JP5303832B2 - MOBILE BODY CONTROL DEVICE, MOBILE BODY, PROGRAM, AND MOBILE BODY CONTROL METHOD - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile body control device, a mobile body, a program, and a mobile body control method, which can find a correct load of a cargo even under a situation where the load of the cargo is varied by swinging of the cargo during driving the mobile body. <P>SOLUTION: A truck crane control device 10 is provided with an operation part 19 acquiring operation information for operating a truck crane, an operation part 15 for calculating the load of the cargo carried by the truck crane, and a storage part 14 for storing the load of the cargo calculated by the operation part 15. The device is also provided with a display part 18 for displaying the load of the cargo, and a control part 16 for displaying on the display part 18 the load of the cargo stored in the storage part 14 when the operation part 19 acquires the operation information. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a mobile body control device, a mobile body, a program, and a mobile body control method, and more particularly, to a mobile body control device, a mobile body, a program, and a mobile body control method that control a mobile body such as a crane truck that carries a load. .

Conventionally, mobile bodies, such as a crane truck which can carry a load, are known (refer to patent documents 1). This crane vehicle is provided with a crane angle sensor, a crane length sensor, a crane load sensor, and the like, and calculates the load of the load carried by the mobile body based on the values output from these sensors.
JP 2005-343671 A

  However, in conventional crane vehicles, the load of the load occurs while the load is being transported or lifted, and the value detected by the crane load sensor fluctuates. There is a problem that the operating operator cannot know the exact load of the load while driving the crane vehicle.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to know an accurate load of a load even in a situation in which the load of the load fluctuates due to a vibration of the load while driving the moving body. A body control device, a mobile body, a program, and a mobile body control method are provided.

The present invention has been made in order to solve the above-mentioned problems, and the invention according to claim 1 is a mobile body control device for controlling a mobile body that carries a load, and operation information for operating the mobile body. The operation information acquisition means for acquiring the load, the load calculation means for calculating the load of the load carried by the mobile body, the load storage means for storing the load of the load calculated by the load calculation means, and the load of the load are output. When the load output means and the operation information acquisition means acquire operation information, the load output means outputs the load of the load stored in the storage means , and the operation information acquisition means acquires the operation information. Control means for causing the load output means to output the load of the baggage calculated by the load calculation means if not, and if the operation information acquisition means does not acquire operation information, the load Calculation means By outputting to the load storage device continuing to while calculating the load of luggage, a mobile control device, characterized in that said load storage means is configured to update the load stored.
In the present invention, the operation information acquisition means acquires operation information for operating the mobile body, the load calculation means calculates the load of the load carried by the mobile body, and the load storage means calculates the load of the load calculated by the load calculation means. When the load output means outputs the load of the load and the operation information acquisition means acquires the operation information, the load of the load stored in the storage means is acquired and the operation information acquisition means acquires the operation information. If not , the control means outputs the load of the load calculated by the load calculation means to the load output means, and if the operation information acquisition means does not acquire the operation information, the load stored in the storage means The load of was also updated .
Thereby, when the operation information acquisition means has not acquired the operation information and the moving body is not driven, the load of the load can be calculated and output, and the moving body is driven based on the operation information. During this time, the load of the load stored in the load storage means is output to the load output means. Therefore, a worker or the like who operates the moving body can know the load of the load when the moving body is not driven by the load output means, and the load calculating means calculates the load while swinging the moving body. It is possible to know an accurate load of the load even in a situation where the load of the load varies.

In the invention according to claim 2, when the operation information acquisition unit acquires the operation information, the load of the load calculated by the load calculation unit is the load of the load stored in the storage unit. Determination means for determining whether or not the ratio has changed by a predetermined ratio or more, and when the control means determines that the determination means has changed by a predetermined ratio or more, the load calculation means 3. The moving body control device according to claim 1, wherein the load of the load to be calculated is output to a load output means.

In the present invention, when the operation information acquisition unit acquires the operation information, the load of the load calculated by the load calculation unit changes by a predetermined ratio or more with respect to the load of the load stored in the storage unit. When the determination means determines whether or not the determination means has changed more than a predetermined ratio, the load output means outputs the load of the load calculated by the load calculation means. .
As a result, when a change in the load of the load exceeds a predetermined ratio due to other objects being placed on the load being transported while the moving body is driven, the load after the change is calculated. It can be calculated by the means and output to the load output means. Therefore, a worker who operates the moving body can know that the load of the load has changed while the moving body is being driven.

