Warehouse system and method therein

A warehouse system according to the present invention is provided with: arm robots (200-1 to 200-n) capable of taking out articles from storage racks; a transfer robot that transfers the article together with the storage rack within the operating range of the arm robot; a robot teaching database (229) capable of storing original teaching data based on a storage rack coordinate model value, which is a model value of the three-dimensional coordinates of the storage rack, and a robot coordinate model value, which is a model value of the three-dimensional coordinates of the robot; a sensor (206) that detects the relative positional relationship between the storage rack and the robot; and a robot data generation unit (264, 230) that corrects the original teaching data on the basis of the detection result of the sensor (206) and generates robot teaching data ([theta] 1 '-[theta] n') to be supplied to the arm robot (200). 本发明的仓库系统包括：能够从保管架取出物品的手臂机器人(200-1～200-n)；在手臂机器人的操作范围将物品与保管架一起搬运的搬运机器人；能够存储原示教数据的机器人示教数据库(229)，该