An operation mode control method of a glass-wiping robot, characterized in that, comprising the following steps: Step 1: the glass-wiping robot walks from a starting point O towards the side of a glass in a first axial direction; characterized by the further steps: Step 2: when a rangefinder measures that an instant distance S1 from an instant position of the glass-wiping robot to the starting point O is greater than or equal to a predetermined value M2, a control unit stores a1 and Step 6 starts; otherwise, the glass-wiping robot keeps walking until it reaches an edge point P on the side of the glass; Step 3: the glass-wiping robot rotates by 180 degrees and walks towards the other side of the glass in a direction opposite to the first axial direction; Step 4: when the rangefinder measures that an instant distance S2 from the instant position of the glass-wiping robot to the point P is greater than or equal to the predetermined value M2, the control unit stores a1 and Step 6 starts; otherwise, the glass-wiping robot keeps walking until it reaches an edge point Q on the other side of the glass; Step 5: when the rangefinder measures that a distance S between the points P and Q is less than a predetermined M1, the control unit controls the glass-wiping robot to send an alarm; otherwise, the control unit stores a2 and Step 6 starts; Step 6: the glass-wiping robot rotates by 90 degrees and walks from a rotation point O' in a second axial direction, and when the rangefinder measures that an instant distance S3 from the instant position of the glass-wiping robot to the rotation point O' is greater than or equal to a predetermined value M3, the glass-wiping robot performs a large-area cleaning mode or a small-area cleaning mode correspondingly according to a1 or a2; otherwise, the glass-wiping robot keeps walking until it reaches an edge point X on the side of the glass; Step 7: the glass-wiping robot rotates by 180 degrees and walks towards the other side of the glass in a direction opposite to the second axial direction; Step 8: when the rangefinder measures that an instant distance S4 from the instant position of the glass-wiping robot to the point X is greater than or equal to the predetermined value M3, the glass-wiping robot performs the large-area cleaning mode or the small-area cleaning mode correspondingly according to a1 or a2; otherwise, the glass-wiping robot keeps walking until it reaches an edge point Y on the other side of the glass, and the control unit controls the glass-wiping robot to send an alarm. Step 1: the glass-wiping robot walks from a starting point O towards the side of a glass in a first axial direction; characterized by the further steps: Step 2: when a rangefinder measures that an instant distance S1 from an instant position of the glass-wiping robot to the starting point O is greater than or equal to a predetermined value M2, a control unit stores a1 and Step 6 starts; otherwise, the glass-wiping robot keeps walking until it reaches an edge point P on the side of the glass; Step 3: the glass-wiping robot rotates by 180 degrees and walks towards the other side of the glass in a direction opposite to the first axial direction; Step 4: when the rangefinder measures that an instant distance S2 from the instant position of the glass-wiping robot to the point P is greater than or equal to the predetermined value M2, the control unit stores a1 and Step 6 starts; otherwise, the glass-wiping robot keeps walking until it reaches an edge point Q on the other side of the glass; Step 5: when the rangefinder measures that a distance S between the points P and Q is less than a predetermined M1, the control unit controls the glass-wiping robot to send an alarm; otherwise, the control unit stores a2 and Step 6 starts; Step 6: the glass-wiping robot rotates by 90 degrees and walks from a rotation point O' in a second axial direction, and when the rangefinder measures that an instant distance S3 from the instant position of the glass-wiping robot to the rotation point O' is greater than or equal to a predetermined value M3, the glass-wiping robot performs a large-area cleaning mode or a small-area cleaning mode correspondingly according to a1 or a2; otherwise, the glass-wiping robot keeps walking until it reaches an edge point X on the side of the glass; Step 7: the glass-wiping robot rotates by 180 degrees and walks towards the other side of the glass in a direction opposite to the second axial direction; Step 8: when the rangefinder measures that an instant distance S4 from the instant position of the glass-wiping robot to the point X is greater than or equal to the predetermined value M3, the glass-wiping robot performs the large-area cleaning mode or the small-area cleaning mode correspondingly according to a1 or a2; otherwise, the glass-wiping robot keeps walking until it reaches an edge point Y on the other side of the glass, and the control unit controls the glass-wiping robot to send an alarm.