According to a third aspect of the present invention, there is provided a load upper limit value storage means for storing an upper limit value of a load of a load that can be carried by the mobile body, and a load of the load that is calculated by the load calculation means is the load upper limit value. storage means is a mobile control device according to claim 1 or 2, characterized in that further comprising an alarm output means for outputting an alarm when larger than the upper limit of the load of luggage to be stored.
In the present invention, the load upper limit storage unit stores the upper limit value of the load of the load that can be carried by the mobile body, and the load of the load calculated by the load calculation unit is the upper limit of the load of the load stored by the load upper limit storage unit. The alarm output means outputs an alarm when it is larger than the value.
As a result, workers operating the moving body can know that they are trying to carry a load that is greater than the load of the load that can be carried by the moving body, and that an accident such as the rollover of the moving body will occur. Can be prevented.

According to a fourth aspect of the present invention, there is provided a movable body comprising the movable body control device according to any one of the first to third aspects.

According to a fifth aspect of the present invention, there is provided a computer of a mobile body control device that controls a mobile body that transports a load, an operation information acquisition unit that acquires operation information for operating the mobile body, and the mobile body that carries the mobile body. Load calculating means for calculating the load of the load to be performed; load storage means for storing the load of the load calculated by the load calculating means; load output means for outputting the load of the load; and the operation information acquiring means for obtaining the operation information. If the load is acquired, the load of the load stored in the storage means is output to the load output means. If the operation information acquisition means is not acquiring the operation information, the load calculation means calculates the load. The load calculating means continues to calculate the load of the load when the operation information acquiring means has not acquired the operation information. One said by outputting the load storage means is a program characterized by said load storage means is configured to update the load stored.

The invention according to claim 6 is a moving body control method for controlling a moving body that carries a load, the operation information obtaining process for obtaining operation information for operating the moving body, and the moving body carrying A load calculation process for calculating the load of the load to be performed; a load storage process for storing the load of the load calculated in the load calculation process; and if the operation information is acquired in the operation information acquisition process, the storage process A control process for outputting the stored load of the load and outputting the load of the load calculated in the load calculation process when the operation information is not acquired in the operation information acquisition process, and the operation information acquisition process When the operation information is not acquired in step (b), the stored load is updated by repeatedly performing the load calculation process and the load storage process.

  According to the present invention, an operator who operates a moving body can know an accurate load of the load even in a situation in which the load of the load fluctuates due to a vibration of the load while driving the moving body.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, the crane control apparatus 10 (moving body control apparatus) according to the first embodiment of the present invention will be described.

  FIG. 1 is a schematic diagram showing a structure of a crane truck 100 (moving body) to which a crane truck control device 10 according to the first embodiment of the present invention is attached. In addition, in 1st Embodiment and 2nd Embodiment mentioned later, although the case where a moving body is a crane vehicle is demonstrated, it is not limited to this, For example, other trains, ships, passenger aircraft, etc. You may apply to a mobile body.

The crane vehicle 100 includes vehicle bodies 1 a and 1 b, wheels 2 a and 2 b, cranes 3 a and 3 b, a wire 4, a wire winding unit 5, a hanging unit 6, a support unit 8, and the like.
The vehicle body 1a can rotate at an arbitrary angle with respect to the vehicle body 1b with an axis perpendicular to the horizontal plane as a rotation axis. The vehicle body 1a is provided with a driver's seat so that an operator who operates the crane vehicle 100 can get on the vehicle body 1a. A crane vehicle control device 10 to be described later is installed on the vehicle body 1a. Moreover, the crane angle sensor 21 is installed in the vehicle body 3a. The crane angle sensor 21 is a sensor that measures an angle θ formed by the horizontal direction D1 and the expansion / contraction direction D2 of the cranes 3a and 3b. An engine or the like for rotating the wheels 2a and 2b is installed on the vehicle body 1b.

