The invention relates to a lower limb rehabilitation robot control method and a lower limb rehabilitation robot control system based on electroencephalogram-myoelectricity signals. The lower limb rehabilitation robot control method based on the electroencephalogram-myoelectricity signals includes following steps: a, according to specific motion intention of a user, synchronously collecting corresponding electroencephalogram signals and corresponding myoelectricity signals; b, preprocessing the collected signals, and removing noise; c, extracting features of the myoelectricity signals, and establishing a motion model based on the myoelectricity signals; d, performing coherence analysis on the myoelectricity signals and the electroencephalogram signals, and building an electroencephalogram-myoelectricity classifier model; e, in rehabilitation training, collecting the electroencephalogram signals and the myoelectricity signals of the user in real time, inputting the electroencephalogram signals and the myoelectricity signals into the electroencephalogram-myoelectricity classifier model, outputting a classification result of the motion intention, and meanwhile using the motion model for verification. The lower limb rehabilitation robot control method and the lower limb rehabilitation robot control system based on the electroencephalogram-myoelectricity signals adopt the electroencephalogram-myoelectricity coherence analysis for performing clarification of lower limb motions, and meanwhile perform a contrast test on the classification result and a result of the mechanical motion model, and enhances accuracy of the classification result.