Provided is a cleaning device including a suction port; at least one sensor configured to sense at least one object; a driver configured to open or close the suction port; a memory storing at least one instruction; and a processor configured to execute the at least one instruction stored in the memory. The processor executes the at least one instruction to sense at least one object within an area to be cleaned by the cleaning device by controlling the at least one sensor, identify a relative location of the sensed at least one object with respect to the cleaning device, determine at least a partial area within an entire area of the suction port as an open/close target area, based on the identified relative location of the at least one object, and open or close the open/close target area by controlling the driver.