The cranes 3a and 3b are of a two-stage type, and the length L of the crane can be adjusted. A crane length sensor 22 is installed in the crane 3a. In addition, although embodiment of this invention has demonstrated the case where the crane of the crane vehicle 100 is a two-stage type, it is not limited to this, The crane of the crane vehicle 100 is a three-stage type or a four-stage type. Etc.
The crane length sensor 22 is a sensor that measures the length L of the crane that expands and contracts.
The wire winding unit 5 can adjust the length of the wire 4 between the wire winding unit 5 and the hanging unit 6 by rotating a built-in reel. The hanging part 6 is a part for hanging the luggage 7. The load 7 is an object having a load W carried by the crane vehicle 100.
The support part 23 is attached between the vehicle body 1b and the crane 3a, and supports the crane 3a. A crane load sensor 23 is installed on the support portion 23. The crane load sensor 23 is a sensor that measures a load P applied to the cranes 3a and 3b.

  FIG. 2 is a block diagram showing the configuration of the crane control apparatus 10 according to the first embodiment of the present invention. The crane control apparatus 10 includes a crane angle detection unit 11, a crane length detection unit 12, a crane load detection unit 13, a storage unit 14 (load storage unit, load upper limit storage unit), a calculation unit 15 (load calculation unit), A control unit 16 (control unit, determination unit), an alarm output unit 17 (alarm output unit), a display unit 18 (load output unit), an operation unit 19 (operation information acquisition unit), and a crane vehicle drive unit 20 are provided.

  The crane angle detection unit 11 acquires the angle θ from the crane angle sensor 21 installed in the crane vehicle 100 and outputs the angle θ to the calculation unit 15. The crane length detection unit 12 acquires the length L from the crane length sensor 22 installed in the crane vehicle 100 and outputs the length L to the calculation unit 15. The crane load detection unit 13 acquires the load P from the crane load sensor 23 installed in the crane vehicle 100 and outputs the load P to the calculation unit 15.

The storage unit 14 stores the load W of the luggage 7 calculated and output by the calculation unit 15. In addition, the storage unit 14 stores an upper limit value WH (for example, 1000 kg) of the load of the luggage 7 that can be transported by the crane vehicle 100.
The calculation unit 15 continuously calculates the load W of the luggage 7 carried by the crane vehicle 100. Specifically, the calculation unit 15 is based on the angle θ output by the crane angle detection unit 11, the length L output by the crane length detection unit 12, and the load P output by the crane load detection unit 13. The load W of the luggage 7 is calculated.
The calculating part 15 calculates | requires the load P0 of crane 3a, 3b itself based on the graph as shown in FIG. The graph of FIG. 3 shows the relationship between the angle θ, the length L of the cranes 3a and 3b, and the load P0 of the cranes 3a and 3b itself. Here, a case where the lengths of the cranes 3a and 3b can be adjusted in three stages of L1, L2, and L3 will be described. In FIG. 3, curves g1, g2, and g3 show the relationship between the angle θ and the load P0 when the lengths of the cranes 3a and 3b are L1, L2, and L3 (where L1 <L2 <L3), respectively.

Calculation unit 15, based on the graph of the angle θ and the length L and 3, specifying the crane 3a, 3b load P ₀ itself.
The calculation unit 15 calculates the load W of the load 7 by W = (P−P ₀ ) × K based on the load P ₀ of the cranes 3 a and 3 b itself and the load P of the cranes 3 a and 3 b and the load 7. . Here, K is a predetermined constant determined by each crane 100.

When the operation unit 19 has acquired the operation information, the control unit 16 causes the display unit 18 to output the load W of the luggage stored in the storage unit 14.
In addition, when the operation unit 19 has not acquired the operation information, the control unit 16 causes the display unit 18 to output the load W of the load 7 continuously calculated by the calculation unit 15. At this time, the load W of the load stored in the storage unit 14 is also updated by the calculated load W of the load.
In addition, when the operation unit 19 acquires operation information, the control unit 16 determines that the load W of the luggage 7 calculated by the calculation unit 15 is greater than the load W of the luggage 7 stored in the storage unit 14. It is determined whether or not it has changed by a predetermined ratio (for example, 10% of the load W) or more. Furthermore, the control unit 16 displays (outputs) the load W of the load 7 calculated by the calculation unit 15 on the display unit 18 when it is determined that the change has occurred by a predetermined ratio or more.

