Patent Publication Number: US-2023139296-A1

Title: Initial setting method of unmanned forklift, palette for adjustment, and adjustment system of unmanned forklift

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     Priority is claimed on Japanese Patent Application No. 2021-177632, filed Oct. 29, 2021, and Japanese Patent Application No. 2022-60387, filed Mar. 31, 2022, the contents of which are incorporated herein by reference. 
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present disclosure relates to an initial setting method of an unmanned forklift, a palette for adjustment, and an adjustment system of the unmanned forklift. 
     Description of Related Art 
     Japanese Unexamined Patent Application, First Publication No. H09-12297, discloses a configuration of an unmanned forklift in which a reach direction palette shift detection device and a leftward/rightward direction palette shift detection device are provided on a pair of forks, and a shift and a rotational shift in a forward/rearward direction and a leftward/rightward direction of a palette on the forks can be detected. In the above-mentioned configuration, a shift of the palette with respect to the forks is detected when the palette is picked up, when the held palette is unloaded onto a rack or the like, when the unmanned forklift travels in a state in which the palette is held, or the like. 
     SUMMARY OF THE INVENTION 
     Incidentally, the unmanned forklift travels in a facility such as a warehouse, a factory, or the like on the basis of a preset operation program and executes a loading operation and an unloading operation of the palette with respect to a palette placing part set in a predetermined position. When the unmanned forklift is introduced into a new facility, there is a need to set initial setting information such as a moving route of the unmanned forklift, position coordinates of a palette placing part, and the like in an operation program. The information such as the moving route of the unmanned forklift, the position coordinates of the palette placing part, and the like are acquired on the basis of design data such as a facility, a rack installed in the facility, or the like. 
     However, for example, in the rack installed in the facility, a position shift with respect to the design data may occur due to assembling accuracy of the rack itself, installation accuracy of the rack, or the like. For this reason, upon new introduction of the unmanned forklift, prior to an official operation of the unmanned forklift, test traveling in which the unmanned forklift is operated is performed on the basis of a preset operation program. In the test traveling, the palette is actually unloaded onto a palette placing part of the rack by the unmanned forklift. A worker measures the actual installation position of the unloaded palette and a position shift amount with respect to the palette placing part, and there is a need to correct information such as position coordinates or the like of the palette placing part in the operation program based on the measured position shift amount. For this reason, measurement of the position shift amount of the unloaded palette takes time and effort, and introduction of the unmanned forklift takes time and cost. 
     In order to solve the above-mentioned problems, the present disclosure is directed to providing an initial setting method of an unmanned forklift, a palette for adjustment, and an adjustment system of the unmanned forklift, which enable easy introduction of the unmanned forklift and suppress time and cost required for test traveling before an official operation. 
     In order to solve the above-mentioned problems, an initial setting method of an unmanned forklift according to the present disclosure is an initial setting method for when an unmanned forklift is introduced into a facility including a rack structure, the initial setting method of the unmanned forklift including: placing a palette for adjustment on a palette placing part of the rack structure using the unmanned forklift on the basis of a preset operation program; acquiring relative position information between the palette for adjustment and the rack structure using a position information acquisition part included in the palette for adjustment; and calculating the shift amount of the palette for adjustment placed on the rack structure with respect to the palette placing part on the basis of the relative position information. 
     A palette for adjustment according to the present disclosure is a palette for adjustment used in the initial setting method of the unmanned forklift, which includes a palette main body that is able to be supported by the forks of the unmanned forklift and placed on the rack structure; and the position information acquisition part provided on the palette main body and configured to acquire relative position information with the rack structure on which the palette for adjustment is placed. 
     An adjustment system of an unmanned forklift according to the present disclosure includes the above-mentioned palette for adjustment, and a calculation part configured to calculate the shift amount of the palette for adjustment placed on the rack structure with respect to the palette placing part based on the relative position information acquired by the position information acquisition part. 
     According to the initial setting method of the unmanned forklift, the palette for adjustment, and the adjustment system of the unmanned forklift of the present disclosure, it is possible to easily perform introduction of the unmanned forklift and suppress time and costs required for test traveling before an official operation. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a plan view showing a schematic configuration of an automated guided forklift system of a facility to which an initial setting method of an unmanned forklift, a palette for adjustment, and an adjustment system of the unmanned forklift according to an embodiment of the present disclosure are applied. 
         FIG.  2    is a side view of rack equipment installed in the facility. 
         FIG.  3    is a plan view of the rack equipment. 
         FIG.  4    is a plan view showing a configuration of an adjustment system of an unmanned forklift according to a first embodiment of the present disclosure. 
         FIG.  5    is a plan view showing the palette for adjustment that constitutes the adjustment system of the unmanned forklift. 
         FIG.  6    is a cross-sectional view along an arrow I-I of  FIG.  5   . 
         FIG.  7    is a plan view showing detection of a laser performed by a first laser displacement gauge when the palette for adjustment is in a state in which a position shift is little in a first direction. 
         FIG.  8    is a plan view showing detection of a laser performed by a second laser displacement gauge in a state in which a position of the palette for adjustment is largely shifted toward a second side in the first direction. 
         FIG.  9    is a plan view showing detection of a laser performed by an intermediate laser displacement gauge in a state in which a position of the palette for adjustment is largely shifted toward a first side in the first direction. 
         FIG.  10    is a plan view showing a state in which the palette for adjustment is located at a position opposite to  FIG.  7    in the second direction. 
         FIG.  11    is a view showing a hardware configuration of a processing terminal that constitutes the adjustment system of the unmanned forklift. 
         FIG.  12    is a functional block diagram of the processing terminal. 
         FIG.  13    is a flowchart showing a procedure of the initial setting method of the unmanned forklift according to the embodiment of the present disclosure. 
         FIG.  14    is a view showing a configuration of a palette position adjusting stand using the adjustment system of the unmanned forklift according to the first embodiment of the present disclosure. 
         FIG.  15    is a plan view showing a state in which a distance to a part of a rack structure is measured by a laser displacement gauge in order to acquire relative position information. 
         FIG.  16    is a plan view showing a state in which a distance to a part of the rack structure is measured by the laser displacement gauge in order to acquire relative position information when the palette for adjustment is inclined in a direction opposite to  FIG.  15   . 
         FIG.  17    is a plan view showing a state in which a distance to a part of the rack structure is measured by the laser displacement gauge in order to acquire relative position information when the palette for adjustment is placed on a palette placing part on a side opposite to  FIG.  15    in the second direction. 
         FIG.  18    is a plan view showing a configuration of an adjustment system of an unmanned forklift according to a second embodiment of the present disclosure. 
         FIG.  19    is a cross-sectional view along an arrow II-II in  FIG.  5   . 
         FIG.  20    is a plan view showing an example of a mark serving as a reference position display part set on a rack structure. 
         FIG.  21    is a plan view showing an example of an image captured by a camera that constitutes the adjustment system of the unmanned forklift. 
         FIG.  22    is a plan view showing a palette for adjustment of an adjustment system of an unmanned forklift according to a third embodiment of the present disclosure. 
         FIG.  23    is a cross-sectional view on the side of the palette for adjustment. 
         FIG.  24    is a cross-sectional view showing a state in which the palette for adjustment is supported by forks of the unmanned forklift. 
         FIG.  25    is a plan view showing a state in which the palette for adjustment is supported by the forks of the unmanned forklift. 
         FIG.  26    is a view showing a hardware configuration of a processing terminal that constitutes the adjustment system of the unmanned forklift. 
         FIG.  27    is a functional block diagram of the processing terminal. 
         FIG.  28    is a flowchart showing a procedure of an initial setting method of the unmanned forklift according to the third embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Hereinafter, aspects for performing an initial setting method of an unmanned forklift, a palette for adjustment, and an adjustment system of the unmanned forklift according to the present disclosure will be described with reference to the accompanying drawings. However, the present disclosure is not limited to these embodiments only. 
     First Embodiment 
     (Configuration of Unmanned Forklift System) 
     Here, before description of an adjustment system  10 A of an unmanned forklift, an automated guided forklift (AGF) system  1  to which the adjustment system  10 A of the unmanned forklift is applied will be described. As shown in  FIG.  1   , as a facility in which the automated guided forklift system  1  is installed, for example, a warehouse, a factory, a commercial facility, a freight handling facility, or the like are exemplary examples. In the warehouse, for example, various articles placed on the palette are stored. In the factory, for example, various parts or materials placed on the palette are conveyed between processes in the factory. In the commercial facility, goods placed on the palette are displayed in, for example, a goods showcase. In the freight handling facility, for example, temporary storage of freights placed on the palette, sorting of the freights toward destinations, or the like is performed. Here, the palette may include a container that can be transported by the unmanned forklift. 
     In the automated guided forklift system  1 , an unmanned forklift  2  automatically travels along a predetermined route R set in the facility, and various articles placed on a palette  5  are conveyed in the facility. The automated guided forklift system  1  includes one or more unmanned forklifts  2  that can travel along the route R, and a system controller  3 . 
     (Configuration of Rack Structure) 
     In such a facility, rack structures  100  on which the palette  5  loaded with articles, parts, goods, freights, and the like can be placed are provided. The plurality of rack structures  100  are disposed along the route R of the unmanned forklift  2 . As shown in  FIG.  2   , the rack structures  100  are configured, for example, in multiple vertical layers. As shown in  FIG.  2    and  FIG.  3   , the rack structures  100  include a plurality of columns  102  provided on a floor surface F, and beam members  103  that bridge the neighboring columns  102 . The columns  102  and the beam members  103  are formed of, for example, steel frames. 
     The plurality of columns  102  are disposed at a predetermined interval in a direction in which the route R extends in a horizontal plane (hereinafter, this direction is referred to as a second direction Dy). The plurality of columns  102  include front columns  102 F and rear columns  102 R that are disposed to form pairs at an interval in a first direction Dx perpendicular to the second direction Dy in which the route R extends in the horizontal plane. The front columns  102 F are disposed on a first side Dx 1  close to the route R in the first direction Dx. The rear columns  102 R are disposed on a second side Dx 2  away from the route R in the first direction Dx. 
     In the embodiment, the beam members  103  are disposed, for example, in multiple layers at an interval in an upward/downward direction Dv of the rack structures  100 . The beam members  103  include front beam members  103 F, rear beam members  103 R, and side beam members  103 S. The front beam member  103 F extends in the second direction Dy and connects the neighboring front columns  102 F. The rear beam member  103 R extends in the second direction Dy and connects the neighboring rear columns  102 R. The side beam members  103 S extend in the first direction Dx and connect the front beam member  103 F and the rear beam member  103 R, which are close to each other. In an upper layer portion  100   t  of the rack structures  100 , each of the columns  102  extends above the front beam member  103 F, the rear beam member  103 R, and the side beam members  103 S. 
     The rack structures  100  include a plurality of palette placing parts S. Each of the palette placing parts S can be loaded with the palette  5 . The palette placing parts S are set on the beam members  103 . In the embodiment, the palette placing parts S are disposed in three vertical layers of the upper layer portion  100   t , a middle layer portion  100   m , and a lower layer portion  100   b  of the rack structures  100  in the upward/downward direction Dv. In the palette placing parts S set on the upper layer portion  100   t  and the middle layer portion  100   m  of the rack structures  100  in the upward/downward direction Dv, the palette  5  is placed to cross upper surfaces of the front beam member  103 F and the rear beam member  103 R. An auxiliary beam (not shown) extending in the first direction Dx may be provided between the front beam member  103 F and the rear beam member  103 R. In the palette placing parts S set on the lower layer portion  100   b  of the rack structures  100  in the upward/downward direction Dv, the palette  5  is directly placed on the floor surface F. In the palette placing parts S set on the lower layer portion  100   b  of the rack structures  100 , the floor surface F of the palette placing parts S functions as a part of the rack structures  100 . 
     As shown in  FIG.  3   , in the embodiment, in each of the three vertical layers in the rack structures  100 , the two palette placing parts S are set in parallel in the second direction Dy between the front columns  102 F and the rear columns  102 R, which neighbor in the second direction Dy. That is, in each of the upper layer portion  100   t , the middle layer portion  100   m  and the lower layer portion  100   b  of the rack structures  100 , the palette placing part SL on a first side Dy 1  in the second direction Dy (a left side when seen from the side of the route R) and the palette placing part SR on a second side Dy 2  in the second direction Dy (a right side when seen from the side of the route R) are disposed between the front columns  102 F and the rear columns  102 R, which neighbor in the second direction Dy. 
     (Configuration of Unmanned Forklift) 
     As shown in  FIG.  2    and  FIG.  3   , the unmanned forklift  2  includes a forklift main body  21 , a pair of forks  22 , and a forklift control part  23 . 
     The forklift main body  21  is configured to movable along the route R in the facility on the basis of the control of the forklift control part  23 . The forklift main body  21  travels along the route R according to a guideless method that involves traveling while recognizing a position of the unmanned forklift  2  itself in the facility using a gyro or a laser, or a guided method that involves driving while laid along the route R. 
