection unmanned aerial vehicle to a ground obstacle; when the measured vertical distance change amplitude is larger than a preset threshold value, it is judged that the plant protection unmanned aerial vehicle reaches the position above the canopy of the to-be-operated plant; performing data analysis on the measured distance information and angle information, calculating a height value between the plant protection