Man-machine collaboration safety system based on collaborative driving and control integrated robot

The invention discloses a man-machine collaboration safety system based on a collaborative driving and control integrated robot. The system comprises an image acquisition terminal, a man-machine collision detection system, a driving and control integrated industrial robot control system, a robot body, and a collaboration person and a communication system, wherein the image acquisition terminal andthe man-machine collision detection system are connected, the driving and control integrated industrial robot control system is composed of a robot control module and a robot driving module, the robot control module is composed of a tail end load recognition module and a trajectory planning and optimization module, the robot control module sends a control instruction to the robot driving module,the robot driving module drives the robot body, and data exchange among the systems is conducted through the communication system. According to the system, a spatial position relationship between a person and the robot body ca