     The pair of forks  22  are provided on the forklift main body  21  to be capable of being raised and lowered in the upward/downward direction Dv. The pair of forks  22  can be inserted into fork insertion parts (not shown) formed in the palette  5 . The unmanned forklift  2  holds the palette  5  on the pair of forks  22  by raising the pair of forks  22  in a state in which the pair of forks  22  are inserted into the fork insertion parts (not shown) on the basis of the control of the forklift control part  23 . 
     The forklift control part  23  controls an operation of the unmanned forklift  2  on the basis of a preset operation program. The forklift control part  23  enables transmission and reception of data between the forklift control part  23  and the system controller  3  via a wireless communication means such as wireless local area network (LAN) or the like. The forklift control part  23  receives an order including position information of the palette placing parts S that correspond to a loading position where the palette  5  is stacked on the forks  22  and an unloading position of the palette  5  loaded on the forks  22  from the system controller  3  via a wireless communication means. Here, the position information of the palette placing part S is coordinate information or the like that shows a position of the palette placing part S. 
     The forklift control part  23  moves the forklift main body  21  along the route R toward the palette placing part S that corresponds to the loading position or the unloading position based on the order received from the system controller  3 . The forklift control part  23  operates the forks  22  on the palette placing part S that corresponds to the loading position or the unloading position, and performs loading of the palette  5  onto the forks  22  or unloading the palette  5  onto the palette placing part S. The unmanned forklift  2  advances and retreats in a direction crossing an extension direction of the route R in a horizontal plane (the first direction Dx) with respect to the rack structure  100  when loading or unloading is performed with respect to the palette placing part S. 
     (Configuration of Adjustment System of Unmanned Forklift) 
     The adjustment system  10 A of the unmanned forklift shown in  FIG.  4    is applied when the unmanned forklift  2  and the automated guided forklift system  1  are introduced in a new facility. The adjustment system  10 A of the unmanned forklift includes a palette for adjustment  50 A and a processing terminal  60 A. 
     (Configuration of Palette for Adjustment) 
     As shown in  FIG.  4    to  FIG.  6   , the palette for adjustment  50 A includes a palette main body  51 A and a position information acquisition part  53 A. The palette for adjustment  50 A is preferably formed to resemble the palette  5  with luggage that is actually placed on the palette placing part S of the rack structure  100 , and to have a weight of, for example, 1 t (ton). The forklift main body  21  of the unmanned forklift  2  may flexurally deform forward due to its load when the forks  22  are raised in a state in which the palette  5  with the luggage is held. That is, in the unmanned forklift  2 , when the palette  5  is placed on the palette placing part S in different layers of the rack structures  100  in the upward/downward direction Dv, due to an influence of the flexural deformation of the forklift main body  21 , the position of the palette  5  with respect to the rack structure  100  may differ in the first direction Dx. Here, it is preferable to perform preconditioning of the unmanned forklift  2 , which will be described below, by setting the palette for adjustment  50 A to the same weight as the palette  5  that is actually used in consideration of the flexural deformation of the forklift main body  21 . 
     The palette main body  51 A having a rectangular shape when seen in a plan view and the same size as the palette when seen in a plan view is used in the automated guided forklift system  1 . In addition, the palette main body  51 A may have a size smaller than that of the palette when seen in a plan view used in the automated guided forklift system  1 . For example, the palette main body  51 A may shorten the size in the second direction Dy in order to avoid a contact collision between the front column  102 F and the rear column  102 R due to the shift in the second direction Dy. The palette main body  51 A has an insertion hole  52  into which the forks  22  of the unmanned forklift  2  are inserted. Accordingly, the palette main body  51 A is configured so that it can be supported by the forks  22  of the unmanned forklift  2 . The palette main body  51 A can be placed on the palette placing part S of the rack structure  100 . 
     The position information acquisition part  53 A is provided on the palette main body  51 A. The position information acquisition part  53 A acquires relative position information between the palette for adjustment  50 A and the rack structure  100  in a state in which the palette for adjustment  50 A is placed on the palette placing part S. In the embodiment, the position information acquisition part  53 A includes a laser displacement gauge  55  and a data transmission part  56 . 
     The laser displacement gauge  55  measures th distance from the rack structure  100  by radiating a laser to a part of the rack structure  100 . A reflection part  105  configured to reflect a laser emitted from the laser displacement gauge  55  is set on each of the palette placing parts S on the side of the rack structure  100 . The reflection part  105  is set on, for example, parts of surfaces of the front columns  102 F and the rear columns  102 R. When the laser emitted from the laser displacement gauge  55  is radiated to the surfaces of the front columns  102 F and the rear columns  102 R, the laser is reflected by the surfaces of the front columns  102 F and the rear columns  102 R toward the laser displacement gauge  55 . In this case, the surfaces of the front columns  102 F and the rear columns  102 R function as the reflection part  105  by reflecting the laser emitted from the laser displacement gauge  55 . That is, a part of the rack structures  100  is used as the reflection part  105  without separately installing a reflection object that functions as the reflection part  105  on the side of the rack structures  100 . In addition, as the reflection part  105 , a reflector formed of a material that reflects a laser may be attached to a predetermined position of the rack structures  100 , for example, by a magnet or the like when initial setting of the unmanned forklift  2  is performed. 
     In the embodiment, the laser displacement gauge  55  includes a first laser displacement gauge  551 , a second laser displacement gauge  552 , an intermediate laser displacement gauge  553 , and third laser displacement gauges  554  and  555 . The first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  are disposed on both sides of the palette main body  51 A in the second direction Dy. 
     The first laser displacement gauge  551  is disposed on a first side (a side close to the route R) of the unmanned forklift  2  in an advance/retreat direction (the first direction Dx) with respect to the rack structures  100  in the palette main body  51 A. The second laser displacement gauge  552  is disposed on the second side Dx 2  (a side away from the route R) of the palette main body  51 A in the first direction Dx. The intermediate laser displacement gauge  553  is disposed between the first laser displacement gauge  551  and the second laser displacement gauge  552  in the palette main body  51 A. The intermediate laser displacement gauge  553  is disposed at a position further deviated toward the first laser displacement gauge  551  than the second laser displacement gauge  552  in the first direction Dx. 
     Each of the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  detects a part of the rack structures  100  located in the second direction Dy with respect to the palette main body  51 A. The first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  detect a laser reflected by the reflection part  105  provided on the columns  102  (the front columns  102 F and the rear columns  102 R), which are parts of the rack structures  100 . Each of the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  detects a distance to the reflection part  105  when a laser reflected by the reflection part  105  is detected. In the embodiment, the reflection part  105  is disposed on, for example, the front columns  102 F, the rear columns  102 R, and the rear beam member  103 R. The reflection part  105  is disposed on side surfaces of the front columns  102 F and the rear columns  102 R directed toward the palette placing part S in the second direction Dy. 
     The first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  detect the front columns  102 F located at a side in the second direction Dy and the reflection part  105  disposed on the rear columns  102 R in a state in which the palette for adjustment  50 A is mounted on the palette placing part S by the unmanned forklift  2 . 
     For example, as shown in  FIG.  7   , when a position shift of the palette for adjustment  50 A with respect to the palette placing part S in the first direction Dx is small, only the first laser displacement gauge  551  detects the reflection part  105  of the front columns  102 F, and in the second laser displacement gauge  552  and the intermediate laser displacement gauge  553 , the laser passes through the front columns  102 F and the rear columns  102 R without hitting them. 
     For example, as shown in  FIG.  8   , when a position of the palette for adjustment  50 A is largely shifted to the second side Dx 2  (a side away from the route R) in the first direction Dx with respect to the palette placing part S, only the second laser displacement gauge  552  detects the reflection part  105  of the rear columns  102 R, and in the first laser displacement gauge  551  and the intermediate laser displacement gauge  553 , the laser passes through the front columns  102 F without hitting them. 
     For example, as shown in  FIG.  9   , when a position of the palette for adjustment  50 A is largely shifted to the first side Dx 1  (the side of the route R) in the first direction Dx with respect to the palette placing part S, only the intermediate laser displacement gauge  553  detects the reflection part  105  of the front columns  102 F, and in the first laser displacement gauge  551  and the second laser displacement gauge  552 , the laser passes through the front columns  102 F and the rear columns  102 R without hitting them. 
     Each of the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  can detect only whether the rack structure  100  is within the range of a previously determined distance. As shown in  FIG.  7   , when the palette for adjustment  50 A is mounted on the palette placing part SL on the first side Dy 1  (a left side seen from the side of the route R) in the second direction Dy between the front columns  102 F and the rear columns  102 R neighboring in the second direction Dy, the laser reflected by the reflection part  105  is received by only the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  disposed on the first side Dy 1  in the second direction Dy. As shown in  FIG.  10   , when the palette for adjustment  50 A is mounted on the palette placing part SR on the second side Dy 2  (a left side seen from the side of the route R) in the second direction Dy between the front columns  102 F and the rear columns  102 R neighboring in the second direction Dy, the laser reflected by the reflection part  105  is received only by the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  disposed on the second side Dy 2  in the second direction Dy. 
     As shown in  FIG.  5    and  FIG.  6   , the third laser displacement gauges  554  and  555  emit lasers diagonally downward toward the second side Dx 2  in the first direction Dx in an advance/retreat direction of the unmanned forklift  2  with respect to the rack structures  100 . The third laser displacement gauges  554  and  555  are disposed on, for example, a bottom portion of the palette main body  51 A. However, depending on the shape and size of the product, the product may be installed at a position that does not interfere with the forks  22 , for example, an upper portion of the palette. The third laser displacement gauges  554  and  555  are disposed at an interval in the second direction Dy. Each of the third laser displacement gauges  554  and  555  detects a distance to the reflection part  105  when the laser emitted diagonally downward toward the second side Dx 2  in the first direction Dx is reflected by the reflection part  105  mounted on the rear beam member  103 R to be directed toward the first side Dx 1  in the first direction Dx. 
     The data transmission part  56  outputs data showing the distances detected by the laser displacement gauges  55  (the first laser displacement gauge  551 , the second laser displacement gauge  552 , the intermediate laser displacement gauge  553 , and the third laser displacement gauges  554  and  555 ) as relative position information between the palette for adjustment  50 A and the rack structures  100 . As shown in  FIG.  4   , the data transmission part  56  transmits the relative position information to the processing terminal  60 A via wireless communication such as a wireless LAN or the like. 
     (Configuration of Processing Terminal) 
     The processing terminal  60 A executes processing of calculating the shift amount of the palette for adjustment  50 A with respect to the palette placing part S based on the relative position information transmitted from the palette for adjustment  50 A. For example, as shown in  FIG.  5   , the processing terminal  60 A calculates the shift amount between a palette-side reference position Ps set on the palette for adjustment  50 A and a rack-side reference position Q 1  set on the side of the palette placing part S. In the embodiment, for example, the palette-side reference position Ps is set on a central position in the second direction Dy in an end surface of the palette main body  51 A on the first side Dx 1  in the first direction Dx. In the embodiment, the rack-side reference position Q 1  is set on a central position in the second direction Dy in an end portion on the first side Dx 1  in the first direction Dx in each of the palette placing parts S. Further, in  FIG.  5   , the palette for adjustment  50 A has no position shift to the palette placing part S, and the palette-side reference position Ps and the rack-side reference position Q 1  are matched. 
     (Hardware Configuration View) 
     As shown in  FIG.  11   , the processing terminal  60 A is a computer including a central processing unit (CPU)  61 , a storage device  64  such as a read only memory (ROM)  62 , a random access memory (RAM)  63 , a hard disk drive (HDD), a solid state drive (SSD), and the like, and a signal transmission and reception module  65 . The processing terminal  60 A is a computer terminal having portability such as a tablet terminal, a smart phone, a notebook type personal computer, or the like. 
     (Functional Block Diagram) 
     As shown in  FIG.  12   , the CPU  61  of the processing terminal  60 A includes configurations of an input part  71 , a calculation part  72 A, and an output part  73  by executing a program stored in a host device in advance. 
     The input part  71  is the signal transmission and reception module  65  in terms of hardware, and receives data from the palette for adjustment  50 A. The calculation part  72 A executes processing of calculating the shift amount of the palette for adjustment  50 A with respect to the palette placing part S based on the relative position information. The output part  73  is the signal transmission and reception module  65  in terms of hardware, and the calculated shift amount is transmitted to the system controller  3  via wireless communication such as a wireless LAN or the like. 
     (Procedure of Initial Setting Method of Unmanned Forklift) 
     As shown in  FIG.  13   , an initial setting method S 11  of the unmanned forklift  2  according to the embodiment of the present disclosure includes step S 12  of placing the palette for adjustment  50 A on the palette placing part S, step S 13  of acquiring relative position information, step S 14  of calculating the shift amount of the palette for adjustment  50 A with respect to the palette placing part S, and step S 15  of correcting an operation program of the unmanned forklift. 
     When the initial setting method S 11  of the unmanned forklift  2  is executed, prior to step S 12  of placing the palette for adjustment  50 A on the palette placing part S, the pair of forks  22  of the unmanned forklift  2  are inserted into the insertion hole  52  of the palette for adjustment  50 A, and supports the palette for adjustment  50 A. Here, it is preferable to make the position shift of the palette for adjustment  50 A with respect to the pair of forks  22  as small as possible. For this reason, as shown in  FIG.  14   , it is preferable to insert the pair of forks  22  into the insertion hole  52  of the palette for adjustment  50 A in a state in which the palette for adjustment  50 A is placed on a palette position adjusting stand  200 . 
