| CPC G05D 1/0238 (2013.01) [G05D 1/0214 (2013.01); G05D 1/0274 (2013.01)] | 20 Claims |
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1. A robot comprising:
a driving part;
a three dimensional (3D) depth sensor;
a memory storing instructions; and
a processor connected to the driving part, the 3D depth sensor, and the memory,
wherein the processor is configured to execute the instructions to:
acquire a depth image of a driving surface photographed by the 3D depth sensor while the robot is driving in a space,
acquire, based on the acquired depth image, location information of a boundary area by:
acquiring map data comprising a plurality of cells and height information corresponding to the plurality of cells based on the depth image, and
grouping the plurality of cells into a first group having a first value, a second group having a second value different from the first value, and a third group having a third value different from the first value and the second value,
determine changed tilt information of the boundary area based on differences between the first value, the second value and the third value,
acquire type information corresponding to an outside area of the boundary area based on the acquired location information of the boundary area and the changed tilt information, and
control the driving part based on the type information.
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