Alarm output unit 17, alarm and the like, the load W of the load 7 by the calculation unit 15 calculates the storage unit 14 outputs an alarm when larger than the upper limit value W _H of the load of the load 7 to be stored.
The display unit 18 is a display device such as an LCD (Liquid Crystal Display), and displays the load W of the luggage 7 on the screen.
The operation unit 19 includes a handle for operating the traveling direction of the crane vehicle 100, a lever for operating the length L and the angle θ of the cranes 3a and 3b, and acquires operation information for operating the crane 100. Is output to the crane vehicle drive unit 20 and the control unit 16.
Based on the operation information output from the operation unit 19, the crane vehicle drive unit 20 changes the forward and backward movement of the crane vehicle 100, the traveling direction of the crane vehicle 100, and the length L of the cranes 3a and 3b. For example, when information indicating that the angle θ of the cranes 3a and 3b is to be reduced is input to the crane truck 20 as the operation information, the crane truck 20 lowers the cranes 3a and 3b.

Next, processing of the crane control apparatus 10 according to the first embodiment of the present invention will be described.
FIG. 4 is a flowchart showing processing of the crane control apparatus 10 according to the first embodiment of the present invention. The process of the flowchart of FIG. 4 is performed when an operator who operates the crane vehicle 100 turns on the engine of the crane vehicle 100.
First, the crane angle detection unit 11 detects the angle θ of the cranes 3a and 3b (step S10).

And the crane length detection part 12 detects the length L of the cranes 3a and 3b (step S11). Next, the crane load detection part 13 detects the load P of the cranes 3a and 3b (step S12).
Note that the order in which the processes in steps S10 to S12 described above are performed is not limited to the order shown in FIG. 4, and any process may be performed first. Moreover, you may perform the process of step S10-S12 simultaneously.

The calculating part 15 calculates | requires load P0 of crane 3a, 3b itself based on the angle (theta) and length L which were detected by step S10, S11, and the graph (refer FIG. 3) which the memory | storage part 14 has memorize | stored. And the calculating part 15 calculates the load W of the load 7 by the formula of W = (P-P0) * K using the load P0 and the load P detected at step S12 (step S13).
The calculation unit 15 outputs and records the load W of the load 7 calculated in step S13 to the storage unit 14 (step S14).

Then, the control unit 16, the load W of baggage 7 calculated in step S13 it is determined whether larger or not than the upper limit value W _H of the load of the load 7 in advance are recorded in the storage unit 14 (step S15). If load W is greater than the upper limit value _{W H} makes a judgment of "YES" in step S15, the process proceeds to step S16. Then, the alarm output unit 17 issues an alarm (step S16) and proceeds to step S17. By performing the process of step S16, an operator or the like who operates the crane vehicle 100 can know that he or she is trying to carry a load exceeding the load of the load 7 that can be carried by the crane vehicle 100. Accidents such as rollover can be prevented.

On the other hand, if the load W is less than or equal to the upper limit value WH, “NO” is determined in the step S15, and the process proceeds to a step S17. And the control part 16 displays the load W of the load 7 on the display part 18 (step S17).
Next, the control unit 16 determines whether or not operation information is input to the operation unit 19 (step S18). If no operation information has been input, the control unit 16 determines “NO” in step S18, and proceeds to step S10 described above. When the operation information is not input in this way, the above-described steps S10 to S18 are executed in a loop, and the calculation unit 15 continuously calculates the load W of the load 7 and stores it. By outputting to the unit 14, the load W of the luggage 7 already stored in the storage unit 14 is updated to a newly calculated one. On the other hand, when the operation information is input, the control unit 16 determines “YES” in Step S18, and proceeds to Step S19.

The control unit 16 does not change the load W of the luggage 7 displayed on the display unit 18 (step S19). That is, the control unit 16 continuously displays the load W of the luggage 7 displayed on the display unit 18 in step S17 on the display unit 18.
And the crane vehicle drive part 20 drives the crane vehicle 100 based on the operation information input into the operation part 19 (step S20). For example, the crane vehicle drive unit 20 moves the crane vehicle 100 forward and backward, raises and lowers the cranes 3a and 3b of the crane vehicle 100, and expands and contracts the lengths of the cranes 3a and 3b based on the operation information. Or

  And the control part 16 determines whether the input of the operation information to the operation part 19 was stopped (step S21). If the input of operation information to the operation unit 19 is not stopped, the control unit 16 determines “NO” in step S21, and proceeds to step S19 described above. On the other hand, when the input of the operation information to the operation unit 19 is stopped, the control unit 16 determines “YES” in Step S21, and proceeds to Step S10 described above.

