Excrement cleaning method, device and system

The embodiment of the invention provides an excrement cleaning method which comprises the steps that a moving assembly is controlled to move, so that an excrement cleaning device reaches a first position, and the distance between the first position and a first target object does not exceed a preset threshold value; acquiring a target position calibrated by a user in the image acquired by the image acquisition device through the control terminal; the moving assembly is controlled to translate # imgabs0 # on the basis of the first position, when # imgabs1 # imgabs2 #, the moving assembly translates rightwards, and when # imgabs3 #, the moving assembly translates leftwards; the distance adjusting assembly is controlled to stretch out and draw back by # imgabs 4 # and # imgabs 5 # on the basis of the original position, when # imgabs 6 #, the distance adjusting assembly is stretched out by the corresponding distance, and when # imgabs 7 #, the distance adjusting assembly is shortened by the corresponding distance,