TWI391308B - System for supporting design of transporting device - Google Patents

Description

Transport device design support system

The present invention relates to a design support system for a transport device, and more particularly to a method for eliminating the separation between the design of the transport device and the actual operational state according to the required transport path and transport capability, from the design phase to the actual operation phase. Design support system for handling equipment.

The conventional transport device is designed according to the required transport path and transport capacity, and manufactures each real machine constituting the transport device, individually tests the performance of the real machine, and moves the real machine into the actual operating environment to construct the actual operating environment.

In the process of liquid crystal or semiconductor, the steps of washing, film formation, coating, exposure, development, etching, photoresist peeling, inspection, etc. are repeated several times. From the viewpoint of the volume of the clean room and the cost of the manufacturing apparatus, it is not practical to configure the manufacturing apparatus so that all the procedures are completed at one time. Since the same apparatus is used plural times, the handling requirements are due to the arrangement of the apparatus, the frequency of use of the apparatus, and the simultaneous processing. The number of materials, processing time, etc. vary. In addition, the processing procedure varies depending on the type of production, and the required amount of conveyance and the From (starting position)/To (destination position) of the conveyance are not fixed, and vary from day to day.

After the construction of the factory, it is difficult to check the handling requirements and the From/To of the transportation at the time of construction. It is necessary to quantitatively evaluate the handling capacity and equipment capacity under actual operating conditions.

In addition, the number of production equipment after the actual operation is added or updated, and even the effect of the arrangement change is inferred, and a method of smoothly expanding the system is sought.

However, only the performance of the real machine is tested individually, and the real machine is moved into the actual operating environment to construct the actual operating environment, that is, the separation between the design conditions of the handling device and the actual operating state (specifically, under actual operating conditions, The design performance of the conveyance device is not good, and it is not possible to directly compare the handling capacity of the planning stage with the handling capacity of the actual operating conditions, and there are problems in the inspection, acceptance, and delivery of the contractual conditions.

The present invention has been made in view of the problems of the above-mentioned prior art, and an object thereof is to provide a separation between the design of the conveying device and the capability inspection of the equipment according to the required conveying path and carrying capacity, and the smooth progress from the design stage to the actual operation. At the stage, it is possible to further estimate and evaluate the design support system of the transport device that affects the influence of the device operation change, the number of devices, and the wiring change in the actual operation phase.

In order to achieve the above object, the design support system of the transport device according to the first aspect of the present invention is mainly a design support system at the manufacturing stage of the transport device, and includes: (1) a first design simulation program, which is based on the required transport route and The predetermined transport parameters are set on the hypothetical transport device designed for the transport capability, and then the transport capability of the virtual transport device is tested on the computer; (2) the real machine simulation program is designed and manufactured according to the test results of the first design simulation program described above. Each real machine constituting the transport device tests the performance of the real machine at the stage of manufacturing the real machine; and (3) the second design simulation program reflects the test of the real machine simulation program on the virtual transport device of the first design simulation described above. As a result, the handling capacity of the hypothetical handling device is then tested on a computer.

In this case, the first design simulation program can be combined with a simulation of the simulation of the operation state of the complex vehicle by the software simulation and the simulation of the complex system of the truck control device that gives the vehicle command by the software simulation.

Further, the first design simulation program can be simulated by combining the simulation of the operation state of the software simulation complex stocker device with the simulation of the complex system of the stocker control device that gives the loader device command with the software simulation.

In order to achieve the same objective, the design support system of the transport device according to the second aspect of the present invention is mainly a design support system for an actual operating environment, and includes: (4) a real machine inspection program for the actual operating environment, which is tested in the actual operating environment. The performance of each real machine of the handling device; (5) The third design simulation program reflects the test results of the actual machine inspection program in the actual operating environment to the hypothetical handling device, and then tests the handling capacity of the hypothetical handling device on the computer, wherein The virtual transport device is a virtual transport device that sets a predetermined parameter on a virtual transport device designed according to a required transport path and transport capability, and then tests a design of the transport capacity of the virtual transport device on a computer; and (6) The actual operation procedure is performed based on the test results of the third design simulation program described above.