When the crane control apparatus 10 according to the first embodiment of the present invention is used, the load W of the luggage 7 stored in the storage unit 14 is displayed on the display unit while the crane 100 is driven based on the operation information. 18 is output. Therefore, an operator or the like who operates the crane vehicle 100 can know the load W of the luggage 7 when the crane vehicle 100 is not driven by viewing the display unit 18, while driving the crane vehicle 100. It is possible to know the accurate load W of the load 7 even in a situation in which the load of the load 7 calculated by the calculation unit 15 is fluctuated due to a load swing or the like.
Further, the calculation unit 15 can calculate the load W of the load 7 when the crane vehicle 100 is not driven, and prevents the load W of the load 7 from being calculated inaccurately due to the influence of the swing of the load. Can do.

  Next, the crane control apparatus 10 according to the second embodiment of the present invention will be described. Since the configuration of the mobile crane control device 10 is the same as that of the mobile crane control device 10 according to the first embodiment, the description thereof is omitted. In the second embodiment, the content of the processing of the crane truck control device 10 is different from the processing of the first embodiment (FIG. 4).

FIG. 5 is a flowchart showing processing of the crane control apparatus 10 according to the second embodiment of the present invention. Since the processes of steps S10 to S18 and step S21 (see FIG. 4) of the first embodiment are the same as those of the second embodiment, description thereof is omitted.
In the second embodiment, after the processing of steps S19 and S20 in FIG. 4 is performed, the process proceeds to step S31. The crane angle detection unit 11 detects the angle θ of the cranes 3a and 3b (step S31).
And the crane length detection part 12 detects the length L of the cranes 3a and 3b (step S32). Next, the crane load detection part 13 detects the load P of the cranes 3a and 3b (step S33).
Note that the order in which the processes of steps S31 to S33 described above are performed is not limited to the order shown in FIG. 5, and any process may be performed first. Moreover, you may perform the process of step S31-S33 simultaneously.

The calculation unit 15 obtains the load P ₀ of the cranes 3a and 3b itself based on the angle θ and the length L detected in steps S31 and S32 and the graph stored in the storage unit 14 (see FIG. 3). . The arithmetic unit 15 uses the load P detected by the load _{P 0} and step S33, it calculates the weight W of a load 7 by equation _{W = (P-P 0)} × K ( step S34).

And the control part 16 determines whether the load of the luggage | load 7 has increased / decreased more than the predetermined ratio (step S35). That is, it is determined whether or not the load W of the load 7 calculated in step S34 is increased or decreased by a predetermined ratio (for example, 10%) or more than the load W of the load 7 calculated in step S13 (see FIG. 4). To do.
If the load of the load 7 has not increased or decreased by a predetermined ratio or more, the control unit 16 determines “NO” in step S35, and proceeds to step S19. On the other hand, if the load of the load 7 has increased or decreased by a predetermined ratio or more, the control unit 16 determines “YES” in step S35, and proceeds to step S36.

Then, the control unit 16, the load W of baggage 7 calculated in step S34, determines whether larger or not than the upper limit value W _H of the load of the load 7 in advance are recorded in the storage unit 14 (step S36). If load W is greater than the upper limit value _{W H} makes a judgment of "YES" in step S36, the process proceeds to step S37. Then, the alarm output unit 17 issues an alarm (step S37), and proceeds to step S38. By performing the process of step S <b> 38, an operator or the like who operates the crane vehicle 100 can know that he or she is trying to carry a load exceeding the load of the load 7 that can be carried by the crane vehicle 100. Accidents such as rollover can be prevented.
And the control part 16 displays the load W of the load 7 calculated by step S34 on the display part 18 (step S38), and progresses to step S21 in FIG.

  When the crane control apparatus 10 according to the second embodiment of the present invention is used, in addition to the effects obtained by the first embodiment, other objects are placed on the load 7 being transported while the crane 100 is being driven. When a change of a predetermined ratio or more occurs in the load of the luggage 7 due to being put on the load, the changed load can be calculated by the calculation unit 15 and displayed on the display unit 18. Therefore, an operator who operates the crane vehicle 100 can know that the load of the load has changed while the crane vehicle 100 is being driven.

  In the embodiment described above, the crane angle detection unit 11, the crane length detection unit 12, the crane load detection unit 13, the storage unit 14, the calculation unit 15, the control unit 16, the alarm output unit 17, the display unit 18, and the operation Section 19, the function of crane vehicle drive section 20 or a program for realizing a part of these functions is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system, You may control the crane vehicle control apparatus 10 by performing. Here, the “computer system” includes an OS and hardware such as peripheral devices.

