A moving device for generating a map related to an object, the moving device comprising: a body; a running unit configured to move the body; a sensing circuitry configured to radiate at least one sensing signal toward a region in a vicinity of the moving device; a memory storing at least one instruction; and a processor configured to execute the at least one instruction to: control the sensing circuitry to radiate the sensing signal toward aboveground and underground regions in the vicinity of the moving device, and receive signals reflected from an aboveground object located on a ground in a task space of the moving device and an underground object located under the ground in the task space, and generate a map indicating distribution of the aboveground object and distribution of the underground object, based on the received reflected signals; and wherein the processor is further configured to execute the at least one instruction to: control the sensing circuitry to sequentially radiate a plurality of sensing signals while the moving device is moving, and distinguish between the signals reflected from the aboveground object and the signals reflected from the underground object, based on a travel distance of the moving device and variations of distance values calculated using the signals reflected from the aboveground and underground objects, wherein the sensing circuitry comprises a first RF sensor configured to detect the signals reflected from the underground object and a second RF sensor configured to detect the signals reflected from the aboveground object, and wherein the first RF sensor and the second RF sensor are mounted at different locations to radiate RF signals in different directions. a body; a running unit configured to move the body; a sensing circuitry configured to radiate at least one sensing signal toward a region in a vicinity of the moving device; a memory storing at least one instruction; and a processor configured to execute the at least one instruction to: control the sensing circuitry to radiate the sensing signal toward aboveground and underground regions in the vicinity of the moving device, and receive signals reflected from an aboveground object located on a ground in a task space of the moving device and an underground object located under the ground in the task space, and generate a map indicating distribution of the aboveground object and distribution of the underground object, based on the received reflected signals; and wherein the processor is further configured to execute the at least one instruction to: control the sensing circuitry to sequentially radiate a plurality of sensing signals while the moving device is moving, and distinguish between the signals reflected from the aboveground object and the signals reflected from the underground object, based on a travel distance of the moving device and variations of distance values calculated using the signals reflected from the aboveground and underground objects, wherein the sensing circuitry comprises a first RF sensor configured to detect the signals reflected from the underground object and a second RF sensor configured to detect the signals reflected from the aboveground object, and wherein the first RF sensor and the second RF sensor are mounted at different locations to radiate RF signals in different directions. control the sensing circuitry to radiate the sensing signal toward aboveground and underground regions in the vicinity of the moving device, and receive signals reflected from an aboveground object located on a ground in a task space of the moving device and an underground object located under the ground in the task space, and generate a map indicating distribution of the aboveground object and distribution of the underground object, based on the received reflected signals; and wherein the processor is further configured to execute the at least one instruction to: control the sensing circuitry to sequentially radiate a plurality of sensing signals while the moving device is moving, and distinguish between the signals reflected from the aboveground object and the signals reflected from the underground object, based on a travel distance of the moving device and variations of distance values calculated using the signals reflected from the aboveground and underground objects, wherein the sensing circuitry comprises a first RF sensor configured to detect the signals reflected from the underground object and a second RF sensor configured to detect the signals reflected from the aboveground object, and wherein the first RF sensor and the second RF sensor are mounted at different locations to radiate RF signals in different directions. control the sensing circuitry to sequentially radiate a plurality of sensing signals while the moving device is moving, and distinguish between the signals reflected from the aboveground object and the signals reflected from the underground object, based on a travel distance of the moving device and variations of distance values calculated using the signals reflected from the aboveground and underground objects, wherein the sensing circuitry comprises a first RF sensor configured to detect the signals reflected from the underground object and a second RF sensor configured to detect the signals reflected from the aboveground object, and wherein the first RF sensor and the second RF sensor are mounted at different locations to radiate RF signals in different directions.