Do you know how a good pantomimist seems to carve space with their movements as they transform themselves into a flower or a cat or other object? "Cleaning qigong" is something like that, where you feel into your space not from its visual cues but from your imagination. There's a qigong exercise I use for this called "Bear Swimming in the Ocean" (see link). After doing this awhile, I let the 'bear sense' drop off. What remains is a feeling of immersion in an energy field and I let the sense of that immersion seep into my movements of vacuuming, dusting, etc.
It's easy to do. Here is the qigong video with the Bear Swimming in the Ocean exercise (eight minutes in).https://www.youtube.com/watch?v=msjuEbtkA8o