Robot and controlling method thereof

A non-transitory computer-readable recording medium storing instructions that, when executed by a processor of a robot, cause the processor to:

• acquire a depth image of a driving surface 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
• drive the robot based on the acquired type information.

A controlling method of a robot, the method comprising:

• acquiring a depth image of a driving surface while the robot is driving in a space;
• acquiring, 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,
• determining changed tilt information of the boundary area based on differences between the first value, the second value and the third value,
• acquiring 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
• driving the robot based on the acquired type information.

An apparatus, comprising:

• a driving component;
• a memory storing instructions;
• and
• a processor configured to execute the instructions to:
• acquire a depth image of a driving surface,
• 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 of an outside area of the boundary area based on the acquired location information and the changed tilt information, and
• control the driving component based on the acquired type information.