     The palette position adjusting stand  200  includes an adjusting table main body  201 , and a plurality of spherical rollers  202 . The adjusting table main body  201  is installed on the floor surface F. The plurality of spherical rollers  202  are disposed on an upper surface of the adjusting table main body  201 . Each of the spherical rollers  202  is a ball of a so-called ball bearing, and rotatably supported by the adjusting table main body  201 . The pair of forks  22  are inserted into the insertion hole  52  of the palette for adjustment  50 A in a state in which the palette for adjustment  50 A is placed on the plurality of spherical rollers  202  of the palette position adjusting stand  200 . Here, a position of the palette for adjustment  50 A is adjusted on the plurality of spherical rollers  202  such that a center of the palette for adjustment  50 A matches a center of the pair of forks  22  in the second direction Dy. Even when the palette for adjustment  50 A has a weight of about 1 t as described above, the plurality of spherical rollers  202  make it possible to manually adjust the position in the horizontal direction. 
     In step S 12  of placing the palette for adjustment  50 A on the palette placing part S, the palette for adjustment  50 A is placed on the palette placing part S of an object that performs initial setting in the plurality of palette placing parts S set on the plurality of rack structures  100  in the facility by the unmanned forklift  2  operated on the basis of the preset operation program. For this, according to the order from the system controller  3 , position coordinates of the palette placing part S is transmitted to the unmanned forklift  2  as a destination. The unmanned forklift  2  moves toward the palette placing part S of the destination along the route R in a state in which the palette for adjustment  50 A is placed on the forks  22 . The unmanned forklift  2  changes an orientation of the forklift main body  21  to face the palette placing part S after arrival at the palette placing part S of the destination. Then, the unmanned forklift  2  raises and lowers the forks  22  and matches the palette for adjustment  50 A placed on the forks  22  with a height of the palette placing part S of the destination. The unmanned forklift  2  advances toward the second side from the first side Dx 1  (the side of the route R) in the first direction Dx, and places the loaded palette for adjustment  50 A on the palette placing part S at position coordinates of the palette placing part S of the destination. 
     In step S 13  of acquiring the relative position information, relative position information between the loaded palette for adjustment  50 A and the rack structure  100  is acquired by the plurality of laser displacement gauges  55  of the position information acquisition part  53 A. First, as shown in  FIG.  15   , a distance L 11  to the reflection part  105  provided on the front column  102 F is detected by the first laser displacement gauge  551 . Further, when reflection from the reflection part  105  cannot be detected by the first laser displacement gauge  551 , a distance to the reflection part  105  disposed on the rear column  102 R or the front column  102 F may be detected by the second laser displacement gauge  552  or the intermediate laser displacement gauge  553  by detecting the reflection from the reflection part  105 . 
     In addition, in step S 13 , distances L 12  and L 13  to the reflection part  105  provided on the rear beam member  103 R are detected by the third laser displacement gauges  554  and  555 . In step S 13 , the distances L 11 , L 12  and L 13  to the rack structure  100  on which the palette for adjustment  50 A is placed are measured by the position information acquisition part  53 A as relative position information in a non-contact manner. 
     In step S 13 , data of the distances L 11 , L 12  and L 13  detected by the first laser displacement gauge  551  and the third laser displacement gauges  554  and  555  are transmitted to the processing terminal  60 A by the data transmission part  56  as the relative position information. In the processing terminal  60 A, data of the distances L 11 , L 12  and L 13  are received as the relative position information by the input part  71 . 
     In step S 14  of calculating the shift amount of the palette for adjustment  50 A with respect to the palette placing part S, the calculation part  72 A calculates the shift amount of the palette for adjustment  50 A placed on the rack structure  100  with respect to the palette placing part S based on the relative position information acquired by the position information acquisition part  53 A. In step S 14 , a shift amount ΔX in the first direction Dx, a shift amount ΔY in the second direction Dy, and a shift amount Δθ in a rotation direction Dc around a vertical axis are calculated as the shift amount of the rack-side reference position Q 1  of the palette placing part S with respect to the palette-side reference position Ps of the palette for adjustment  50 A. 
     In step S 14 , first, the shift amount Δθ of the palette for adjustment  50 A in the rotation direction Dc is calculated by the following Equation (1) based on the distances L 12  and L 13  detected by the third laser displacement gauges  554  and  555 . 
       Δθ=tan −1 ( L 12− L 13)/ D 1  (1)
 
     Here, D 1  is an interval (already known) between the third laser displacement gauges  554  and  555  in the second direction Dy. Here, as shown in  FIG.  16   , when the distance L 13  detected by the third laser displacement gauge  555  is greater than the distance L 12  detected by the third laser displacement gauge  554 , Δθ is a negative value. 
     In step S 14 , then, the shift amounts ΔY and ΔX of the palette-side reference position Ps of the palette for adjustment  50 A with respect to the rack-side reference position Q 1  are calculated based on the distance L 11  detected by the first laser displacement gauge  551 . As shown in  FIG.  15    and  FIG.  16   , when the palette placing part S is the palette placing part SL located on the first side Dy 1  in the second direction Dy, the shift amounts ΔY and ΔX are calculated by the following Equations (2) and (3). 
       Δ Y=L 11·cos Δθ+ D 3·cos Δθ− D 2 sin(−Δθ)− D 4  (2)
 
       Δ X ={( L 12− L 12_0)·cos Δθ+( L 13− L 13_0)·cos Δθ}/2  (3)
 
     Here, D 2  is an interval (already known) between the first laser displacement gauge  551  and the palette-side reference position Ps in the second direction Dy. D 3  is an interval (already known) between the first laser displacement gauge  551  and the palette-side reference position Ps in the first direction Dx. D 4  is an interval (already known) between the front column  102 F and the rack-side reference position Q 1  in the second direction Dy. L 12 _ 0  and L 13 _ 0  are distances of the distances L 12  and L 13  when the palette for adjustment  50 A ( 50 B,  50 C) has been unloaded onto the correct palette placing part S (SL, SR). 
     In addition, as shown in  FIG.  17   , when the palette placing part S is the palette placing part SR located on the second side Dy 2  in the second direction Dy, the shift amount ΔY is calculated by the following Equations (4) and (5). 
       Δ Y=D 4− L 11·cos Δθ− D 3·cos Δθ+ D 2·sin(Δθ)  (4)
 
       Δ X ={( L 12− L 12_0)·cos Δθ+( L 13− L 13_0)·cos Δθ}/2  (5)
 
     Data of the calculated shift amount (ΔX, ΔY, Δθ) with respect to the palette placing part S of the palette for adjustment  50 A are output to the system controller  3  by the output part  73  through wireless communication. 
     In step S 15  of correcting an operation program of the unmanned forklift, the operation program of the unmanned forklift  2  is corrected based on the calculated shift amount. In step S 15 , data of the shift amount output from the processing terminal  60 A are received by the system controller  3 . Position coordinates of the palette placing part S in the operation program of the unmanned forklift  2  are corrected by the system controller  3  based on the data of the received shift amount. Here, in correction of the position coordinates of the palette placing part S in the operation program of the unmanned forklift  2 , the program of the system controller  3  may be automatically performed, and an operator of the system controller  3  may manually input a numerical value or the like to correct the position coordinates of the palette placing part S. In addition, the numerical value where the shift amount is 0 may be input, and it is possible to store the shift amount separately and perform the operation by correcting the value during control. 
     The initial setting of all the palette placing parts S is performed by performing the series of processing of the above-mentioned steps S 12  to S 15  for all the palette placing parts S in the facility. 
     (Effects) 
     In the initial setting method S 11  of the unmanned forklift  2  having the above-mentioned configuration, when the unmanned forklift  2  is introduced into the facility including the rack structure  100 , the palette for adjustment  50 A is actually placed on the palette placing part S of the rack structure  100  by the unmanned forklift  2 . The relative position information between the palette for adjustment  50 A and the rack structure  100  placed on the palette placing part S is acquired by the position information acquisition part  53 A. The shift amount of the palette for adjustment  50 A with respect to the palette placing part S is calculated based on the acquired relative position information. Accordingly, the shift amount in the case in which the palette  5  on which articles are loaded by the unmanned forklift  2  is placed on the palette placing part S of the rack structure  100  can be grasped. The initial setting when the unmanned forklift  2  is introduced into the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. In addition, since the position information acquisition part  53 A is provided on the palette for adjustment  50 A, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect the shift amount to the palette for adjustment  50 A on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     In addition, the distance to the rack structure  100  is measured by the position information acquisition part  53 A as the relative position information in a non-contact manner. Accordingly, the relative position information can be easily and rapidly acquired. 
     In addition, in the calculating step S 14 , the shift amount ΔX in the first direction Dx and the shift amount ΔY in the second direction Dy are calculated as the shift amounts. 
     Accordingly, the shift amounts ΔX and ΔY of the palette for adjustment  50 A with respect to the palette placing parts S in the horizontal plane can be acquired. 
     In addition, in the calculating step S 14 , the shift amount Δθ in the rotation direction Dc around the vertical axis is calculated as the shift amount. 
     Accordingly, in addition to the shift amounts ΔX and ΔY in the horizontal plane, the shift amount Δθ in the rotation direction Dc can be acquired. Accordingly, the operation program of the unmanned forklift  2  can be more accurately corrected. 
     In addition, the operation program of the unmanned forklift  2  is corrected on the basis of the calculated shift amount of the palette for adjustment  50 A with respect to the palette placing parts S. Accordingly, after correction, the palette  5  can be aligned with the palette placing parts S with high accuracy by the unmanned forklift  2  operated on the basis of the operation program. 
     The palette for adjustment  50 A having the above-mentioned configuration includes the position information acquisition part  53 A configured to acquire the relative position information between the palette for adjustment  50 A and the rack structure  100  placed on the palette for adjustment  50 A. 
     By using such a palette for adjustment  50 A, the initial setting method S 11  of the unmanned forklift  2  can be performed. Since the position information acquisition part  53 A is provided in the palette for adjustment  50 A, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect the shift amount to the palette for adjustment  50 A on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     In addition, the position information acquisition part  53 A includes the laser displacement gauge  55 . 
     Accordingly, the distance to the rack structure  100  can be measured by the laser displacement gauge  55  as the relative position information in a non-contact manner. Accordingly, the relative position information can be easily and rapidly acquired. 
     In addition, the palette for adjustment  50 A detects the front column  102 F that is a part of the rack structure  100  using the first laser displacement gauge  551  disposed on the first side Dx 1  in the first direction Dx, and detects the rear column  102 R that is another part of the rack structure  100  using the second laser displacement gauge  552  disposed on the second side Dx 2  in the first direction Dx. Accordingly, the position of the palette for adjustment  50 A with respect to the rack structure  100  in the first direction Dx can be acquired as the relative position information on the basis of the detection results of the first laser displacement gauge  551  and the second laser displacement gauge  552 . 
     In addition, since the first laser displacement gauge  551  and the second laser displacement gauge  552  are provided at both sides in the second direction Dy, the relative position information of the palette main body  51 A with respect to the rack structure  100  can be acquired on both sides in the second direction Dy. Here, each of the first laser displacement gauge  551  and the second laser displacement gauge  552  can detect whether there is the rack structure  100  only within the range of a determined distance. When the distance between the first laser displacement gauge  551 , the second laser displacement gauge  552  and the rack structure  100  is within a range in which where there is the rack structure  100  is detected by the first laser displacement gauge  551  and the second laser displacement gauge  552  at both sides in the second direction Dy, the relative position information between the palette for adjustment  50 A and the rack structure  100  can be acquired. When the palette for adjustment  50 A is placed on the palette placing part SL on the first side Dy 1  in the second direction Dy, a member of the rack structure  100  on the first side Dy 1  in the second direction Dy is detected by the first laser displacement gauge  551  and the second laser displacement gauge  552  disposed on the first side Dy 1  in the second direction Dy. In addition, when the palette for adjustment  50 A is placed on the palette placing part SR on the second side Dy 2  in the second direction Dy, a member of the rack structure  100  on the second side Dy 2  in the second direction Dy is detected by the first laser displacement gauge  551  and the second laser displacement gauge  552  disposed on the second side Dy 2  in the second direction Dy. In this way, the shift amount of the palette for adjustment  50 A can be acquired by the palette for adjustment  50 A in both the palette placing part S on the first side Dy 1  in the second direction Dy and the palette placing part S on the second side Dy 2  in the second direction Dy. 
     In addition, the position information acquisition part  53 A further includes the third laser displacement gauge  555 . 
     The third laser displacement gauge  555  emits a laser toward the second side Dx 2  in the first direction Dx. Accordingly, existence of the member of the rack structure  100  located diagonally below the second side Dx 2  of the palette for adjustment  50 A in the first direction Dx can be detected by the third laser displacement gauge  555 . Accordingly, relative position information of the rack structure  100  with respect to the member of the rack structure  100  located diagonally below the second side Dx 2  of the palette for adjustment  50 A in the first direction Dx can be acquired. 