In this case, the virtual transport device designed and simulated can be used as the virtual transport device of the second design simulation of the first invention.

Further, (7) the fourth design simulation program is configured to reflect the result of the actual operation program on the virtual transport device of the third design simulation, and then test the carrying capacity of the virtual transport device on the computer; and (8) The actual operation procedure is performed based on the test results of the fourth design simulation program described above.

In this case, in the design simulation program after the second design simulation program, the parameters set in the first design simulation program are sequentially corrected based on the test results of the previous stage.

The performance of the software for handling control can also be tested on a computer using the aforementioned parameters.

According to the design support system of the transport device of the present invention, the test result of the performance of the actual machine manufactured and the test result of the performance of the real machine in the actual operating environment are sequentially reflected in the hypothetical transport designed according to the required transport path and carrying capacity. Since the device is operated in accordance with this, the deviation between the design of the conveying device and the actual operating state according to the required conveying path and the conveying capacity can be eliminated, and the design progresses smoothly from the design stage to the actual operation stage.

In addition, the simulation of the operation state of the complex vehicle by the software simulation and the simulation of the complex system of the truck control device that gives the vehicle command by the software simulation are performed by the first design simulation program combination, or the simulation is performed in a software simulation complex. The simulation of the operation status of the hopper equipment and the simulation of the complex system of the hopper control device that is given by the software simulation to the hopper equipment command can simulate the software program and the hardware program, independent of the hard In vitro, the functional inspection of the software of each machine and the functional inspection of the entire system are performed.

In addition, by reflecting the results of the actual operation program to the virtual transport device that designs the simulation program, the equivalence between the virtual transport device and the actual operation program can be improved, and the virtual transport device can be used to easily manage or verify the actual operation program. , design changes, etc.

Further, in the design simulation program after the second design simulation program, the parameters set in the first design simulation program are sequentially corrected based on the test results of the previous stage, and the test results of the real machine can be reflected to Imagine carrying the device.

Further, by using the aforementioned parameters, the performance of the software for handling control can be tested on a computer, and the performance of the software for handling control can be easily checked.

(The best form for implementing the invention)

Hereinafter, an embodiment of a design support system for a transport device according to the present invention will be described with reference to the drawings.

[Example 1]

Fig. 1 is a schematic explanatory view showing an embodiment of a design support system for a transport device according to the present invention.

The design support system of the transport device is a transport device having a complicated transport path such as a liquid crystal or semiconductor process shown in FIG. 2 or a plurality of types (for example, in the example of FIG. 2, the "Ethernet" network is used. A plurality of reciprocating transporters (RGV) that carry the floor transport, a plurality of reciprocating transport transporters (OHV) that carry the overhead transport, and a stacking crane that is placed in the automatic warehouse are connected to the transport controller for transport control. The system performs the selection of the transportation path, the inventory management, the indication to each machine, and the system that smoothly advances to the actual operation stage from the design stage.

Further, the design support system of the transport device performs the design of the transport device for the transport device shown in Fig. 2 in the following order.

(1) The first design simulation program sets a predetermined parameter P0 on a virtual transport device designed according to a transport path and a transport capability (Fig. 1(a)) required for the transport device, and then tests the virtual transport device on a computer. Handling ability.

The main review items at this stage are for the production procedures, the number of manufacturing units, and the equipment configuration that are temporarily set up at the time of construction of the new plant. It is found that the handling equipment has sufficient capacity for the handling capacity of the planned equipment, and the number of units and the number of units are corrected. Repeated re-simulation is the stage of excellence in building a plant.

The engineering simulator requires that the device configuration or the number of units can be corrected in a short period of time, and the correspondence between the input conditions and the results can be easily and easily understood. For the simulator-specific simulator, the available data must be used as the actual operation described later. The data input to the simulation program is transferable.

