Cleaning device with obstacle avoidance function for guardrail cleaning vehicle

The invention discloses a cleaning device with an obstacle avoidance function for a guardrail cleaning vehicle. The cleaning device with an obstacle avoidance function for the guardrail cleaning vehicle comprises a distance-adjustable stretching-out arm, a stretching-arm driving device, two cleaning roller assemblies, a cleaning roller fixing frame, a first revolute pair, a first rotary driving device, infrared detectors and a controller. The cleaning roller fixing frame is installed at the front end of the stretching-out arm through the first revolute pair. The first rotary driving device is installed on the first revolute pair. The infrared detectors are installed on the cleaning roller fixing frame and used for detecting the position relation between two sets of cleaning rollers and a guardrail. When the infrared detectors detect that the distances between the cleaning rollers and the guardrail is smaller than a set value, the controller controls the stretching-out arm to change the distance between the cl