The invention discloses a full-automatic wheel-type cleaning device with the capability of environment sensing, and the device comprises a cleaning vehicle and a millimeter wave radar three-dimensional environment sensing system disposed on the cleaning vehicle. The millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar, a rotating mechanical device, a control unit, and a data processing unit. The rotating mechanical device comprises a first rotating shaft, a rotating disc, and a second rotating shaft. The device is simple and practical in structure, can achieve no-dead-angle scanning of the front, is precise in control, is high in positioning precision, and is good in instantaneity.