     The adjustment system  10 A of the unmanned forklift  2  having the above-mentioned configuration includes the palette for adjustment  50 A, and the calculation part  72 A configured to calculate the shift amount of the palette for adjustment  50 A placed on the rack structure  100  with respect to the palette placing part S based on the relative position information acquired by the position information acquisition part  53 A. 
     In the adjustment system  10 A of the unmanned forklift  2 , the calculation part  72 A can calculate the shift amount of the palette for adjustment  50 A placed on the rack structure  100  with respect to the palette placing part S based on the relative position information between the palette for adjustment  50 A and the rack structure  100  acquired by the position information acquisition part  53 A of the palette for adjustment  50 A. Accordingly, introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     Second Embodiment 
     Next, a second embodiment of an initial setting method of an unmanned forklift, a palette for adjustment, and an adjustment system of the unmanned forklift according to the present disclosure will be described. Further, in the second embodiment described below, the same components as the first embodiment are designated by the same reference signs in the drawings, and description thereof will be omitted. In the second embodiment, the configuration of the palette for adjustment is different from that in the first embodiment. 
     (Configuration of Adjustment System of Unmanned Forklift) 
     An adjustment system  10 B of an unmanned forklift is applied when the unmanned forklift  2  and the automated guided forklift system  1  are introduced into a new facility. As shown in  FIG.  18   , the adjustment system  10 B of the unmanned forklift includes a palette for adjustment  50 B and a processing terminal  60 B. 
     (Configuration of Palette for Adjustment) 
     As shown in  FIG.  18    and  FIG.  19   , the palette for adjustment  50 B includes a palette main body  51 B and a position information acquisition part  53 B. The palette main body  51 B having a rectangular shape when seen in a plan view and the same size as the palette used in the automated guided forklift system  1  when seen in a plan view is used. The palette main body  51 B has the insertion hole  52  into which the forks  22  of the unmanned forklift  2  are inserted. Accordingly, the palette main body  51 B is configured to be supported by the forks  22  of the unmanned forklift  2 . The palette main body  51 B can be placed on the palette placing part S of the rack structure  100 . 
     The position information acquisition part  53 B is provided on the palette main body  51 B. The position information acquisition part  53 B acquires relative position information with the rack structure  100  in a state in which the palette for adjustment  50 B is placed on the palette placing part S. In the embodiment, the position information acquisition part  53 B includes a camera  57  and the data transmission part  56 . 
     The camera  57  photographs a reference position display part M showing a rack-side reference position in the rack structure  100 . The reference position display part M is set on the rack structure  100 . As shown in  FIG.  20   , in the embodiment, the reference position display part M has marks M 1  and M 2  set on the rack structure  100 . The marks M 1  and M 2  are formed on, for example, an upper surface of the front beam member  103 F corresponding to each of the palette placing parts S. The marks M 1  and M 2  preferably have different shapes, dimensions, or the like, so that the mark M 1  and the mark M 2  can be distinguished from each other. In the embodiment, for example, the one mark M 1  has a circular shape when seen in a plan view, and the other mark M 2  has a rectangular shape when seen in a plan view. The marks M 1  and M 2  may be attached to the predetermined position of the rack structure  100 , for example, by a magnet or the like, when the initial setting of the unmanned forklift  2  is performed. 
     In the embodiment, the camera  57  is disposed to photograph the marks M 1  and M 2  in a state in which the palette for adjustment  50 B is placed on the palette placing part S. For example, in the embodiment, a cutout concave portion  51   k  is formed in the palette main body  51 B such that the marks M 1  and M 2  are exposed above in a state in which the palette for adjustment  50 B is placed on the palette placing part S. The camera  57  is supported by the palette main body  51 B via a support member  59 . The camera  57  is disposed to photograph the marks M 1  and M 2  from above vertically. As shown in  FIG.  21   , the camera  57  photographs an image  300  in a region including the reference position display part M showing the rack-side reference position in the rack structure  100 . 
     The data transmission part  56  outputs data of the image  300  photographed by the camera  57  as the relative position information between the palette for adjustment  50 B and the rack structure  100 . The data transmission part  56  transmits the relative position information to the processing terminal  60 B via wireless communication such as a wireless LAN or the like. 
     (Configuration of Processing Terminal) 
     The processing terminal  60 B executes processing of calculating the shift amount of the palette for adjustment  50 B with respect to the palette placing part S based on the relative position information transmitted from the palette for adjustment  50 B. The processing terminal  60 B calculates, for example, the shift amount between a palette-side reference position Pt set on the palette for adjustment  50 B and a rack-side reference position Q 2  set on the side of the palette placing part S. In the embodiment, for example, the palette-side reference position Pt is set in the image  300  photographed by the camera  57 . The palette-side reference position Pt is set on a position that matches the rack-side reference position Q 2  when the shift amount of the palette for adjustment  50 B with respect to the palette placing part S is 0. In the embodiment, for example, the rack-side reference position Q 2  is set on a center position between a center point of the one mark M 1  and a center point of the other mark M 2 . 
     (Hardware Configuration View) 
     As shown in  FIG.  11   , the processing terminal  60 B is a computer including a central processing unit (CPU)  61 , a storage device  64  such as a read only memory (ROM)  62 , a random access memory (RAM)  63 , a hard disk drive (HDD), a solid state drive (SSD), and the like, and a signal transmission and reception module  65 . The processing terminal  60 B is a computer terminal having portability such as a tablet terminal, a smart phone, a notebook type personal computer, or the like. 
     (Functional Block Diagram) 
     As shown in  FIG.  12   , the CPU  61  of the processing terminal  60 B includes configurations of an input part  71 , a calculation part  72 B, and an output part  73  by executing a program stored in a host device in advance. 
     The input part  71  is the signal transmission and reception module  65  in terms of hardware, and receives data from the palette for adjustment  50 B. The calculation part  72 B executes processing of calculating the shift amount of the palette for adjustment  50 B with respect to the palette placing part S based on the relative position information. The output part  73  is the signal transmission and reception module  65  in terms of hardware, and transmits the calculated shift amount to the system controller  3  via wireless communication such as a wireless LAN or the like. 
     (Procedure of Initial Setting Method of Unmanned Forklift) 
     As shown in  FIG.  13   , an initial setting method S 21  of the unmanned forklift  2  according to the embodiment of the present disclosure includes step S 22  of placing the palette for adjustment  50 B on the palette placing part S, step S 23  of acquiring relative position information, step S 24  of calculating the shift amount of the palette for adjustment  50 B with respect to the palette placing part S, and step S 25  of correcting an operation program of the unmanned forklift. 
     In step S 22  of placing the palette for adjustment  50 B on the palette placing part S, the palette for adjustment  50 B is placed on the palette placing part S of the object that performs initial setting, among the plurality of palette placing parts S set on the plurality of rack structures  100  in the facility, by the unmanned forklift  2  operated based on a preset operation program. For this, position coordinates of the palette placing part S is transmitted to the unmanned forklift  2  as a destination according to an order from the system controller  3 . The unmanned forklift  2  moves toward the palette placing part S of the destination along the route R in a state in which the palette for adjustment  50 B is placed on the forks  22 . The unmanned forklift  2  changes an orientation of the forklift main body  21  to face the palette placing part S after arrival at the palette placing part S of the destination. Then, the unmanned forklift  2  raises and lowers the forks  22  to match the palette for adjustment  50 B placed on the forks  22  with a height of the palette placing part S of the destination. The unmanned forklift  2  advance toward the second side from the first side Dx 1  (the side of the route R) in the first direction Dx, and places the loaded palette for adjustment  50 B on the palette placing part S at the position coordinates of the palette placing part S of the destination. 
     In step S 23  of acquiring the relative position information, relative position information between the loaded palette for adjustment  50 B and the rack structure  100  is obtained by the camera  57  of the position information acquisition part  53 B. For this, the camera  57  photographs the image  300  in the region including the marks M 1  and M 2  as the reference position display part M disposed on the upper surface of the front beam member  103 F of the rack structure  100 . In this way, in step S 23 , the image  300  as the relative position information is acquired by the position information acquisition part  53 B in a non-contact manner. 
     In step S 23 , the pieces of data of the image  300  photographed by the camera  57  are transmitted to the processing terminal  60 B by the data transmission part  56  as the relative position information. In the processing terminal  60 B, the input part  71  receives the data of the image  300  as the relative position information. 
     In step S 24  of calculating the shift amount of the palette for adjustment  50 B with respect to the palette placing part S, the calculation part  72 B calculates the shift amount of the palette for adjustment  50 B placed on the rack structure  100  with respect to the palette placing part S based on the relative position information acquired by the position information acquisition part  53 B. In step S 24 , as shown in  FIG.  21   , the shift amount between the palette-side reference position Pt and the rack-side reference position Q 2  is calculated based on the data of the image  300 . As the shift amount of the palette for adjustment  50 B with respect to the palette placing part S, the shift amount ΔX in the first direction Dx, the shift amount ΔY in the second direction Dy, and the shift amount Δθ in the rotation direction Dc around the vertical axis are calculated. 
     In step S 24 , first, the calculation part  72 B calculates center position coordinates (X 21 , Y 21 ) of the mark M 1  and center position coordinates (X 22 , Y 22 ) of the mark M 2  using the palette-side reference position Pt in the image  300  as an origin through image processing with respect to the image  300  photographed by the camera  57 . 
     Then, the calculation part  72 B calculates position coordinates (Xc, Yc) of a center point between the mark M 1  and the mark M 2 , which is the rack-side reference position Q 2 , using the following Equations (6) and (7). 
       Δ X=Xc =( X 21+ X 22)/2  (6)
 
       Δ Y=Yc =( Y 21+ Y 22)/2  (7)
 
     Further, the calculation part  72 B calculates the shift amount Δθc in the rotation direction Dc around the vertical axis of the palette for adjustment  50 B with respect to the palette placing part S using the following Equation (8). 
       Δθ c =tan −1 (( X 21− X 22)/ D 11)  (8)
 
     Here, D 11  is an interval between the center point of the mark M 1  and the center point of the mark M 2  in the second direction Dy. 
     Data of the calculated shift amount of the palette for adjustment  50 B with respect to the palette placing part S is output to the system controller  3  by the output part  73  through wireless communication. 
     In step S 25  of correcting an operation program of the unmanned forklift, the operation program of the unmanned forklift  2  is corrected based on the calculated shift amount. In step S 25 , the system controller  3  receives the data of the shift amount output from the processing terminal  60 B. The system controller  3  corrects the position coordinates of the palette placing part S in the operation program of the unmanned forklift  2  based on the data of the received shift amount. Here, in the correction of the position coordinates of the palette placing part S in the operation program of the unmanned forklift  2 , the program of the system controller  3  may be automatically performed, or an operator of the system controller  3  may manually input a numerical value or the like to correct the position coordinates of the palette placing part S. 
     The initial setting of all the palette placing parts S is performed by executing a series of processing of the above-mentioned steps S 22  to S 25  with respect to all the palette placing parts S in the facility. 
     (Effects) 
     In the initial setting method S 21  of the unmanned forklift  2  having the above-mentioned configuration, when the unmanned forklift  2  is introduced into the facility including the rack structure  100 , the palette for adjustment  50 B is actually placed on the palette placing part S of the rack structure  100  by the unmanned forklift  2 . The relative position information between the palette for adjustment  50 B placed on the palette placing part S and the rack structure  100  is acquired by the position information acquisition part  53 B. The shift amount of the palette for adjustment  50 B with respect to the palette placing part S is calculated on the basis of the acquired relative position information. Accordingly, the shift amount occurred when the article-loaded palette is placed on the palette placing part S of the rack structure  100  by the unmanned forklift  2  can be grasped. The initial setting when the unmanned forklift  2  is introduced into the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. In addition, since the position information acquisition part  53 B is provided on the palette for adjustment  50 B, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect the shift amount to the palette for adjustment  50 B on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     In addition, the position information acquisition part  53 B can calculate the shift amount of the rack-side reference position Q 2  with respect to the palette-side reference position Pt set on the palette for adjustment  50 B by photographing the image  300  including the reference position display part M set on the rack structure  100  as the relative position information. 
     In addition, the shift amount of the palette for adjustment  50 B with respect to the palette placing part S in the horizontal plane can be acquired by setting the marks M 1  and M 2  to the rack structure  100  as the reference position display part M. 
     In addition, in addition to the shift amount of the palette for adjustment  50 B with respect to the palette placing part S in the horizontal plane, the shift amount Δθc in the rotation direction Dc can be acquired by setting the plurality of marks M 1  and M 2  to the rack structure  100  as the reference position display part M. Accordingly, the operation program of the unmanned forklift  2  can be corrected with high accuracy. 
     The palette for adjustment  50 B having the above-mentioned configuration includes the position information acquisition part  53 B configured to acquire the relative position information with the rack structure  100  on which the palette for adjustment  50 B is placed. 
