Article storage facility

A storage facility comprising:

• a transport device that transports a container;
• and
• a control device controlling the transport device, the article storage facility configured for placing and storing a container group that includes a plurality of containers in a stacked state on a placement surface that constitutes a storage location,
• wherein:
• the control device comprises a storage unit, and
• the storage unit stores:
• coordinate information that indicates an actual position of each of a plurality of points on the placement surface in an X direction, a Y direction, and a Z direction;
• bottom surface dimension information that indicates dimensions of the bottom surface of each container in the X direction and the Y direction;
• height dimension information that indicates a height of each container in the Z direction;
• container group position information that indicates the position of the container group in the X direction and the Y direction on the placement surface;
• and
• tier number information that indicates the number of tiers that is the number of containers included in the container group,
• wherein the X direction and the Y direction are directions that are parallel with a reference surface that is an ideal surface constituted by the placement surface and are orthogonal to each other, and the Z direction is a direction that is orthogonal to the reference surface,
• wherein the transport device includes a gripping unit that grips a single container or a plurality of containers in a stacked state, a movement mechanism that moves the gripping unit in the X direction and the Y direction, and a lifting/lowering mechanism that lifts and lowers the gripping unit in the Z direction,
• wherein the control device performs inclination computation processing to obtain a placement inclination that is an inclination of the container group placed on the placement surface relative to the Z direction based on:
• the coordinate information;
• the bottom surface dimension information;
• and
• the container group position information stored in the storage unit, and
• wherein the control device further performs individual position computation processing to obtain individual position information that indicates a position of each of the containers in the tiers included in the container group in the X direction and the Y direction based on:
• the container group position information;
• the placement inclination;
• and
• the height dimension information,
• and controls the movement mechanism based on the individual position information.