The invention discloses a full-automatic wheel-type fire extinguishing device with environmental sensing capability. The full-automatic wheel-type fire extinguishing device comprises a fire vehicle and a millimeter-wave radar three-dimensional environment sensing system arranged on the fire vehicle, wherein the millimeter-wave radar three-dimensional environment sensing system comprises a millimeter-wave radar, a rotary mechanical device, a control unit and a data processing unit; the rotary mechanical device comprises a first rotating shaft, a rotating disk and a second rotating shaft. The full-automatic wheel-type fire extinguishing device is simple and practical in structure, can realize front no-dead-corner scanning coverage, and has the advantages of accurate control, high positioning precision, good real-time property and the like.