     By using the palette for adjustment  50 B, the initial setting method S 21  of the unmanned forklift  2  as described above can be performed. Since the position information acquisition part  53 B is provided on the palette for adjustment  50 B, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect the shift amount to the palette for adjustment  50 B on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     In addition, the position information acquisition part  53 B includes the camera  57  configured to photograph the marks M 1  and M 2 . Accordingly, the shift amount of the palette for adjustment  50 B with respect to the palette placing part S can be acquired by photographing the image  300  including the marks M 1  and M 2  using the camera  57 . Accordingly, the relative position information can be easily and rapidly acquired. 
     The adjustment system  10 B of the unmanned forklift  2  having the above-mentioned configuration includes the palette for adjustment  50 B, and the calculation part  72 B configured to calculate the shift amount of the palette for adjustment  50 B placed on the rack structure  100  with respect to the palette placing part S based on the relative position information acquired by the position information acquisition part  53 B. 
     The adjustment system  10 B of the unmanned forklift  2  can calculate the shift amount of the palette for adjustment  50 B placed on the rack structure  100  with respect to the palette placing part S using the calculation part  72 B based on the relative position information between the palette for adjustment  50 B and the rack structure  100  acquired by the position information acquisition part  53 B of the palette for adjustment  50 B. Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     Third Embodiment 
     Next, a third embodiment of an initial setting method of an unmanned forklift, a palette for adjustment, and an adjustment system of the unmanned forklift according to the present disclosure will be described. Further, in the third embodiment described below, the same components as in the first and second embodiments are designated by the same reference sings and description thereof will be omitted. In the third embodiment, a configuration of adjusting a position shift between the palette for adjustment and the unmanned forklift is different from that in the first and second embodiments. 
     (Configuration of Adjustment System of Unmanned Forklift) 
     An adjustment system  10 C of an unmanned forklift shown in  FIG.  4    is applied when the unmanned forklift  2  and the automated guided forklift system  1  are introduced into a new facility. The adjustment system  10 C of the unmanned forklift includes a palette for adjustment  50 C and a system controller  3 C. 
     (Configuration of Palette for Adjustment) 
     As shown in  FIG.  22    and  FIG.  23   , the palette for adjustment  50 C includes a palette main body  51 A and a position information acquisition part  53 C. The palette for adjustment  50 C imitates the palette  5  (see  FIG.  2   ) on which luggage actually placed on the palette placing part S of the rack structure  100  is loaded, and is preferably formed to have a weight of, for example, about 1 t (ton). 
     The position information acquisition part  53 C is provided on the palette main body  51 A. Like the first embodiment, the position information acquisition part  53 C acquires relative position information with the rack structure  100  in a state in which the palette for adjustment  50 C is placed on the palette placing part S. In addition, the position information acquisition part  53 C of the embodiment acquires relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in a state in which the palette for adjustment  50 C is loaded. In the embodiment, the position information acquisition part  53 C includes a laser displacement gauge  55 C, a data transmission part  56 C, and a displacement gage controller  58 . 
     In the embodiment, the laser displacement gauge  55 C includes a first laser displacement gauge  551 , a second laser displacement gauge  552 , an intermediate laser displacement gauge  553 , third laser displacement gauges  554  and  555 , a fourth laser displacement gauge  556 , and a fifth laser displacement gauge  557 . The first laser displacement gauge  551 , the second laser displacement gauge  552 , the intermediate laser displacement gauge  553 , and the fourth laser displacement gauge  556  are disposed on both sides of the palette main body  51 A in the second direction Dy. 
     Like the first embodiment, the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  measure distances to the rack structure  100  by radiating lasers to a part of the rack structure  100 . As shown in  FIG.  5   , the reflection part  105  configured to reflect the lasers emitted from the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553  is set on each of the palette placing parts S on the side of the rack structure  100 . For example, the reflection part  105  is set on a part of surfaces of the front column  102 F and the rear column  102 R. 
     As shown in  FIG.  24    and  FIG.  25   , the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  measure a position shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  in a state in which the palette for adjustment  50 C is loaded by radiating a laser to a part of the unmanned forklift  2 . The fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  are disposed on the first side Dx 1  of the palette main body  51 A in the first direction Dx. 
     The fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  measure a distance to an unmanned forklift-side reference position display part  90  as relative position information between the palette for adjustment SOC and the unmanned forklift  2 . The unmanned forklift-side reference position display part  90  is set on the unmanned forklift  2 , and shows an unmanned forklift-side reference position in the unmanned forklift  2 . In the embodiment, a forward surface  91  and a laterally-facing surface  92  are set as the unmanned forklift-side reference position display part  90 . 
     The forward surface  91  is set on the forks  22  of the unmanned forklift  2 . Each of the forks  22  of the unmanned forklift  2  is formed in an L shape when seen in a widthwise direction (the second direction Dy) of the forklift main body  21 . Each of the forks  22  has a palette support portion  22   a  inserted into the insertion hole  52  of the palette main body  51 A, and a fork base  22   b  extending upward from a base end portion of the palette support portion  22   a  and configured to support the forklift main body  21  to raise and lower the forklift main body  21 . The forward surface  91  as the unmanned forklift-side reference position display part  90  is a surface facing the first side Dx 1  (forward) of the fork base  22   b  in the first direction Dx. 
     In addition, in the forklift main body  21  of the unmanned forklift  2 , a plate-shaped reflection member  93  is provided on a straddle leg  21   s  along a floor surface. The reflection member  93  stands upward from the straddle leg  21   s . The laterally-facing surface  92  as the unmanned forklift-side reference position display part  90  is formed in the reflection member  93  in the second direction Dy. 
     Each of the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  detects a part of the unmanned forklift  2  to measure a position shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  upon loading. 
     As shown in  FIG.  25   , the fourth laser displacement gauge  556  measures distances Bx 1  and Bx 2  to the forward surfaces  91  of the pair of forks  22  by radiating the laser to the forward surface  91  as the unmanned forklift-side reference position display part  90  along the second side Dx 2  in the first direction Dx. In the embodiment, the pair of fourth laser displacement gauges  556  are disposed at an interval in the second direction Dy to match the pair of forks  22 . A shift of the palette for adjustment SOC with respect to the unmanned forklift  2  in the rotation direction around the vertical axis can be detected from a difference between the distances Bx 1  and Bx 2  to the forward surface  91  of each of the forks  22  measured by the pair of fourth laser displacement gauges  556 . 
     The fifth laser displacement gauge  557  is disposed on at least one side of the forklift main body  21  in the second direction Dy (in the example of  FIG.  25   , for example, the first side Dy 1 ). Each of the fifth laser displacement gauges  557  radiates a laser to the second side Dy 2  in the second direction Dy, and measures a distance By to the laterally-facing surface  92  of the reflection member  93  as the unmanned forklift-side reference position display part  90 . Further, in the embodiment, the fifth laser displacement gauge  557  also functions as the first laser displacement gauge  551 . Of course, the fifth laser displacement gauge  557  and the first laser displacement gauge  551  may be individually provided. 
     The fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  detect the laser reflected by the forward surface  91  that is the unmanned forklift-side reference position display part  90  and the laterally-facing surface  92 . Each of the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  detects a distance to the forward surface  91  or the laterally-facing surface  92  when the laser reflected by the forward surface  91  and the laterally-facing surface  92  is detected. 
     The fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  as the position information acquisition part  53 C are configured to operate in a state in which the palette for adjustment SOC is supported by the forks  22  of the unmanned forklift  2 . For example, as shown in  FIG.  24   , the forks  22  include palette sensors  27  configured to detect that the palette for adjustment  50 C was loaded. The palette sensors  27  include a first palette sensor  27 A configured to detect that the palette for adjustment  50 C collided with the forward surfaces  91  of the forks  22 , and a second palette sensor  27 B configured to detect that the palette for adjustment  50 C was placed on the palette support portions  22   a  of the forks  22 . 
     The first palette sensor  27 A is disposed to protrude from a forward surface  22   f  and to be retractable in the first direction Dx. The first palette sensor  27 A is pushed in when the palette for adjustment  50 C hits the forward surfaces  91  of the forks  22  upon loading of the palette for adjustment  50 C, and outputs a signal showing that the palette for adjustment  50 C was detected. The second palette sensor  27 B is disposed to protrude upward from the palette support portion  22   a  and to be retractable in an upward/downward direction. The second palette sensor  27 B is pushed in below when the palette for adjustment  50 C is placed on the palette support portion  22   a  upon loading of the palette for adjustment  50 C, and outputs a signal showing that the palette for adjustment  50 C is detected. The first palette sensor  27 A and the second palette sensor  27 B transmit the output signal to the displacement gage controller  58  through wireless communication. 
     In addition, when the palette for adjustment  50 C supported by the forks  22  is placed on the palette placing part S, the fork base  22   b  moves downward relative to the palette for adjustment  50 C. Accordingly, the second palette sensor  27 B protrudes upward from the palette support portion  22   a , and the signal showing that the palette for adjustment  50 C was unloaded may be transmitted to the displacement gage controller  58  through wireless communication. 
     The displacement gage controller  58  controls operations of the first laser displacement gauge  551 , the second laser displacement gauge  552 , the intermediate laser displacement gauge  553 , the third laser displacement gauges  554  and  555 , the fourth laser displacement gauge  556 , and the fifth laser displacement gauge  557 . The displacement gage controller  58  operates the fourth laser displacement gauge  556 , and the fifth laser displacement gauge  557 , and measures a position shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  when the signal showing that the palette for adjustment  50 C is loaded from the first palette sensor  27 A and the second palette sensor  27 B was received. 
     The displacement gage controller  58  may operate the first laser displacement gauge  551 , the second laser displacement gauge  552 , and the intermediate laser displacement gauge  553 , and measure a position shift amount of the palette for adjustment  50 C with respect to the rack structure  100  when a signal showing that the palette for adjustment  50 C is unloaded on the palette placing part S was received from the second palette sensor  27 B. 
     The data transmission part  56 C outputs data showing distances detected by the first laser displacement gauge  551 , the second laser displacement gauge  552 , the intermediate laser displacement gauge  553 , the third laser displacement gauges  554  and  555  as relative position information between the palette for adjustment  50 C and the rack structure  100 . The data transmission part  56 C outputs data showing distances detected by the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  as relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . As shown in  FIG.  4   , the data transmission part  56 C transmits the relative position information to the system controller  3 C via wireless communication such as a wireless LAN or the like. 
     (Configuration of System Controller) 
     The system controller  3 C controls an operation of the unmanned forklift  2  in the adjustment system  10 C of the unmanned forklift. The system controller  3 C moves the unmanned forklift  2  to a loading position where the palette  5  is loaded on the forks  22  or an unloading position of the palette  5  loaded on the forks  22 . The system controller  3 C operates the forks  22  and executes a predetermined loading operation at the loading position. The system controller  3 C operates the forks  22  and executes a predetermined unloading operation at the unloading position. The system controller  3 C executes processing of calculating the shift amount of the palette for adjustment  50 C with respect to the palette placing part S upon unloading, and processing of calculating the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  upon loading based on the relative position information transmitted from the palette for adjustment  50 C. 
     (Hardware Configuration View) 
     As shown in  FIG.  26   , system controller  3 C is a computer including a central processing unit (CPU)  301 , a storage device  304  such as a read only memory (ROM)  302 , a random access memory (RAM)  303 , a hard disk drive (HDD), a solid state drive (SSD), and the like, and a signal reception module  305 . 
     (Functional Block Diagram) 
     As shown in  FIG.  27   , the CPU  301  of the system controller  3 C includes configurations of an input part  311 , a forklift control part  312 , a calculation part  314 , and an output part  315  by executing a program stored in a host device in advance. 
     The input part  311  is the signal reception module  305  in terms of hardware, and receives data from the palette for adjustment  50 C. The forklift control part  312  controls an operation of the unmanned forklift  2 . The forklift control part  312  outputs an operation order including position information such as a loading position, an unloading position, or the like, to the forklift control part  23  of the unmanned forklift  2  via a wireless communication means such as a wireless LAN or the like. The calculation part  314  executes processing of calculating the shift amount of the palette for adjustment  50 C with respect to the palette placing part S and the shift amount of the palette for adjustment  50 C with respect to the palette placing part S based on the relative position information. The calculation part  314  corrects the operation program of the unmanned forklift  2  based on the calculated shift amount. The output part  315  is the signal reception module  305  in terms of hardware, and transmits an order signal or the like to the unmanned forklift  2  via wireless communication means such as a wireless LAN or the like. 
     (Procedure of Initial Setting Method of Unmanned Forklift) 
     As shown in  FIG.  28   , an initial setting method S 30  of the unmanned forklift  2  according to the embodiment of the present disclosure includes step S 31  of performing advance preparation, step S 32  of moving the unmanned forklift  2  to a home position, step S 33  of loading the palette for adjustment  50 C, step S 34  of acquiring the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 , step S 35  of moving the unmanned forklift  2  to the palette placing part S, step S 36  of placing the palette for adjustment  50 C on the palette placing part S, step S 37  of acquiring the shift amount of the palette for adjustment  50 C with respect to the palette placing part S, step S 38  of loading the palette for adjustment  50 C from the palette placing part S, step S 39  of acquiring the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 , step S 40  of confirming whether acquisition of the shift amount in all the palette placing part S was terminated, and step S 41  of correcting an operation program of the unmanned forklift. 
