AUTOMATED WAREHOUSE

摘要

In an automated warehouse (1), a first stacker crane (3A) and a second stacker crane (3B) can pass each other by vertically shifting transferring units (32) thereof. A first crane controller (47A) and a second crane controller (47B) each search two minimum time paths to be selected before starting the movement of the transferring units (32). The two minimum time paths are selected from a plurality of paths between a starting position (91) and a target position (93) (a first path (81), a second path (82), a third path (83), and a fourth path (84)). The time to start traveling or lifting, which requires less time, is the earliest in a first path, and the time is the latest in a second path.