(2) The real machine simulation program designs and manufactures each real machine (Fig. 1(c), (d)) constituting the transport device based on the test results of the first design simulation program, and tests the real machine at the stage of manufacturing the real machine. Performance (Figure 1(e)).

The main purpose of this stage is the confirmation of the hardware performance of the machine, the adoption of the second design simulation described later, and the input of the real machine simulation program.

Although the performance of each machine is based on the principle of designing the original design, the items or devices that were originally unpredictable in the adjustment time or communication time of the mechanical action, although acting according to the plan, are in the joint action of the plurality of devices. A situation in which the operation time allocation is different from the plan due to interlocking between devices. By measuring the data, the action of the device is made visible.

(3) The second design simulation program reflects the test result of the real machine simulation program on the virtual transfer device of the real machine simulation program, and then tests the carrying capacity of the virtual transfer device on the computer (Fig. 1(f)).

By changing the performance data of each device from the table plan value to the measured data in the input condition of the first design simulation performed in the planning stage, the equivalence between the simulation and the real system can be improved, and the reliability and reliability of the simulation can be improved.

(4) Actual operating environment The real machine inspection program measures the performance of each real machine constituting the handling device in the actual operating environment.

The measurement item borrowing monitoring device records items such as the work instruction content, the operation start position, the start time, the operation end position, the end time, the operation required time, the no-work time between the operation and the operation, and the result of the work, etc. 1 (g) map).

The monitoring device is configured to have a structure in which the control device of the device is additionally recorded, or a structure independent of the control device, a monitoring device that performs communication such as an operation instruction to the device, and a recording device type that records the operating speed of the motor of the driving device. Two types of monitoring devices. The manner in which the recording function is additionally applied to the control device of each device is adapted to newly provide the object, and the recording device type is adapted to the operational status of the provided device or the motion monitoring of other company products.

The actual operation test measures the dynamics of the actual mechanical equipment, making the differences between the design objectives, design specifications and real machines visible, highlighting problems and correcting problems.

(5) The third design simulation program reflects the test result of the actual machine inspection program of the actual operating environment to the virtual transfer device of the second design simulation, and then tests the carrying capacity of the virtual transfer device on the computer (Fig. 1(h)).

The actual operating environment of the real machine inspection on the computer simulates the dynamics of the actual mechanical equipment, and strives to control the software of the command system devices of each device, eliminating the invalidity of the interlocking of the multiple devices, and supporting high-efficiency actions.

(6) The actual operation program actually operates the transport device based on the test result of the third design simulation program, monitors the operation status, and measures the operation time and the like (Fig. 1 (j)).

(7) The fourth design simulation program reflects the result of the actual operation program on the virtual transport device of the third design simulation, and then tests the transport capability of the virtual transport device on the computer (Fig. 1 (j)).

Although it usually takes several months to one year from the construction of the new plant to the start of production to the full operation of the plant, the potential results of the handling equipment can be inferred from the actual monitoring results, so that high precision simulation results can be obtained, which can be smoothed. Advance to full operation.

(8) Actual operation program The conveyance device is actually operated according to the test result of the fourth design simulation program (Fig. 1(k)).

The above program simply displays a representative example, and can further subdivide each program into a plurality of programs for performing the same operation, and can also construct feedback to the previous program as needed, or repeatedly perform a specific program (for example, the above (7) fourth design. Simulation program and (8) actual operation program).

Further, although the fourth design simulation program (7) and the (8) actual operation program may be omitted, the result of the actual operation program may be reflected to the virtual conveyance device of the third design simulation program. The equivalent of the virtual transport device and (8) the actual operation program, and the management, verification, design change, etc. of the actual operation program can be easily implemented by the virtual transfer device.

