The present disclosure provides a robot cleaner including a suction motor installed within a main body to generate a suction force, at least two conductive plates (111, 112) spaced apart from each other to form a flowing path for external air introduced by the suction force, and a calculator (120) to measure a capacitance value between the at least two conductive plates (111, 112). A porous structure (210; 350) may be provided having at least one through hole (H) through which external air introduced by the suction force flows, a filter (33, 34; 310, 320, 330) disposed on one surface of the porous structure (210; 350) to filter dust contained in the air, and a power supply unit (220) configured to apply alternating current (AC) power to at least a partial surface of the porous structure (210, 350).