Mobile charging robot

Abstract

To prevent shutdown of a medical apparatus 5 that relates to a human life.SOLUTION: A mobile charging robot 2 moves in a medical facility 1 in which a plurality of medical apparatuses 5 driven by a first battery 21 are installed, and charges the plurality of medical apparatuses 5. The mobile charging robot 2 includes: a second battery 13; a charging / discharging connector 12 for electrically connecting the second battery 13 to the first battery 21; a control unit 15 for controlling charging / discharging of the second battery 13; and a storage device 16 for storing map data 161 indicating a position of each medical apparatus 5 and a priority list 162 indicating a priority of each medical apparatus 5. The control unit 15 acquires an amount of remaining charge, a position, identification information, and the priority of the first battery 21 from each medical apparatus 5, prepares a charging schedule 163 so that the medical apparatus 5 is not shut down when the medical apparatus 5 has a higher priority according to the amount of remaining charge of the first battery 21 of each medical apparatus 5 and the priority list 162, and charges the plurality of medical apparatuses 5 according to the charging schedule 163.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a mobile charging robot. [Background technology]

[0002] Various battery charging methods have been proposed. Patent Document 1 discloses an invention that gives priority to charging a device to be charged for which the user has set a priority setting to ON. Patent Document 2 discloses an invention that gives priority to charging a specific device to be charged that is likely to be used sooner, taking into account future usage plans. Patent Document 3 discloses an invention that uses a charging device that charges multiple batteries sequentially, charging the battery with the most remaining charge first. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-022105 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-223073 [Patent Document 3] Japanese Patent Application Publication No. 2-87937 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the inventions disclosed in the above-mentioned Patent Documents 1 to 3 exemplify devices to be charged such as digital cameras, mobile phones, PDAs (Personal Digital Assistants), and portable music players, but do not disclose a charging method for battery-powered medical devices. Battery-powered medical devices are essential, particularly in medical facilities set up temporarily in the event of a disaster or in medical facilities such as hospitals during a power outage. Furthermore, these medical devices include, for example, artificial heart-lung machines, whose failure due to battery depletion can be life-threatening.

[0005] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a mobile charging robot that prevents the shutdown of life-saving medical equipment. [Means for solving the problem]

[0006] One aspect of the present invention is a mobile charging robot that moves within a medical facility where multiple medical devices powered by a first battery are installed and charges the multiple medical devices. The mobile charging robot includes a moving unit, a second battery, a charge / discharge connector that electrically connects the second battery to the first battery, a control unit that controls charging / discharging of the moving unit and the second battery, and a storage device that stores map data indicating the location of each medical device within the medical facility and a priority list indicating the priority of each medical device. The control unit acquires device information from each medical device, including the remaining charge of the first battery, its location within the medical facility, identification information, and priority, and creates a charging schedule based on the remaining charge of the first battery of each medical device and the priority list so that the higher the priority of the medical device, the less likely the medical device will be stopped, and charges the first batteries of the multiple medical devices using the second battery in accordance with the charging schedule. [Effects of the Invention]

[0007] According to one aspect of the present invention, a mobile charging robot that prevents the shutdown of life-saving medical equipment can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view showing an example of a medical facility 1 in which a mobile charging robot according to an embodiment is used. [Figure 2] FIG. 2 is a block diagram showing an example of a specific configuration of the mobile charging robot 2. As shown in FIG. [Figure 3] FIG. 3 is a block diagram showing an example of a specific configuration of the medical device 5. As shown in FIG. [Figure 4]Figure 4 is a flowchart showing an example of a series of operating procedures in which the mobile charging robot 2 shown in Figure 2 autonomously moves within the medical facility 1 of Figure 1, charges the medical equipment 5 of Figure 3, and charges itself at the charging spot 3. [Figure 5A] FIG. 5A is a graph showing the change over time in the charging rate of the first battery 21 provided in two medical devices 5A and 5B with high priority. [Figure 5B] FIG. 5B is a graph showing the change over time in the charging rates of the medical devices 5A and 5B when the mobile charging robot 2 charges the medical device 5A preferentially through regulated charging FC. [Figure 6A] FIG. 6A is a graph showing the change over time in the charging rates of medical devices 5A, 5B, and 5C when the mobile charging robot 2 performs charging and discharging according to the charging schedule of FIG. 6B. [Figure 6B] FIG. 6B is a diagram showing an example of a charging schedule for the medical devices 5A, 5B, and 5C including the regulated charger FC of FIG. 5B. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Medical facilities) A mobile charging robot according to an embodiment will be described below with reference to the accompanying drawings. Fig. 1 is a plan view showing an example of a medical facility 1 in which a mobile charging robot according to an embodiment is used. The medical facility 1 may be any medical facility, such as a hospital with beds, a clinic with or without beds, or a medical facility temporarily set up at a disaster site in the event of a disaster. Fig. 1 illustrates a medical facility 1 with beds.