In this case, the parameter P0 set in the first design simulation program includes the type and number of the transport device (including the stacker crane, the same applies hereinafter), the moving speed of the transport device, and the load of the object to be transported. Equipment conditions such as the speed of movement, the conveyance distance, and the like, and the supply request from the manufacturing equipment, the processing time of the manufacturing apparatus, the processing order from the manufacturing apparatus to the manufacturing apparatus (process of the product), and the conveyed object Processing conditions such as the amount of charge.

Moreover, by the design simulation program after the second design simulation program, the correction of the problem occurring in the previous stage and the result of the lean improvement of the software are made as test results, and according to the result, P0→P1→P2→P3→P4 is pressed. The parameter P0 set in the first design simulation program is corrected in order, and the test result of the performance of the real machine is reflected in the virtual transfer device.

In addition, the design support system of the transport device can test the performance of the software for transport control on the computer using the parameters P0, P1, ... which are sequentially corrected (1st, (m), (m), (n), (o )).

Since the design support system does not use the actual mechanical equipment by simulating the mechanical operation portion of the transport device on the computer, the virtual system is used to debug and function the command system software during the production, installation, and adjustment of the device. Keeping improving, you can actually operate the post-installation handling device in a short period of time, and shorten the construction period.

Thereby, the performance of the software for handling control (including the debugging of the software) can be easily checked.

According to the design support system of the transport device, the test result of the performance of the manufactured real machine and the test result of the performance of the real machine in the actual operating environment are sequentially reflected in the hypothetical transport device designed according to the required transport path and the transport capacity. According to this, the operation procedure is carried out, so that the separation between the design of the conveyance device and the actual operation state according to the required conveyance path and the conveyance capability can be eliminated, and the design progresses smoothly from the design stage to the actual operation stage.

Next, the details of the first design simulation program will be described based on the specific transport device shown in FIG.

The inter-program transportation is constituted by a plurality of transport systems such as a ceiling transport vehicle, and in each of the systems, for example, 10 to 20 transport vehicles are transported to transport the glass substrate. The inter-procedure conveyance control devices 3a, 3b, ..., 3p of the transportation of the transportation vehicles of the system are provided in each system. According to the scale of the factory, the inter-program handling is coordinated with the linear arrangement and the annular arrangement, and the structure is from 1 system to 10 systems.

In the program, the transport vehicle that reciprocates on the rail is transported, and each of the systems is configured with one or three transport vehicles per system, and the in-program transport control devices 4a, 4b, ..., 4q of the system for the system are arranged in each system.

The storage machine is composed of about 10 to 40 seats, and the stacking cranes of about 1 to 2 units are arranged in each storage machine. In addition to the function as an automatic warehouse for storing the concrete in the scaffolding, it is also within the program. The machine performs the function of the delivery device in the program for storing and storing the magazine. Control devices 5a, 5b, ..., 5r for inventory management or machine operation are arranged in each stocker.

An example of the flow of simulating the operation of the transport device is shown in Fig. 4.

The conveyance control device 2 gives instructions to the control devices of the inter-program conveyance device, the in-program conveyance device, and the stocker control device in accordance with the request from the CIM (computer integrated production) 1 of the production management system.

In the actual control, the response should be instructed to actuate the mechanical equipment and report the results.

In the simulation, by simulating the respective operations, the mechanical operation is not performed, and the operation instruction of the computer, the report of the state of the instruction, the end report, and the like are used, and the simulation operation is performed, and the conveyance control device 2 is equivalent to the effect of the real system.

In the case where the inspection object of the software is the inter-program transport device, as shown in FIG. 5, the operation of the transport vehicle from the inter-program transport device simulates the operation of the transport vehicle by the software of the simulator 6. .

The simulator 6 is logically connected to the inter-program transport control device of each system. Whether connected by a handling system LAN or by a LAN connection of another system, the physical connection is basically no problem.

Moreover, the motion simulation can also be performed for the in-program transportation.

Next, an example of a simulation operation of the transport vehicle (vehicle) is shown in Fig. 6.

