Delivery robot and control method of the delivery robot

A method for controlling a delivery robot, the method comprising:

• detecting, by a sensing part including at least one image sensor, a revolving door located in front of the delivery robot based on at least one image acquired through at least one image sensor;
• detecting, by a controller in the delivery robot, a feature of at least one door blade of the revolving door that rotates about a rotation shaft from the at least one image;
• detecting, by the controller, a feature of the revolving door including at least one of a rotational speed of the revolving door, a size of a region inside the revolving door, and a number of door blades of the revolving door based on the feature of the at least one door blade;
• generating, by the controller, an entry path including an initial location of the delivery robot and an entry time point for entering into the revolving door and control a drive part of the delivery robot to move the delivery robot along the entry path;
• controlling, by the controller, the drive part to move the delivery robot in an inner region of the revolving door based on the rotational speed of the revolving door and a movement of the door blades;
• determining, by the controller, a departure point located at an exit of the revolving door based on the initial location of the delivery robot, and generating a departure path based on the departure point and the location of the delivery robot;
• and
• controlling, by the controller, the drive part to move the delivery robot along the departure path.