Method for controlling storage/retrieval device in flat storage facility

A method for controlling a storage/retrieval device in a flat storage facility which includes a rectangular storage item placement plane and a storage/retrieval device and in which the storage/retrieval device includes:

• a Y-direction laterally moving member that has a length corresponding to a width of the storage item placement plane in a lateral X direction and that is freely moved laterally in a forward/backward Y direction of the storage item placement plane;
• a carriage that is supported on the Y-direction laterally moving member so as to be freely moved in the lateral X direction;
• and a storage item gripping means that is supported on the carriage so as to be freely raised and lowered, and the storage/retrieval device is configured so as to be able to store and retrieve a storage item gripped by the storage item gripping means with respect to respective storage item placement points set on the storage item placement plane by the movement of the Y-direction laterally moving member in the forward/backward Y direction, the movement of the carriage in the lateral X direction, and the raising/lowering movement of the storage item gripping means, the method comprising:
• control being performed by determining downward flexural deformation distances of the Y-direction laterally moving member between end portions thereof in the lateral X direction;
• setting lowering distance adjustment values of the storage item gripping means for the storage item placement points based on the downward flexural deformation distances;
• and
• reducing lowering distances of the storage item gripping means by the lowering distance adjustment values.