Since the truck performs the occlusion control between the workshop distance control for avoiding the collision of the transport vehicles and the curve region for implementing the inter-vehicle distance control, the dynamics of the multi-number operation is difficult to predict.

Therefore, for each truck, the speed and position are calculated at a small time Δt, and the collision avoidance action of the truck is performed. (If the inter-vehicle distance is below a fixed distance, the vehicle is decelerated or stopped to avoid collision. If there is sufficient inter-vehicle distance, Acceleration calculation) and state transition processing of the occlusion process (since only one vehicle can be entered in the occlusion section, the subsequent vehicle temporarily stops at the entrance of the occlusion section until the preceding vehicle leaves the occlusion section.)

If the truck arrives at the instructed workstation, a job end report indicating the job is performed.

Further, the process of periodically reporting the position of the truck with respect to the stocking information also performs state transition processing based on the calculation result of the position of the truck.

Further, Fig. 7 shows an example of the operation simulation of the stocker.

The hopper logically connects the hoppers and simulators 7 to simulate the mechanical action of the stacker cranes of each hopper.

If the operation of the stacking crane is logically connected to each of the stockers and the simulator, the operation of the plurality of simulators can be constituted by one simulator 7, so that the number of simulators can be reduced.

By the operation of the mechanical control by the simulator 7, the operation of the inter-procedure transfer device, the in-program transfer device, and the stocker can be simulated by replacing the lowermost mechanical device with a personal computer or the like.

Here, the operation simulation of the stocker is different from that of the transport vehicle. As shown in FIG. 8, the operation time can be determined by the combination of the current position of the stacking crane that constitutes the control target and the From/To of the moving target position.

The operation time with respect to the From/To is obtained from the combination table of the start position (From) and the target position (To) of the operation, and the speed pattern of the travel time, the lift time, and the shift time with respect to the operation time is created, and the action is executed. simulation. After the elapse of the operation time determined by the speed mode, the job end report for the job instruction is performed. In addition, the position calculated by the speed of the stacking crane is used as the tracking information and periodically reported.

Before a plurality of cranes (usually two) stacking cranes and hoppers work in a combination of From/To, check the interference of the stacking cranes, temporarily delay the start of the operation with a combination of overlapping ranges of motion, and stack the cranes in interference After leaving the interference range, the process of starting the job is performed before the job instruction is issued.

On the other hand, in the case of performing the inspection of the software by focusing on the conveyance control device 2 at the upper position of each conveyance machine, the lowermost mechanical device does not have to be constituted by the simulator 6 or the simulator 7. The inter-program conveyance control devices 3a, 3b, ..., 3p, the in-process conveyance control devices 4a, 4b, ..., 4q, the stockers 5a, 5b, ..., 5r which are at the lowermost level of the conveyance control device 2 can be simulated by the simulator The simulator 8 performs an action simulation on the inter-program transfer device of the complex system.

The in-procedure handling device is also constructed in the same configuration as the inter-procedure handling device.

Even with the stocker, the simulator 9 is used to simulate the operation of the plurality of stockers.

Fig. 9 and Fig. 10 show the construction in which the inter-procedure handling device and the stocker are replaced with simulators.

The simulators 8 and 9 of the intermediate layer can realize only the functions seen from the upper system, in other words, the functions seen through the communication, without the human-machine dialogue function or the maintenance function existing in the product software, and the handling from the conveyance control device 2 Instruct, infer the time required for the transfer, and return the report to the end of the work after the passage of time.

If the vehicle moves during transportation, the tracking information is reported to the transportation control device 2 based on the tracking data from the transportation vehicle and the stacking crane.

In the stocker, the simulator 9 in the middle layer also manages the inventory of the scaffold.

The four kinds of simulators with different mixed levels, the part of the man-machine dialogue with screen operation, the detailed operation of the mechanical control, and the action log of the mechanical action are checked by the lower simulator 6.7.

In addition, when the job end report is performed by the simulator of each layer, if the designation is not specified, the default value report is normally ended.