     In step S 31  of performing the advance preparation, the reflection member  93  is attached to the unmanned forklift  2 . In addition, an operation program including information such as a home position of the unmanned forklift  2 , position information (position coordinates) of the rack structure  100  of each of the palette placing parts S, a moving route of the unmanned forklift  2 , and the like, is set on the system controller  3 C. 
     In step S 32  of moving the unmanned forklift  2  to a home position, first, the unmanned forklift  2  is moved to the home position under control of the system controller  3 C. The home position is set on a position other than in the rack structure  100 . The palette for adjustment  50 C is disposed at the home position. 
     In step S 33  of loading the palette for adjustment  50 C, the palette for adjustment  50 C is loaded by the forks  22  of the unmanned forklift  2  moved to the home position. When the palette for adjustment  50 C is loaded, when the first palette sensor  27 A and the second palette sensor  27 B are pushed in by the palette for adjustment  50 C, the first palette sensor  27 A the second palette sensor  27 B transmit the signal showing that the palette for adjustment  50 C was loaded to the displacement gage controller  58  through wireless communication. Then, the displacement gage controller  58  executes step S 34 . 
     In step S 34  of acquiring the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 , the displacement gage controller  58  operates the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  to measure a position shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 . The fourth laser displacement gauge  556  measures the distances Bx 1  and Bx 2  to the forward surfaces  91  of the forks  22  by radiating the laser to the forward surface  91 . The fifth laser displacement gauge  557  measures the distance By to the laterally-facing surface  92  of the reflection member  93 . The shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  is detected from the distances Bx 1  and Bx 2  to the forward surface  91  and the distance By to the laterally-facing surface  92 . Here, when the fifth laser displacement gauge  557  measures the distance By to the laterally-facing surface  92  of the reflection member  93 , the forks  22  are lowered according to necessity, and the fifth laser displacement gauge  557  of the palette for adjustment  50 C faces the reflection member  93 . 
     In addition, in step S 34 , the data of the distances Bx 1  and Bx 2  to the forward surface  91  and the distance By to the laterally-facing surface  92  detected by the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  are transmitted to the system controller  3 C by the data transmission part  56 C as the relative position information. In the system controller  3 C, the input part  311  receives the data of the distances Bx 1 , Bx 2  and By as the relative position information. In the system controller  3 C, the calculation part  314  calculates the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  at the home position on the basis of the distances Bx 1 , Bx 2  and By. In addition, when the forks  22  are tilted and the forks  22  are inclined diagonally upward toward tips thereof, the forks  22  are returned to horizontal. 
     In step S 35  of moving the unmanned forklift  2  to the palette placing part S, the unmanned forklift  2  holding the palette for adjustment  50 C loaded at the home position is moved to the palette placing part S set on perform the initial setting first, among the plurality of palette placing parts S set on the plurality of rack structures  100  in the facility. For this, the position coordinates of the palette placing part S are transmitted to the unmanned forklift  2  as the destination according to the order from the system controller  3 C. The unmanned forklift  2  moves toward the palette placing part S of the destination along the route R in a state in which the palette for adjustment  50 C is placed on the forks  22 . 
     In step S 36  of placing the palette for adjustment  50 C on the palette placing part S, the palette for adjustment  50 C is placed (unloaded) on the palette placing part S of the object that performs the initial setting. For this, the orientation of the unmanned forklift  2  arrived at the palette placing part S of the destination is changed to face the palette placing part S. Then, the unmanned forklift  2  raises and lowers the forks  22 , and matches the palette for adjustment  50 C loaded on the forks  22  with the palette placing part S of the destination. The unmanned forklift  2  advances toward the second side from the first side Dx 1  (the side of the route R) in the first direction Dx, and the loaded palette for adjustment  50 C is placed on the palette placing part S at the position coordinates of the palette placing part S of the destination. 
     In step S 37  of acquiring the shift amount of the palette for adjustment  50 C with respect to the palette placing part S, the plurality of laser displacement gauges  55 C of the position information acquisition part  53 C acquire relative position information between the loaded palette for adjustment  50 C and the rack structure  100 . For this, first, as shown in  FIG.  15   , the first laser displacement gauge  551  detects the distance L 11  to the reflection part  105  provided on the front column  102 F. Further, when reflection from the reflection part  105  cannot be detected by the first laser displacement gauge  551 , the second laser displacement gauge  552  or the intermediate laser displacement gauge  553  may detect a distance to the reflection part  105  disposed on the rear column  102 R or the front column  102 F by detecting the reflection from the reflection part  105 . 
     In addition, the third laser displacement gauges  554  and  555  detect the distances L 12  and L 13  to the reflection part  105  provided on the rear beam member  103 R. In step S 37 , the position information acquisition part  53 C measures the distances L 11 , L 12  and L 13  to the rack structure  100  on which the palette for adjustment  50 C is placed as the relative position information in a non-contact manner. 
     In addition, in step S 37 , data of the distances L 11 , L 12  and L 13  detected by the first laser displacement gauge  551  and the third laser displacement gauges  554  and  555  are transmitted to the system controller  3 C by the data transmission part  56 C as the relative position information. In the system controller  3 C, the input part  311  receives data of the distances L 11 , L 12  and L 13  as the relative position information. 
     In step S 37  of acquiring the shift amount of the palette for adjustment  50 C with respect to the palette placing part S, like the first embodiment, the calculation part  314  acquires (detects) the shift amount of the palette for adjustment  50 C placed on the rack structure  100  with respect to the palette placing part S based on the relative position information acquired by the position information acquisition part  53 C. 
     In step S 38  of loading the palette for adjustment  50 C from the palette placing part S, the palette for adjustment  50 C placed on the palette placing part S is loaded on the forks  22  of the unmanned forklift  2 . When the palette for adjustment  50 C is loaded, the first palette sensor  27 A and the second palette sensor  27 B are pushed in by the palette for adjustment  50 C, the first palette sensor  27 A and the second palette sensor  27 B transmit the signal showing that the palette for adjustment  50 C is detected to the displacement gage controller  58  through wireless communication. Then, the displacement gage controller  58  executes step S 39 . 
     In step S 39  of acquiring the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 , like step S 34 , the displacement gage controller  58  operates the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557 , and measures a position shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  when loaded by the palette placing part S. The fourth laser displacement gauge  556  measures the distances Bx 1  and Bx 2  to the forward surfaces  91  of the forks  22  by radiating the laser to the forward surfaces  91 . The fifth laser displacement gauge  557  measures the distance By to the laterally-facing surface  92  of the reflection member  93 . The shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  is acquired from the distances Bx 1  and Bx 2  to the forward surface  91  and the distance By to the laterally-facing surface  92 . 
     Here, the fifth laser displacement gauge  557  lowers the forks  22  according to necessity and causes the fifth laser displacement gauge  557  of the palette for adjustment  50 C to face the reflection member  93  when the distance By to the laterally-facing surface  92  of the reflection member  93  is measured. In addition, in step S 39 , data of the distances Bx 1  and Bx 2  to the forward surface  91  and the distance By to the laterally-facing surface  92  detected by the fourth laser displacement gauge  556  and the fifth laser displacement gauge  557  are transmitted to the system controller  3 C by the data transmission part  56 C as the relative position information. In the system controller  3 C, the input part  311  receives data of the distances Bx 1 , Bx 2  and By as the relative position information. In the system controller  3 C, the calculation part  314  calculates the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  in the palette placing part S on the basis of the distances Bx 1 , Bx 2  and By. 
     Next, it is checked whether acquisition of the shift amount in all the palette placing parts S is terminated (step S 40 ). As a result, when acquisition of the shift amount in all the palette placing parts S has been completed, the processing returns to step S 35 , and moves to the palette placing part S of the object that performs the initial setting next. Here, the unmanned forklift  2  may move to the palette placing part S of the object that performs the initial setting next without returning to the home position. 
     Meanwhile, in step S 40 , when the acquisition of the shift amount in all the palette placing parts S is terminated, the processing shifts to step S 41 . 
     In step S 41  of correcting the operation program of the unmanned forklift, the operation program of the unmanned forklift  2  is corrected based on the shift amount calculated at each loading position and each unloading position. In step S 41 , the position coordinates of the unmanned forklift  2 , the position coordinates of the palette placing part S, and the like, are corrected in the operation program of the unmanned forklift  2  based on the data of the calculated shift amount at each loading position and each unloading position. Here, in correction of the position coordinates of the palette placing part S in the operation program of the unmanned forklift  2 , the program of the system controller  3 C may be automatically performed, and the operator of the system controller  3 C may manually input a numerical value or the like to correct the position coordinates of the palette placing part S. In addition, a numerical value where the shift amount is 0 may be input, or the shift amount may be separately stored to correct the value during control. 
     (Effects) 
     In the initial setting method S 30  of the unmanned forklift  2  having the above-mentioned configuration, the palette for adjustment  50 C is actually loaded by the unmanned forklift  2 , and relative position information between the loaded palette for adjustment  50 C and the unmanned forklift  2  is acquired by the position information acquisition part  53 C. The shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  is calculated on the basis of the acquired relative position information. Accordingly, it is possible to grasp the shift amount when the palette is loaded by the unmanned forklift  2 . The initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. 
     In addition, as the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 , the shift amount of the unmanned forklift  2  with respect to the palette for adjustment  50 C in the advance/retreat direction and the shift amount of the unmanned forklift  2  in the widthwise direction crossing the advance/retreat direction in the horizontal plane are calculated. 
     Accordingly, it is possible to acquire the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  in the horizontal plane. 
     In addition, relative position information between the palette for adjustment  50 C and the unmanned forklift  2  can be acquired by measuring the distances Bx 1 , Bx 2  and By to the unmanned forklift-side reference position display part  90  set on the unmanned forklift  2 . 
     In addition, relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the advance/retreat direction of the unmanned forklift  2  can be acquired by setting the unmanned forklift-side reference position display part  90  on the forward surfaces  91  of the forks  22  and measuring the distances Bx 1  and Bx 2  to the unmanned forklift-side reference position display part  90  set on the unmanned forklift  2 . 
     Further, relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the widthwise direction of the unmanned forklift  2  can be acquired by setting the unmanned forklift-side reference position display part  90  on the reflection member  93  having the laterally-facing surface  92  provided on the forklift main body  21  of the unmanned forklift  2  and facing in the widthwise direction. 
     In addition, the position information acquisition part  53 C acquires relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . Accordingly, the position information acquisition part  53 C can acquire relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . Accordingly, it is possible to grasp the shift amount when the palette is loaded by the unmanned forklift  2 . The initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. 
     In addition, since the distances Bx 1  and Bx 2  to the forward surfaces  91  of the forks  22  are measured by the fourth laser displacement gauge  556 , relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the advance/retreat direction of the unmanned forklift  2  can be acquired. In addition, since a distance Dy to the reflection member  93  having the laterally-facing surface  92  of the unmanned forklift  2  is measured by the fifth laser displacement gauge  557 , relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the widthwise direction of the unmanned forklift  2  can be acquired. Accordingly, it is possible to acquire the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  in the horizontal plane. 
     In the adjustment system  10 C of the above-mentioned unmanned forklift  2 , the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  is calculated based on the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  acquired by the position information acquisition part  53 C. 
     Accordingly, it is possible to grasp the shift amount when the palette is loaded by the unmanned forklift  2 . The initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. 
     In addition, the unmanned forklift  2  includes the palette sensors  27  configured to detect that the palette for adjustment  50 C was loaded, and starts acquisition of relative position information between the palette for adjustment  50 C and the unmanned forklift  2  when the palette sensors  27  detect that the palette for adjustment  50 C was loaded. 
     Accordingly, when the palette sensors  27  detect that the palette for adjustment  50 C was loaded, acquisition of the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  can be automatically started. 
     In addition, like the embodiment, when the unmanned forklift  2  is introduced in the facility, the palette for adjustment  50 C is actually placed on the palette placing part S of the rack structure  100  by the unmanned forklift  2 . Relative position information between the loaded palette for adjustment  50 C and the rack structure  100  on the palette placing part S is acquired by the position information acquisition part  53 C. The shift amount of the palette for adjustment  50 C with respect to the palette placing part S is calculated on the basis of the acquired relative position information. Accordingly, it is possible to grasp the shift amount when the palette  5  on which articles are loaded by the unmanned forklift  2  is placed on the palette placing part S of the rack structure  100 . The initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. In addition, since the position information acquisition part  53 C is provided in the palette for adjustment  50 C, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect the shift amount of the palette for adjustment  50 C on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     Other Embodiments 
     Hereinabove, while the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, a specific configuration is not limited to the embodiment and also includes design changes without departing from the spirit of the present disclosure. 
     Further, in the embodiment, in steps S 14  and S 24 , while data of the calculated shift amount are output to the system controller  3  through wireless communication, there is no limitation thereto. For example, the operation program of the unmanned forklift  2  may be corrected by manually inputting the data of the shift amount calculated by the processing terminal  60 A or  60 B into the system controller  3  by the operator. 
