1. A dialogue type voice recognition apparatus comprising: a communicator which is configured to perform communication with an external apparatus; and at least one hardware processor configured to execute voice recognition of the dialogue type voice recognition apparatus to: convert a user's utterance voice signal into text; extract a first utterance element representing a user action and a second utterance element representing an object from the text of the user's utterance voice signal, detect an expansion domain, being related to the extracted first utterance element and second utterance element, in a hierarchical domain model, when a user action script, comprising a main action corresponding to the first utterance element and a component slot corresponding to the second utterance element, is included in the expansion domain, wherein the hierarchical domain model comprises a plurality of candidate domains of a lowermost concept and the expansion domain, including at least two candidate domains, of an uppermost concept, detect at least one candidate domain related to the detected expansion domain when the user action script is included in the candidate domain, determine the at least one candidate domain related to the detected expansion domain as a final domain, detect a candidate domain, when the user action script is included in the candidate domain and the expansion domain is not detected, control the communicator to transmit information regarding the first and second utterance elements and information regarding the determined final domain as a result of the voice recognition of the dialogue type voice recognition apparatus, to an external apparatus, and control the communicator to receive response information related to the first and second utterance elements within the determined final domain from the external apparatus.