  The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” dynamically holds a program for a short time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, it is also assumed that a server that holds a program for a certain time, such as a volatile memory inside a computer system that serves as a server or client. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

It is the schematic which shows the structure of the mobile crane 100 which attaches the mobile crane control apparatus 10 by the 1st Embodiment of this invention. 1 is a block diagram showing a configuration of a crane truck control device 10 according to a first embodiment of the present invention. It is a figure which shows the graph which the memory | storage part 14 by the 1st Embodiment of this invention memorize | stores. It is a flowchart which shows the process of the crane vehicle control apparatus 10 by the 1st Embodiment of this invention. It is a flowchart which shows the process of the crane vehicle control apparatus 10 by the 2nd Embodiment of this invention.

Explanation of symbols

1a, 1b ... body, 2a, 2b ... wheels, 3a, 3b ... crane, 4 ... wire, 5 ... wire winding part, 6 ... hanging part, ... · Baggage, 8 ··· Supporting portion, 10 · · · Crane control device, 11 · · · Crane angle detection portion, 12 · · · Crane length detection portion, 13 · · · Crane load detection portion, Storage unit, 15 ... calculation unit, 16 ... control unit, 17 ... alarm output unit, 18 ... display unit, 19 ... operation unit, 20 ... crane truck drive unit, 21 ... Crane angle sensor, 22 ... Crane length sensor, 23 ... Crane load sensor, 100 ... Crane truck

Claims (6)

A moving body control device for controlling a moving body that carries a load,
Operation information acquisition means for acquiring operation information for operating the movable body;
Load calculating means for calculating the load of the load carried by the mobile body;
Load storage means for storing the load of the load calculated by the load calculation means;
Load output means for outputting the load of the load;
When the operation information acquisition means acquires operation information, the load output means outputs the load of the load stored in the storage means, and when the operation information acquisition means does not acquire operation information. Comprises a control means for causing the load output means to output the load of the load calculated by the load calculating means,
When the operation information acquisition unit has not acquired the operation information, the load calculation unit continuously calculates the load of the load and outputs it to the load storage unit, thereby storing the load storage unit. A moving body control device configured to update a load. Whether the load of the load calculated by the load calculation means has changed by a predetermined ratio or more with respect to the load of the load stored in the storage means when the operation information acquisition means acquires the operation information. A determination means for determining whether or not,
Wherein when said determination means determines that the changed more than a predetermined percentage, claims 1 Symbol mounting, characterized in that for outputting a load of luggage said load calculating means calculates the load output means Mobile control device. A load upper limit storage means for storing an upper limit of the load of the load that can be carried by the mobile body;
An alarm output means for outputting an alarm when the load of the load calculated by the load calculation means is larger than the upper limit value of the load of the load stored in the load upper limit storage means;
Mobile control device according to claim 1 or 2, further comprising a. A moving body comprising the moving body control device according to any one of claims 1 to 3 . A computer of a mobile control device that controls a mobile that carries a load,
Operation information acquisition means for acquiring operation information for operating the movable body;
Load calculating means for calculating the load of the load carried by the mobile body;
Load storage means for storing the load of the load calculated by the load calculation means;
Load output means for outputting the load of the load;
When the operation information acquisition means acquires operation information, the load output means outputs the load of the load stored in the storage means, and when the operation information acquisition means does not acquire operation information. Functions as a control means for causing the load output means to output the load of the load calculated by the load calculating means,
When the operation information acquisition unit has not acquired the operation information, the load calculation unit continuously calculates the load of the load and outputs it to the load storage unit, thereby storing the load storage unit. A program configured to update a load. A moving body control method for controlling a moving body that carries a load,
An operation information acquisition process for acquiring operation information for operating the mobile body;
A load calculation process for calculating the load of the load carried by the mobile body;
A load storage process for storing the load of the load calculated in the load calculation process;
When the operation information is acquired in the operation information acquisition process, the load of the load stored in the storage process is output, and when the operation information is not acquired in the operation information acquisition process, the load calculation process is performed. A control process for outputting the calculated load of the load,
When the operation information is not acquired in the operation information acquisition process, the stored load is updated by repeatedly performing the load calculation process and the load storage process.

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