The invention discloses a collision avoidance method and device for underground mine trackless equipment. The method comprises: collecting two-dimensional information of an underground tunnel in realtime and carrying out amplitude-limiting filter processing on the two-dimensional information; and during a vehicle driving process, calculating a tunnel contour and a obstacle location in real time according to the two-dimensional information after amplitude-limiting filter processing and a pre-established horizontal and vertical distance model, and carrying out anti-collision early warning of trackless equipment by combining a three-level dangerous state early-warning mechanism. With the method disclosed by the invention, mutual collision and person hitting accidents during the rapid drivingprocess of the trackless equipment can be avoided; and thus the accident risk of working of the underground trackless equipment is reduced.