The present invention relates to a robot cleaner capable of receiving a user input setting a reference distance for detecting a surrounding environment of a space to be cleaned through an external control device, and controlling driving based on the user input, and a robot cleaner system including the same, and according to the present invention, the actuator of the robot cleaner is controlled based on the reference distance set by the user, so that the robot cleaner can be controlled not to fall into inability to drive according to a cleaning environment.