To provide an automated storage and retrieval system equipped with a high storing efficiency by introducing such a configuration that the stop position of its fork is controllable through a simple and convenient control and the fork to perform carry-in and discharge of any object can certainly intrude into the space between the object stored at a certain spacing above and below.

A pair of supporting means 4 to support the two sides of the under-part of any object W are installed in an objects storage part 1 of each rack 2, and a stacker crane 3 to transport the object is equipped with an elevating and sinking member 9 to move up and down along the racks and the fork 10 to advance and retreat to/from under the object stored in the object storage part, and between the fork and the elevating and sinking member, a rock sensor is installed to sense the supporting means when the member makes elevating/ sinking operations, and also a control means 12 is installed to control the operation of the stacker crane.