US Patent 11864697 Robot cleaner and method of controlling the same

A robot cleaner includes a rolling cleaning module including a rolling member configured to rotate clockwise or counterclockwise when viewed from a left side while in contact with a floor, a sensor unit, and a controller. The controller is configured to determine a change in position of the robot cleaner and a change in load current of a motor connected to the rolling member based on data detected by the sensor unit, and determine that a specific area of the floor is a contaminated area when there is a change in the position and a change in the load current.