     In addition, in the first or second embodiment, it is possible to provide a configuration in which the processing terminal  60 A or  60 B and the system controller  3  are integrated. 
     In addition, while the configuration in which the plurality of laser displacement gauges  55  are included as the position information acquisition part  53 A or  53 C has been provided in the first or third embodiment, an installation number and an installation position thereof may be appropriately changed. In addition, while the configuration in which the camera  57  is included as the position information acquisition part  53 B has been provided in the second embodiment, an installation position thereof may be appropriately changed as long as the reference position display part M can be photographed. 
     While the configuration in which the marks M 1  and M 2  are included as the reference position display part M has been provided in the embodiment, a shape, a size, a number, disposition, or the like, thereof may be appropriately changed. For example, a specific area of the rack structure  100  having a fixed positional relation with respect to each of the palette placing parts S (for example, a bonding area or the like between the columns  102  and the beam members  103 ) can be employed as the reference position display part M without attaching the marks M 1  and M 2  and the like as the reference position display part M. 
     &lt;Supplementary Statements&gt; 
     The initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2 , the palettes for adjustment  50 A to  50 C and the adjustment system of the unmanned forklift  2  according to the embodiments are grasped, for example, as follows. 
     (1) The initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2  according to a first aspect is the initial setting method S 11 , S 21  or S 30  when the unmanned forklift  2  is introduced in the facility including the rack structure  100 , the method including: step S 12 , S 22  or S 36  of placing the palettes for adjustment  50 A to  50 C on the palette placing parts S of the rack structure  100  using the unmanned forklift  2  on the basis of a preset operation program, step S 13  or S 23  of acquiring relative position information between the palettes for adjustment  50 A to  50 C and the rack structure  100  using the position information acquisition parts  53 A and  53 C included in the palettes for adjustment  50 A to  50 C, and step S 14  or S 24  of calculating the shift amount of the palettes for adjustment  50 A to  50 C loaded on the rack structure  100  with respect to the palette placing parts S on the basis of the relative position information. 
     As an example of the facility, a warehouse, a factory, a commercial facility, a freight handling facility, or the like, are exemplary examples. 
     In the initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2 , when the unmanned forklift  2  is introduced in the facility including the rack structure  100 , the palettes for adjustment  50 A to  50 C are actually placed on the palette placing parts S of the rack structure  100  by the unmanned forklift  2 . Relative position information between the loaded palettes for adjustment  50 A to  50 C on the palette placing parts S and the rack structure  100  is acquired by the position information acquisition part  53 A. The shift amount of the palettes for adjustment  50 A to  50 C with respect to the palette placing parts S is calculated on the basis of the acquired relative position information. Accordingly, it is possible to grasp the shift amount when the palette on which articles are loaded is placed on the palette placing parts S of the rack structure  100  by the unmanned forklift  2 . Initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed by correcting an operation program of the unmanned forklift  2  on the basis of the grasped shift amount. In addition, since the position information acquisition parts  53 A to  53 C are provided on the palettes for adjustment  50 A to  50 C, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect shift amounts of the palettes for adjustment  50 A to  50 C on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     (2) The initial setting method S 11  or S 30  of the unmanned forklift  2  according to a second aspect is the initial setting method S 11  or S 30  of the unmanned forklift  2  of the above-mentioned (1), in steps S 13  or S 37  of acquiring position information, a distance to the rack structure  100  on which the palette for adjustment  50 A or  50 C is placed may be measured by the position information acquisition part  53 A or  53 C as relative position information in a non-contact manner. 
     Accordingly, the distance to the rack structure  100  is measured by the position information acquisition part  53 A or  53 C as the relative position information in a non-contact manner. Accordingly, the relative position information can be easily and rapidly acquired. 
     As the example in which the distance to the rack structure  100  is measured by the position information acquisition part  53 A or  53 C in a non-contact manner, the laser displacement gauge  55  configured to measure the distance to the rack structure  100  by radiating a laser to the rack structure  100  or a distance measuring device using ultrasonic waves, infrared light, or the like, is an exemplary example. 
     (3) The initial setting method S 11  or S 30  of the unmanned forklift  2  according to a third aspect is the initial setting method S 11  or S 30  of the unmanned forklift  2  of the above-mentioned (2), in the calculating step S 14 , the shift amount ΔX in the first direction Dx along the advance/retreat direction of the unmanned forklift  2  with respect to the rack structure  100  and the shift amount ΔY in the second direction Dy crossing the first direction Dx in the horizontal plane may be calculated as the shift amounts. 
     Accordingly, it is possible to acquire the shift amounts ΔX and ΔY of the palette for adjustment  50 A or  50 C with respect to the palette placing part S in the horizontal plane. 
     (4) The initial setting method S 11  or S 30  of the unmanned forklift  2  according to a fourth aspect is the initial setting method S 11  or S 30  of the unmanned forklift  2  of the above-mentioned (3), in the calculating step S 14  or S 37 , the shift amount Δθ in the rotation direction Dc around the vertical axis may be further calculated as the shift amount. 
     Accordingly, the shift amount Δθ of the palette for adjustment  50 A or  50 C in the rotation direction Dc around the vertical axis with respect to the palette placing part S can be acquired. The operation program of the unmanned forklift  2  can be more accurately corrected by acquiring the shift amount Δθ in the rotation direction Dc, in addition to the shift amounts ΔX and ΔY in the horizontal plane. 
     (5) The initial setting method S 21  of the unmanned forklift  2  according to a fifth aspect is the initial setting method S 21  of the unmanned forklift  2  of the above-mentioned (1), in step S 23  of acquiring the position information, the position information acquisition part  53 B photographs the image  300  including the reference position display part M showing the rack-side reference position in the rack structure  100  set on the rack structure  100  as the relative position information, and in the calculating step S 24 , the shift amounts of the rack-side reference position Q 2  in the image  300  with respect to the palette-side reference position Pt set on the palette for adjustment  50 B on the basis of the relative position information may be calculated. 
     Accordingly, since the position information acquisition part  53 B photographs the image  300  including the reference position display part M set on the rack structure  100  as the relative position information, the shift amount of the rack-side reference position Q 2  in the image  300  with respect to the palette-side reference position Pt set on the palette for adjustment  50 B can be calculated. 
     (6) The initial setting method S 21  of the unmanned forklift  2  according to a sixth aspect is the initial setting method S 21  of the unmanned forklift  2  of the above-mentioned (5), in step S 23  of acquiring the position information, the image  300  including a mark installed on the rack structure  100  as the reference position display part M is photographed, and in the calculating step S 24 , a shift amount ΔX in a first direction Dx along an advance/retreat direction of the unmanned forklift  2  with respect to the rack structure  100 , and a shift amount ΔY in a second direction Dy crossing the first direction Dx in a horizontal plane may be calculated as the shift amounts. 
     Accordingly, since the marks M 1  and M 2  are set on the rack structure  100  as the reference position display part M, the shift amount of the palette for adjustment  50 B with respect to the palette placing part S in the horizontal plane can be acquired. 
     (7) The initial setting method S 21  of the unmanned forklift  2  according to a seventh aspect is the initial setting method S 21  of the unmanned forklift  2  of the above-mentioned (6), in step S 23  of acquiring the relative position information, the plurality of marks M 1  and M 2  set on the rack structure  100  are photographed, and in the calculating step S 24 , a shift amount Δθc in a rotation direction Dc around a vertical axis may be further calculated based on a positional relation between the palette-side reference position Pt and the plurality of marks M 1  and M 2 . 
     Accordingly, since the plurality of marks M 1  and M 2  are set on the rack structure  100  as the reference position display part M, in addition to the shift amount of the palette for adjustment  50 B with respect to the palette placing part S in the horizontal plane, the shift amount Δθc in the rotation direction Dc can be acquired. Accordingly, the operation program of the unmanned forklift  2  can be more accurately corrected. 
     (8) The initial setting method S 30  of the unmanned forklift  2  according to an eighth aspect is the initial setting method S 30  of the unmanned forklift  2  of any one of the above-mentioned (1) to (7), the method may further including step S 33  or S 38  of loading the palette for adjustment  50 C on the unmanned forklift  2  on the basis of a preset operation program, step S 34  or S 39  of acquiring relative position information between the palette for adjustment  50 C and the unmanned forklift  2  using the position information acquisition part  53 C provided in the palette for adjustment  50 C, and step S 34  or S 39  of calculating the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  on the basis of the relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . 
     In this way, the palette for adjustment  50 C is actually loaded by the unmanned forklift  2 , and the relative position information between the loaded palette for adjustment  50 C and the unmanned forklift  2  is acquired by the position information acquisition part  53 C. The shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  is calculated on the basis of the acquired relative position information. Accordingly, the shift amount when the palette  5  is loaded by the unmanned forklift  2  can be grasped. Since the operation program of the unmanned forklift  2  is corrected on the basis of the grasped shift amount, the initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed. 
     (9) The initial setting method S 30  of the unmanned forklift  2  according to a ninth aspect is the initial setting method S 30  of the unmanned forklift  2  of the above-mentioned (8), in step S 34  or S 39  of calculating the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2 , the shift amount of the unmanned forklift  2  with respect to the palette for adjustment  50 C in the advance/retreat direction and the shift amount of the unmanned forklift  2  in the widthwise direction crossing the advance/retreat direction in the horizontal plane may be calculated. 
     Accordingly, the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  in the horizontal plane can be acquired. 
     (10) The initial setting method S 30  of the unmanned forklift  2  according to a tenth aspect is the initial setting method S 30  of the unmanned forklift  2  of the above-mentioned (8) or (9), in step S 34  or S 37  of acquiring the relative position information between the palette for adjustment  50 C and the unmanned forklift  2 , the position information acquisition part  53 C may measures the distances Bx 1 , Bx 2  and By to the unmanned forklift-side reference position display part  90  showing the unmanned forklift-side reference position in the unmanned forklift  2  set on the unmanned forklift  2  as the relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . 
     Accordingly, the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  can be acquired by measuring the distances Bx 1 , Bx 2  and By to the unmanned forklift-side reference position display part  90  set on the unmanned forklift  2 . 
     (11) The initial setting method S 30  of the unmanned forklift  2  according to an eleventh aspect is the initial setting method S 30  of the unmanned forklift  2  of the above-mentioned (10), the unmanned forklift-side reference position display part  90  is provided to rise and lower in the unmanned forklift  2  with respect to the forklift main body  21  in the upward/downward direction, and may set on the forward surfaces  91  of the forks  22  supporting the palette for adjustment  50 C, which face forward in the advance/retreat direction of the unmanned forklift  2 . 
     Accordingly, the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the advance/retreat direction of the unmanned forklift  2  can be acquired by setting the unmanned forklift-side reference position display part  90  to the forward surfaces  91  of the forks  22  and measuring the distances Bx 1  and Bx 2  to the unmanned forklift-side reference position display part  90  set on the unmanned forklift  2 . 
     (12) The initial setting method S 30  of the unmanned forklift  2  according to a twelfth aspect is the initial setting method S 30  of the unmanned forklift  2  of the above-mentioned (10) or (11), the unmanned forklift-side reference position display part  90  is provided on the forklift main body  21  of the unmanned forklift  2 , and may set on the reflection member  93  having the laterally-facing surface  92  facing the widthwise direction. 
     Accordingly, the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the widthwise direction of the unmanned forklift  2  can be acquired by setting the unmanned forklift-side reference position display part  90  to the reflection member  93  having the laterally-facing surface  92  provided on the forklift main body  21  of the unmanned forklift  2  and facing the widthwise direction and measuring the distance By to unmanned forklift-side reference position display part  90  set on the unmanned forklift  2 . 
     (13) The initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2  according to a thirteenth aspect is the initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2  of any one of the above-mentioned (1) to (12), the method may further including step S 15 , S 25  or S 41  of correcting the operation program of the unmanned forklift  2  on the basis of the calculated shift amount. 
     Accordingly, the operation program of the unmanned forklift  2  is corrected on the basis of the shift amount of the calculated palettes for adjustment  50 A to  50 C with respect to the palette placing parts S, and after correction, the palette can be unloaded on the palette placing parts S with high accuracy by the unmanned forklift  2  operated on the basis of the operation program. 
     (14) The palette for adjustment  50 A according to a fourteenth aspect is the palettes for adjustment  50 A to  50 C used in the initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2  of any one of the above-mentioned (1) to (13), the palette for adjustment  50 A including the palette main body  51 A that is able to be supported by the forks  22  of the unmanned forklift  2  and placed on the rack structure  100 , and the position information acquisition parts  53 A to  53 C provided on the palette main body  51 A and configured to acquire relative position information with the rack structure  100  on which the palettes for adjustment  50 A to  50 C are placed. 
     The initial setting method S 11 , S 21  or S 30  of the unmanned forklift  2  can be performed using the palettes for adjustment  50 A to  50 C. Since the position information acquisition parts  53 A to  53 C are provided on the palettes for adjustment  50 A to  50 C, in each of the plurality of palette placing parts S set on the rack structure  100 , there is no need to provide a sensor or the like configured to detect the shift amount to the palettes for adjustment  50 A to  50 C on the side of the rack structure  100 . Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     (15) The palette for adjustment  50 A or  50 C according to a fifteenth aspect is the palette for adjustment  50 A or  50 C of the above-mentioned (14), the position information acquisition part  53 A or  53 C may includes the laser displacement gauge  55  configured to measure a distance to the rack structure  100  by radiating a laser to the rack structure  100 . 