By specifying the report end code or the end time (the abnormality report shortly after the job instruction is received, the job end report, and the job end report), various abnormal conditions occur in the simulator, and the abnormality process is checked.

The simulators 8 and 9 perform the inspection of the format, the order, the reply time, and the like of the instruction to the conveyance control device 2, but the control device for the inter-procedure transfer device or the stocker that is not replaced by the simulator is the same as The control device of the real system of the real machine and the simulator 6.7 of the lower layer are combined to answer the handling control device 2.

In the real system, the total number of components for inter-procedure handling, in-program handling, and stocking is 20~60 units. If the simulators 8 and 9 in the middle layer are not used, the lowermost simulator 6.7 and the real control system are used. In the configuration, a large amount of human resources is put into operation in the assembly and operation of the devices, and an economic burden is incurred.

Further, since the operation flow of the fourth diagram is performed by the operator, the inherent operation of the control device of the real machine, for example, the origin return processing or the manual/automatic switching processing, etc., the operation is troublesome in the case of a large number of units.

On the other hand, the mixing of the middle layer simulator can also automate the operation of the person, which can greatly reduce the amount of operation.

The inter-procedure transfer device, the in-program transfer device, and the stocker that are seen from the conveyance control device 2 are devices that are sparsely coupled by communication, and are given an instruction from the conveyance control device 2 to reply the report within a fixed time.

In addition, it is a software configuration that reports the status of the device and the tracking information of the device from the lower control device at any time.

The conveyance control device 2 performs time monitoring of the response to the lower device and determines the upper limit value. However, the lower limit value is not particularly specified. Such a system can improve the software by performing a majority combination test on the various moments that occur after the actual operation of the system in a short period of time, in a state in which the response of the simulator is maintained in a time causal relationship, or in a random time. Reliability.

If the control device constituting the test object of the simulator and the software can be logically connected, it is not necessary to have the same communication form as the real system.

In the real system, each control device is installed in an isolated place, and although it is connected by wire or wirelessly, the communication means can be replaced by a communication means capable of maintaining a logical connection, for example, the entire LAN is connected to the same device, and the software is connected. test.

In order to be applied to a real system, by switching the communication part to analog and actual operation with a software switch, or installing a conditional compiling function using a program, the communication interface for the use of the definition of the source code is not determined. The hardware of the hardware is not affected by the hardware process, and the control device and the software for confirming the function of the actual control software can be checked by the software of the simulator.

The simulator is software and is suitable for personal computers that are independent of actual control. If it is guaranteed to be in parallel with the actual controlled software, the actual controlled software and the simulator software can coexist in the control device.

In Fig. 11, an example of a workflow correction operation using a simulation is shown.

The actual operation of the handling device by simulation test software correction effect, if the result, functional or performance is no problem, that is, temporarily stop the real system, install the correction software in the real system.

In the trial run, if the result is abnormal, the correction will be invalid and the original state will be restored.

When there is no abnormality, continue to operate and monitor the action.

In the case where the result cannot confirm the validity of the correction, the cause is specifically found, the software is corrected again, and the simulation is performed. If the validity can be checked, the software correction is completed.

By simulating the software before the test, the process can replace the lower system with the simulator, and test the function of the part that depends on the difference between the simulator and the real system, thereby reducing the risk of software correction failure of the actual operating client system.

In the above, the embodiment of the design support system for the transport device according to the present invention is described. However, the present invention is not limited to the structure of the above-described embodiment, and the configuration thereof can be appropriately changed without departing from the spirit and scope of the invention.

(industrial availability)

The design support system of the transport device of the present invention can eliminate the separation between the design of the transport device and the equipment inspection according to the required transport path and the transport capability, and can be applied to the liquid crystal or the liquid crystal from the design stage to the actual operation stage. A complicated transportation path such as a semiconductor process, or a design use of a carrier device for a plurality of types of carriers.

