Guardrail cleaning device with self-adaptive obstacle avoidance function and control method

The invention belongs to the technical field of guardrail cleaning, and particularly relates to a guardrail cleaning device with a self-adaptive obstacle avoidance function and a control method. Folding and unfolding of the first connecting arm and the second connecting arm are achieved through the first deflection mechanism and the second deflection mechanism. The horizontal deflection of the brush roll fixing frame is realized through a third deflection mechanism; longitudinal deflection of the brush roller fixing frame is achieved through the fourth deflection mechanism, so that cleaning of steel type guardrails, concrete guardrails and bridge railings can be achieved, the cleaning efficiency is greatly improved, the application range is wider, and the use cost is effectively reduced; by arranging the obstacle avoidance mechanism comprising a first energy accumulator, a second energy accumulator, an electromagnetic valve and a balance valve, self-adaptive obstacle avoidance of the cleaning device is achiev