Man-machine interaction safety guarantee method and device and computer readable storage medium

The invention provides a man-machine interaction safety guarantee method. The method specifically comprises the steps that a limiting angle is obtained, the limiting angle is equally divided and permutated and combined to obtain a joint combination; the joint combination is calculated through a kinematic model to obtain a position point set; the position point set is clustered, and a distance threshold of the clustering is calculated, wherein the distance threshold is used for judging whether a position point is in a robot working space or not; whether the number of points, located in the robot working space, of personnel position points is greater than a preset number threshold or not is judged; and if so, the machine operation is stopped. By means of the technical scheme, the man-machineinteraction safety guarantee method is formed; operation can be stopped quickly to protect personal safety of personnel when the personnel enter the working space of a robot; and high-efficiency production operation of the r