Further, since the design support system can operate the software of each transport device without using actual mechanical equipment, it can be used as an operation training device for an operator who is not accustomed to the operation. In particular, by training for the abnormality of the equipment, it is assumed that the training of the repair method does not occur on a daily basis, and the training is repeated, and the repair is performed in a short time, so that the local failure does not extend to the stop of the entire transport device, and the availability of the system can be improved.

1. . . CIM (computer integrated production)

2. . . Handling control device

3a, 3b, ..., 3p. . . Inter-procedural handling control device

4a, 4b, ..., 4q. . . In-process handling control

5a, 5b, ..., 5r. . . Stocker control device

6, 7, 8, 9. . . Simulator

Fig. 1 is a schematic explanatory view showing an embodiment of a design support system for a conveying device of the present invention.

Fig. 2 is an explanatory view showing an example of a conveying device of a design object.

Fig. 3 is a layout view of a control system of the conveying device.

Figure 4 is an explanatory diagram of the operation flow of the system.

Fig. 5 is a layout view of a control system for the motion simulation of the transport vehicle.

Fig. 6 is an explanatory diagram of the motion simulation of the transport vehicle.

Fig. 7 is a configuration diagram of a control system for the motion simulation of the stocker.

Fig. 8 is an explanatory view of the operation simulation of the stocker.

Fig. 9 is an explanatory diagram of a simulation of dividing the motion simulation of the transport vehicle into a simulation and an information control portion of the mechanical portion.

Fig. 10 is an explanatory diagram of a simulation of dividing the motion simulation of the stocker by the simulation of the mechanical part and the simulation of the information control part.

Figure 11 is an explanatory diagram of the software correction workflow.

P0. . . Design target parameter

P1. . . Parameters measured by the in-plant test device

P2. . . Parameters determined in real environment

TEST. . . Capability simulator

FAST. . . Software debugging. Simulator

FAMOS. . . Real machine monitoring. system

Claims (4)

A design support system for a transport device, comprising: (1) a first design simulation program for setting a predetermined parameter on a virtual transport device designed according to a required transport path and transport capability, and then testing the computer on the computer The first design simulation program is a simulation of a complex system that simulates the operation state of a plurality of trucks by a software simulation and a plurality of systems of a truck control device that gives a vehicle command by a software simulation. a program for simulating; and a simulation program for simulating the operation state of the complex hopper device by software, and a simulation of the complex system of the hopper control device that supplies the hopper device instruction with a software simulation (2) The real machine simulation program is to design and manufacture each real machine constituting the handling device according to the test result of the first design simulation program described above, and test the performance of the real machine in the stage of manufacturing the real machine; (3) 2nd Designing a simulation program that reflects the aforementioned real machine simulation program for the virtual transport device of the first design simulation described above Test results, and then test the handling capacity of the hypothetical handling device on the computer; (4) The real machine inspection procedure of the actual operating environment is to test the performance of each real machine constituting the handling device in the actual operating environment; (5) The third design simulation The program reflects the test results of the actual machine inspection program in the actual operating environment to the hypothetical handling device, and then The computer is configured to test the carrying capacity of the virtual transport device, wherein the virtual transport device sets a predetermined parameter on a virtual transport device designed according to the required transport path and transport capability, and then tests the transport capacity of the virtual transport device on a computer. The virtual transport device designed to simulate; and (6) the actual operation program is performed based on the test results of the third design simulation program described above. In the design support system for the conveyance device described in the first aspect of the invention, the seventh design simulation program is configured to reflect the result of the actual operation program on the virtual conveyance device of the third design simulation, and then The carrying capacity of the virtual transport device is tested on the computer; and (8) the actual operation procedure is performed based on the test results of the fourth design simulation program described above. In the design support system of the transport device described in the first aspect of the patent application, the design simulation program after the second design simulation program is sequentially set in the first design simulation program based on the test results of the previous stage. The parameters are corrected. The design support system of the conveyance device described in the first aspect of the patent application, wherein the performance of the software for conveyance control is tested on a computer using the aforementioned parameters.