Vacuum cleaner, vacuum cleaner system, and cleaning control program

A non-transitory computer-readable storage medium storing a cleaning control program for controlling a vacuum cleaner that autonomously runs in a predetermined space and performs cleaning and causing a computer to implement an estimated map acquisition unit that acquires a self-position estimation map corresponding to a measurement target space,

• a cleaning route acquisition unit that acquires a cleaning route created along a running surface based on a route planning map having a shape different from a shape of the self-position estimation map,
• a self-position estimation unit that acquires, from a position sensor, a positional relationship between the vacuum cleaner and an object present in a two-dimensional measurement target space along the running surface of the vacuum cleaner and estimates a self-position using the acquired positional relationship and the self-position estimation map, and
• a running controller that causes the vacuum cleaner to run along the cleaning route based on the self-position estimated by the self-position estimation unit.