Robot device and method of controlling robot device

A robot device comprising:

• one or more processors operable to:
• cause irradiation of pattern light to an external environment;
• acquire an image by imaging the external environment;
• recognize the external environment;
• turn on the pattern light when it is determined that the irradiation of the pattern light is necessary based on an acquisition status of the image;
• recognize a texture or a color of a target object from the external environment;
• and
• turn off the pattern light when it is determined that the irradiation of the pattern light is required to be stopped based on a temperature of an irradiation unit that irradiates the pattern light and when the texture or the color of the target object has been recognized from the external environment,
• wherein the acquisition status indicates a status of the target object in the image.