     Accordingly, the laser displacement gauge  55  can measure the distance to the rack structure  100  as the relative position information in a non-contact manner. Accordingly, the relative position information can be easily and rapidly acquired. 
     (16) The palette for adjustment  50 A or  50 C according to a sixteenth aspect is the palette for adjustment  50 A or  50 C of the above-mentioned (15), the position information acquisition part  53 A or  53 C may including the first laser displacement gauge  551  disposed on the first side Dx 1  in the first direction Dx along the advance/retreat direction of the unmanned forklift  2  with respect to the rack structure  100  and configured to detect a part of the rack structure  100  located in the second direction Dy crossing the first direction Dx in the horizontal plane with respect to the palette main body  51 A, and the second laser displacement gauge  552  disposed on the second side Dx 2  in the first direction Dx and configured to detect another part of the rack structure  100  located in the second direction Dy with respect to the palette main body  51 A. 
     In the palette for adjustment  50 A, the part of the rack structure  100  is detected by the first laser displacement gauge  551  disposed on the first side Dx 1  in the first direction Dx, and the other part of the rack structure  100  is detected by the second laser displacement gauge  552  disposed on the second side Dx 2  in the first direction Dx. Accordingly, a position of the palette for adjustment  50 A or  50 C in the first direction Dx with respect to the rack structure  100  can be acquired as the relative position information on the basis of the detection result in the first laser displacement gauge  551  and the second laser displacement gauge  552 . 
     (17) The palette for adjustment  50 A or  50 C according to a seventeenth aspect is the palette for adjustment  50 A or SOC of the above-mentioned (16), the first laser displacement gauge  551  and the second laser displacement gauge  552  are provided on both sides of the palette main body  51 A in the second direction Dy, respectively, and each of the first laser displacement gauge  551  and the second laser displacement gauge  552  may be able to detect whether there is the rack structure  100  only within the range of a determined distance. 
     Accordingly, since the first laser displacement gauge  551  and the second laser displacement gauge  552  are provided on both sides in the second direction Dy, relative position information of the palette main body  51 A with respect to the rack structure  100  can be acquired on both sides in the second direction Dy. Here, each of the first laser displacement gauge  551  and the second laser displacement gauge  552  can detect whether there is the rack structure  100  only within the range of the determined distance. That is, when the distance between the first laser displacement gauge  551  or the second laser displacement gauge  552  and the rack structure  100  is within the range where whether there is the rack structure  100  can be detected by the first laser displacement gauge  551  and the second laser displacement gauge  552  in both sides in the second direction Dy, the relative position information between the palette for adjustment  50 A or  50 C and the rack structure  100  can be acquired. In the case in which an interval between the members that constitute the rack structure  100  located on both sides in the second direction Dy is large, when the palette for adjustment  50 A or  50 C is placed on the palette placing part S on the first side Dy 1  in the second direction Dy, the first laser displacement gauge  551  and the second laser displacement gauge  552  disposed on the first side Dy 1  in the second direction Dy detects the member of the rack structure  100  on the first side Dy 1  in the second direction Dy. In addition, when the palette for adjustment  50 A or  50 C is placed on the palette placing part S on the second side Dy 2  in the second direction Dy, the member of the rack structure  100  on the second side Dy 2  in the second direction Dy is detected by the first laser displacement gauge  551  and the second laser displacement gauge  552  disposed on the second side Dy 2  in the second direction Dy. In this way, the shift amount of the palette for adjustment  50 A or  50 C in both of the palette placing part S on the first side Dy 1  in the second direction Dy and the palette placing part S on the second side Dy 2  in the second direction Dy can be acquired by the palette for adjustment  50 A or  50 C. 
     (18) The palette for adjustment  50 A or  50 C according to an eighteenth aspect is the palette for adjustment  50 A of the above-mentioned (17), the position information acquisition part  53 A or  53 C may further including the third laser displacement gauge  555  configured to emit a laser toward the second side Dx 2  in the first direction Dx along the advance/retreat direction of the unmanned forklift  2  with respect to the rack structure  100 . 
     In the palette for adjustment  50 A or  50 C, the third laser displacement gauge  555  emits a laser toward the second side Dx 2  in the first direction Dx along the advance/retreat direction of the unmanned forklift  2 . Accordingly, whether there is the member of the rack structure  100  located diagonally below the second side Dx 2  of the palette for adjustment  50 A or  50 C in the first direction Dx can be detected by the third laser displacement gauge  555 . Accordingly, relative position information of the rack structure  100  with respect to the member of the rack structure  100  located diagonally below the second side Dx 2  of the palette for adjustment  50 A or  50 C in the first direction Dx can be acquired. 
     (19) The palette for adjustment  50 B according to a nineteenth aspect is the palette for adjustment  50 B of the above-mentioned (14), the position information acquisition part  53 B may including the camera  57  configured to photograph the marks M 1  and M 2  set on the rack structure  100 . 
     Accordingly, since the camera  57  of the position information acquisition part  53 A photographs the image  300  including the marks M 1  and M 2 , the shift amount of the palette for adjustment  50 B with respect to the palette placing part S can be acquired. 
     (20) The palette for adjustment  50 C according to a twentieth aspect is the palette for adjustment  50 C of any one of the above-mentioned (14) to (19), the position information acquisition part  53 C may acquires relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . 
     Accordingly, the position information acquisition part  53 C can acquire the relative position information between the palette for adjustment  50 C and the unmanned forklift  2 . Accordingly, the shift amount when the palette is loaded by the unmanned forklift  2  can be grasped. Since the operation program of the unmanned forklift  2  is corrected on the basis of the grasped shift amount, the initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed. 
     (21) The palette for adjustment  50 C according to a twenty first aspect is the palette for adjustment  50 C of the above-mentioned (20), the position information acquisition part  53 C may including the fourth laser displacement gauge  556  configured to measure a distance to the forward surfaces  91  of the forks  22  facing forward in the advance/retreat direction of the unmanned forklift  2 , and the fifth laser displacement gauge  557  provided on the forklift main body  21  of the unmanned forklift  2  and configured to measure a distance to the reflection member  93  having the laterally-facing surface  92  facing the widthwise direction, while being supported on the forks  22  of the unmanned forklift  2 . 
     Accordingly, since the fourth laser displacement gauge  556  measures the distance to the forward surfaces  91  of the forks  22 , the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the advance/retreat direction of the unmanned forklift  2  can be acquired. In addition, since the fifth laser displacement gauge  557  measures the distance to the reflection member  93  having the laterally-facing surface  92  of the unmanned forklift  2 , the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  in the widthwise direction of the unmanned forklift  2  can be acquired. Accordingly, the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  in the horizontal plane can be acquired. 
     (22) The adjustment systems  10 A to  10 C of the unmanned forklift  2  according to a twenty second aspect include the palettes for adjustment  50 A to  50 C of any one of the above-mentioned (14) to (21), and the calculation part  72 A,  72 B or  314  configured to calculate the shift amount of the palettes for adjustment  50 A to  50 C loaded on the rack structure  100  with respect to the palette placing part S based on the relative position information acquired by the position information acquisition parts  53 A to  53 C. 
     The adjustment system of the unmanned forklift  2  can calculate the shift amount of the palettes for adjustment  50 A to  50 C loaded on the rack structure  100  with respect to the palette placing parts S using the calculation part  72 A,  72 B or  314  based on the relative position information between the palettes for adjustment  50 A to  50 C and the rack structure  100  acquired by the position information acquisition parts  53 A to  53 C of the palettes for adjustment  50 A to  50 C. Accordingly, the introduction of the unmanned forklift  2  can be easily performed, and time and costs required for test traveling before the official operation can be suppressed. 
     (23) The adjustment system  10 C of the unmanned forklift  2  according to a twenty third aspect is the adjustment system  10 C of the unmanned forklift  2  of the above-mentioned (22), the calculation part  314  may calculating the shift amount of the palette for adjustment  50 C with respect to the unmanned forklift  2  based on the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  acquired by the position information acquisition part  53 C. 
     Accordingly, the shift amount when the palette is loaded by the unmanned forklift  2  can be grasped. The initial setting when the unmanned forklift  2  is introduced in the facility can be easily performed by correcting the operation program of the unmanned forklift  2  on the basis of the grasped shift amount. 
     (24) The adjustment system  10 C of the unmanned forklift  2  according to a twenty fourth aspect is the adjustment system  10 C of the unmanned forklift  2  of the above-mentioned (23), the unmanned forklift  2  includes the palette sensors  27  configured to detect that the palette for adjustment  50 C was loaded, and the palette sensors  27  may start acquisition of the relative position information between the palette for adjustment  50 C and the unmanned forklift  2  when it is detected that the palette for adjustment  50 C was loaded. 
     Accordingly, when the palette sensors  27  detect that the palette for adjustment  50 C was loaded, acquisition of the relative position information between the palette for adjustment SOC and the unmanned forklift  2  can be automatically started. 
     While preferred embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit or scope of the present invention. Accordingly, the invention is not to be considered as being limited by the foregoing description, and is only limited by the scope of the appended claims. 
     EXPLANATION OF REFERENCES 
     
         
         
           
               1  Automated guided forklift system 
               2  Unmanned forklift 
               3 ,  3 C System controller 
               10 A to  10 C Adjustment system 
               21  Forklift main body 
               21   s  Straddle leg 
               22  Fork 
               23  Forklift control part 
               27 A First palette sensor (palette sensor) 
               27 B Second palette sensor (palette sensor) 
               50 A to  50 C Palette for adjustment 
               51 A,  51 B Palette main body 
               51   k  Cutout concave portion 
               52  Insertion hole 
               53 A to  53 C Position information acquisition part 
               55 ,  55 C Laser displacement gauge 
               551  First laser displacement gauge 
               552  Second laser displacement gauge 
               553  Intermediate laser displacement gauge 
               554 ,  555  Third laser displacement gauge 
               556  Fourth laser displacement gauge 
               557  Fifth laser displacement gauge 
               56 ,  56 C Data transmission part 
               57  Camera 
               58  Displacement gage controller 
               59  Support member 
               60 A,  60 B Processing terminal 
               61 ,  301  CPU 
               62 ,  302  ROM 
               63 ,  303  RAM 
               64 ,  304  Storage device 
               65 ,  305  Signal transmission and reception module 
               71  Input part 
               72 A,  72 B Calculation part 
               73  Output part 
               90  Unmanned forklift-side reference position display part 
               91  Forward surface 
               92  Laterally-facing surface 
               93  Reflection member 
               100  Rack structure 
               100   b  Lower layer portion 
               100   m  Middle layer portion 
               100   t  Upper layer portion 
               102  Column 
               102 F Front column 
               102 R Rear column 
               103  Beam member 
               103 F Front beam member 
               103 R Rear beam member 
               103 S Side beam member 
               105  Reflection part 
               200  Palette position adjusting stand 
               201  Adjusting table main body 
               202  Spherical roller 
               300  Image 
             Dc Rotation direction 
             Dc Circumferential direction 
             Dv Upward/downward direction 
             Dx First direction 
             Dx 1  First side 
             Dx 2  Second side 
             Dy Second direction 
             Dy 1  First side 
             Dy 2  Second side 
             F Floor surface 
             Bx 1 , Bx 2 , By Distance 
             L 11  Distance 
             L 12  Distance 
             L 13  Distance 
             M Reference position display part 
             M 1  Mark 
             M 2  Mark 
             Ps, Pt Palette-side reference position 
             Q 1 , Q 2  Rack-side reference position 
             R Route 
             S, SL, SR Palette placing part 
             S 11 , S 21 , S 30  Initial setting method of unmanned forklift 
             S 12 , S 22  Step of placing palette for adjustment on palette placing part 
             S 13 , S 23  Step of acquiring relative position information 
             S 14 , S 24  Step of calculating shift amount with respect to palette placing part of palette for adjustment 
             S 15 , S 25  Step of correcting operation program of unmanned forklift 
             S 31  Step of performing advance preparation 
             S 32  Step of moving unmanned forklift to home position 
             S 33  Step of loading palette for adjustment 
             S 34  Step of acquiring shift amount of palette for adjustment with respect to unmanned forklift 
             S 35  Step of moving unmanned forklift to palette placing part 
             S 36  Step of placing palette for adjustment on palette placing part 
             S 37  Step of acquiring shift amount with respect to palette placing part of palette for adjustment 
             S 38  Step of loading palette for adjustment from palette placing part 
             S 39  Step of acquiring shift amount of palette for adjustment with respect to unmanned forklift 
             S 40  Step of confirming whether acquisition of shift amount is terminated in all palette placing parts 
             S 41  Step of correcting operation program of unmanned forklift 
             ΔX Shift amount in first direction 
             ΔY Shift amount in second direction 
             Δθ, Δθc Shift amount in rotation direction