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Currently, due to the rapid increase in demand for home delivery, the introduction of automatic guided vehicles in a warehouse is spreading all over the world. However, when an automated guided vehicle drops luggage, it becomes a big problem. In order to prevent this, the automatic guided vehicle is required to automatically control the speed according to the state of the loaded luggage. For that, we need to know the placement and size of the luggage. However, it is difficult to measure it automatically. Cardboard boxes are often used as luggage for home delivery. When cardboard boxes overlap on vehicle, it is difficult to distinguish them and detect them. Because the color of cardboard boxes are similar. Therefore, it is necessary to prepare multiple high-performance cameras for the detection, which is costly. In addition, the detection accuracy is also not high. In order to solve this problem, we propose a method to detect the size and position of a cardboard box using four lights. In this study, four lights are attached on a vehicle. By overlapping images from 4 directions, there is a shadow even when cardboard boxes are overlapped. This easily extracts the edge of the cardboard box. From the extracted edge, we can detect the size of the cardboard box. For the validity of our method, we practiced experiments. The cardboard boxes are all the same color. As a result, even if the cardboard box is overlapped, we can detect the size and positon of a box correctly.

Proposal of a Method to Detect Size of Overlapping Cardboard Boxes Using Plural Lightings