[0010] Within the medical facility 1, a plurality of beds 4 for patients are arranged, and adjacent to each bed 4 are medical devices 5A, 5B, 5C, 5D, 5E, and 5F (hereinafter, the medical devices in FIG. 1 may be collectively referred to as "medical devices 5") for diagnosing, treating, or caring for the patients. Each medical device 5 has a battery (first battery, not shown) and operates by consuming power stored in the battery. The medical devices 5 include all medical devices that can be powered by a battery, such as a thermometer, a blood pressure monitor, a ventilator, an extracorporeal membrane oxygenation (ECMO), and an artificial heart-lung machine. Furthermore, in this embodiment, the medical devices 5 are broadly interpreted. Specifically, among the devices used in the medical facility 1, electrically-powered devices related to medical procedures are also included in the medical devices 5. For example, electrically-powered devices that operate in conjunction with medical devices that directly diagnose patients, such as an electrically-powered bed that can be raised and lowered, a display that displays a patient's vital signs, and a lighting fixture that illuminates the affected area of ​​a patient, are also included in the medical devices 5.

[0011] FIG. 1 shows an example in which one bed 4 is combined with one medical device 5, but it goes without saying that two or more medical devices 5 may be combined with one bed 4.

[0012] Mobile charging robots 2-1, 2-2, and 2-3 shown in FIG. 1 show states in which one mobile charging robot 2 is performing different operations. The mobile charging robot 2-1 autonomously moves within the medical facility 1. The mobile charging robot 2-2 is electrically connected to a medical device 5C and charging the medical device 5C. The mobile charging robot 2-3 is electrically connected to a charging spot 3 arranged within the medical facility 1 and charging its own battery (second battery, not shown). In this way, the mobile charging robot 2 autonomously moves to the desired medical device 5C while avoiding obstacles within the medical facility 1, and charges the battery (first battery) of the medical device 5C by discharging the battery (second battery) of the mobile charging robot 2. When the remaining battery power of the mobile charging robot 2 decreases due to discharging, the mobile charging robot 2 autonomously moves to the charging spot 3 and charges its own battery (second battery). The obstacles that the mobile charging robot 2 must avoid include people inside the medical facility 1, such as beds 4, medical equipment 5, patients, and medical staff.

[0013] (Mobile charging robot) 2 is a block diagram showing an example of a specific configuration of the mobile charging robot 2. The mobile charging robot 2 includes a moving unit 10 for moving itself, a sensor 11 for detecting surrounding obstacles, a charge / discharge connector 12 for electrically connecting to the medical devices 5 or the charging spots 3, a second battery 13 for charging the medical devices 5, a communication unit 14 for communicating information with each medical device 5, a control unit 15 for controlling the entire mobile charging robot 2, and a storage device 16 for storing various data.

[0014] The moving unit 10 differs depending on the movement method of the mobile charging robot 2. If the mobile charging robot 2 is a vehicle that moves by rotating wheels on a road surface, the moving unit 10 includes multiple wheels, a power source such as a motor that rotates the wheels, and an actuator that steers the wheels. The mobile charging robot 2 may also be an air vehicle such as a drone that can fly autonomously. In this case, the moving unit 10 includes a propeller that generates lift by rotation and a power source such as a motor that rotates the propeller.

[0015] The sensor 11 is a component necessary for the mobile charging robot 2 to autonomously move within the medical facility 1 and electrically connect the charging / discharging connector 12 to the medical device 5 or the charging spot 3. In other words, the mobile charging robot 2 moves while avoiding obstacles detected by the sensor 11 and electrically connects to the medical device 5 or the charging spot 3 detected by the sensor 11. Specifically, the sensor 11 includes a monocular camera that captures images of the surroundings in the visible or infrared range, a stereo camera that detects the distance to an obstacle, sonar, radar, or LiDAR (Light Detection and Ranging). The mobile charging robot 2 may also have a SLAM (Simultaneous Localization and Mapping) function.

[0016] The charging / discharging connector 12 is electrically connected to the second battery 13. It can be electrically connected to a similar connector of the medical device 5 or the charging spot 3. This allows the mobile charging robot 2 to transmit and receive power to and from the medical device 5 or the charging spot 3. In detail, the mobile charging robot 2 discharges power stored in the second battery 13 to charge the first battery 21 (described later with reference to FIG. 3 ) of the medical device 5. The charging / discharging connector 12 may be either a contactless or contact type charging connector. The mobile charging robot 2 receives power from the charging spot 3 to charge the second battery 13. Note that these charging and discharging operations are controlled by a control unit 15, which will be described later.

