The invention relates to a cleaning task execution method. The method comprises the following steps of: obtaining first task path trajectory information and task speed information from a central processing unit by a micro processing unit, and carrying out digital-to-analogue conversion on the first task path trajectory information and the task speed information for the work of an electric power steering unit and a motor unit; monitoring position information of a cleaning device by a perception unit according to an execution signal; obtaining practical path trajectory information by the centralprocessing unit according to the position information of the cleaning device; comparing the practical path trajectory information with the first task path trajectory information so as to obtain a practical cleaning area rate; when the practical cleaning area rate is smaller than a target area rate, generating a task path updating parameter by the central processing unit according to the practicalpath trajectory information; and when the central processing unit receives next task lust information as task list information, generating second task path trajectory information according to the task path updating parameter and the next task list information.