The invention discloses a safety cooperation method and device based on man-
machine integration. The safety cooperation method based on the man-
machine integration comprises the following steps that
tail end coordinate position information and motion information of a
robot are acquired; an operation space safety level
dynamic programming model is established on the basis of the
tail end coordinateposition information and the motion information, and the operation space is divided into sub-operation space areas with different safety levels; a cooperation scene image is acquired on the basis ofa
visual perception system, and three-dimensional coordinate information of an operator is acquired through a target detection
algorithm; personnel motion information is obtained based on the three-dimensional coordinate information of the operator based on
consecutive frame image sequences, and a man-
machine dynamic equivalent distance is calculated; and based on the man-machine dynamic equivalent distance and sub-operation space areas of different safety levels dynamically planned for the
robot operation space, a man-machine cooperation
collision risk is predicted, and a corresponding control instruction is formulated to carry out the
safety control on the
robot. The accuracy of the man-machine cooperation collision prediction is improved, the occurrence rates of man-machine collision accidents can be reduced, and the man-machine integration development is promoted.