[0017] The second battery 13 stores at least the power for charging the first batteries 21 of the multiple medical devices 5 in the medical facility 1. The second battery 13 may also be a source of power required for the mobile charging robot 2 to move, or the mobile charging robot 2 may be equipped with a different third battery (not shown) that supplies the power required for the mobile charging robot 2 to move.

[0018] The communication unit 14 may be any means capable of communicating with at least a plurality of medical devices 5 within the medical facility 1. Because the mobile charging robot 2 moves, the communication method is wireless communication. Specifically, low-power Bluetooth (registered trademark) can be used within a range of about 10 m. By previously setting up pairing with medical devices 5 that may be used within the medical facility 1, the communication unit 14 can automatically pair with medical devices 5 that are brought into the medical facility 1 along the way. Of course, this is not limited to Bluetooth, and wireless LAN such as Wi-Fi (registered trademark) may also be used.

[0019] The control unit 15 is, for example, a microcontroller that integrates a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and input / output ports (I / O ports) into a single integrated circuit (IC). Various computer programs are pre-stored in the memory, and the CPU executes information processing in accordance with the computer programs. This allows the control unit 15 to acquire external information from the sensor 11 and the communication unit 14, and to control the moving unit 10 and the charging / discharging connector 12 based on this external information and internal information of the mobile charging robot 2.

[0020] The control unit 15 is not limited to a microcontroller that uses a computer program, but may be realized by assembling a circuit using hardware such as a dedicated analog circuit and logic circuit.

[0021] The control unit 15 includes a device information acquisition unit 150, a movement control unit 151, a charge / discharge control unit 152, a priority list creation unit 153, a charge schedule creation unit 154, and a map creation unit 155 as information processing units executed by a microcontroller.

[0022] 1, the storage device 16 stores at least map data 161 indicating the locations of the beds 4, medical devices 5, and charging spots 3 within the medical facility 1, a priority list 162 indicating the priority of each of the medical devices 5A to 5F, and a charging schedule 163 regarding the charging of the medical devices 5A to 5F and the charging of the mobile charging robot 2. Note that the storage device 16 may also store various computer programs stored in the microcontroller.

[0023] The movement control unit 151 controls the movement unit 10 based on information about obstacles detected by the sensor 11, thereby autonomously moving the mobile charging robot 2. The movement control unit 151 refers to map data 161 and a charging schedule 163, which will be described later, and autonomously moves the mobile charging robot 2 to a specific medical device 5 or charging spot 3, which is the destination.

[0024] (Medical Devices) Fig. 3 is a block diagram showing an example of a specific configuration of the medical device 5. Fig. 3 shows components of the medical device 5 excluding its original functions of diagnosis, treatment, or nursing care. The medical device 5 includes a charging connector 20, a first battery 21, a communication unit 22, a control unit 23, and a storage device 24.

[0025] The charging connector 20 is electrically connected to the first battery 21 and electrically connected to the charging / discharging connector 12 of the mobile charging robot 2 to transmit and receive electric power. Specifically, the charging connector 20 charges the first battery 21 with electric power received from the charging / discharging connector 12 of the mobile charging robot 2. The charging connector 20 may be either a contactless or contact type charging connector.

[0026] 2, the communication unit 22 may be a means capable of communicating at least with the mobile charging robot 2 in the medical facility 1. The communication unit 22 transmits device information such as identification information of the medical device 5, its location within the medical facility 1, and the remaining charge of the first battery 21. The communication unit 22 may transmit the device information when a transmission request is received from the mobile charging robot 2, or may transmit the device information periodically and autonomously.

[0027] 2, the control unit 23 is, for example, a microcontroller that integrates a CPU, RAM, ROM, and input / output ports into a single integrated circuit. Various computer programs are stored in the memory in advance, and the CPU executes information processing in accordance with the computer programs. As a result, the control unit 23 functions as a remaining charge calculation unit 231 that calculates the remaining charge of the first battery 21 and a communication control unit 232 that controls the communication operation of the communication unit 22.

[0028] The storage device 24 stores priorities 241 of the medical devices 5 and identification information 242 for identifying the medical devices 5. A high priority 241 is set for medical devices 5 whose operation ceasing due to depletion of the first battery 21 would immediately endanger human life, while a low priority 241 is set for medical devices 5 whose operation ceasing due to depletion of the first battery 21 would not immediately endanger human life. For example, medical devices 5 such as ventilators, extracorporeal membrane oxygenation (ECMO), and artificial heart-lung machines are medical devices whose operation ceasing due to depletion of the first battery 21 would immediately endanger human life, and therefore are set to have a high priority 241. On the other hand, thermometers, blood pressure monitors, and electrically powered devices (displays, lighting fixtures, etc.) operating in association with medical devices that directly diagnose patients are set to have a low priority 241, because their operation ceasing due to depletion of the first battery 21 would not immediately endanger human life. The priority 241 may be divided into two levels (high and low) or three or more levels. In this embodiment, a case where the process is divided into two stages will be described.

