The invention discloses an overhead cleaning robot with a similar manual operation mode. The overhead cleaning robot with the similar manual operation mode comprises two cleaning arms, a box assembly,two moving support mechanisms, a first cleaning actuator, a second cleaning actuator and a vision sensing system assembly. The two cleaning arms are fixed on a second cleaning arm connecting base anda first cleaning arm connecting base of a box assembly housing in the box assembly through a flange plate of a cleaning arm first driving motor. The first cleaning actuator and the second cleaning actuator are installed on a cleaning actuator connector of the cleaning arms corresponding to the first cleaning arm connecting base and the second cleaning arm connecting base. The two moving support mechanisms are installed at two ends of a moving support mechanism connecting base of the box assembly housing in the box assembly. The vision sensing system assembly is fixed at the top of the box assembly housing in the box assembly. The robot is strong in adaptive capacity, flexible in movement, safe and reliable, and compact in structure.