[0029] (Mobile charging robot in action) Next, referring to Fig. 4, an example of a series of operational procedures will be shown in which the mobile charging robot 2 shown in Fig. 2 autonomously moves within the medical facility 1 shown in Fig. 1, charges the medical device 5 shown in Fig. 3, and charges itself at the charging spot 3. Here, the operation of the control unit 15 will be mainly explained.

[0030] First, in step S1, the device information acquisition unit 150 acquires device information from each medical device 5 indicating the remaining charge of the first battery 21, the location of the medical device 5 within the medical facility 1, the identification information 242 of the medical device 5, and the priority 241 of the medical device 5.

[0031] Next, in step S2, the map creation unit 155 creates map data 161 of the medical facility 1, including the positions of the medical devices 5, the beds 4, and the charging spots 3. For example, the mobile charging robot 2 with the SLAM function moves around the medical facility 1 in advance to identify its own position and create a map at the same time. The map creation unit 155 can create map data 161 of the entire medical facility 1 by moving around the entire medical facility 1. The created map data 161 is stored in the storage device 16. Note that the map data 161 may include information indicating routes that the mobile charging robot 2 can move along.

[0032] Next, in step S3, the priority list creation unit 153 creates a priority list using the priority 241 and identification information 242 of each medical device 5 included in the device information received in step S1. The priority list is a list in which all medical devices 5 installed in the medical facility 1 are arranged in descending order of priority. The created priority list 162 is stored in the storage device 16.

[0033] Next, in step S4, the charging schedule creation unit 154 creates a charging schedule 163 based on the priority list 162. Specifically, the charging schedule creation unit 154 creates a charging schedule 163 taking into consideration the remaining charge of the first battery 21 and the priority of each medical device 5, such that the higher the priority of the medical device 5, the less likely the medical device 5 to be stopped. The charging schedule may include the order in which the medical devices 5 are to be charged, the charging start time, charging time, and target charging rate for each medical device 5, and the travel time of the mobile charging robot 2.

[0034] Furthermore, while the mobile charging robot 2 is charging multiple medical devices 5, the remaining power of the second battery 13 may become low, and the mobile charging robot 2 may be unable to continue charging the medical devices 5. Therefore, the charging schedule creation unit 154 may create the charging schedule 163 so that the charging schedule 163 includes an operation of the mobile charging robot 2 charging the second battery 13 using a charging spot 3 installed within the medical facility 1.

[0035] Furthermore, in step S1, information indicating the power consumption of each medical device 5 may be acquired as part of the device information. The charging schedule creation unit 154 can create a charging schedule 163 that takes into consideration not only the remaining charge but also the power consumption. Details will be described later with reference to FIGS. 4A, 4B, 5A, and 5B.

[0036] Next, in step S5, the control unit 15 determines whether or not the charging start time in the charging schedule has arrived. If NO in step S5, the process returns to step S1, and steps S1 to S4 are repeatedly performed until the charging start time arrives.

[0037] If the answer is YES in step S5, in step S6, the mobile charging robot 2 starts moving toward the medical device 5 to be charged or the charging spot 3 as its destination.

[0038] Next, in step S7, the mobile charging robot 2 arrives at the medical device 5 to be charged or the charging spot 3, and electrically connects the charging / discharging connector 12 to the medical device 5 to be charged or the charging spot 3. Thereafter, the charging / discharging control unit 152 starts charging the medical device 5 or charging the mobile charging robot itself.

[0039] Next, in step S8, if the charging time in the charging schedule has elapsed or if charging of the first battery 21 to the target charging rate has been completed, it is determined whether the entire charging schedule created in step S4 has been completed. If it has not been completed (NO in S8), the process returns to step S1, and steps S1 to S7 are repeated. If the entire charging schedule has been completed (YES in S8), the flowchart in Fig. 4 ends. In this way, the mobile charging robot 2 can charge the first batteries 21 of the multiple medical devices 5 in accordance with the created charging schedule 163.

[0040] If the charging schedule 163 has not ended (NO in S8), the device information acquisition unit 150 repeatedly acquires device information from each medical device 5 in step S1. Therefore, when a new medical device 5 is carried into the medical facility 1 or a medical device 5 is carried out from the medical facility 1, the control unit 15 can update the map data 161 and the priority list 162 based on the device information and recreate the charging schedule 163. In other words, even if a medical device 5 is carried in or out during the charging schedule 163, the map data 161 and the priority list 162 can be updated based on the latest device information and the charging schedule 163 can be recreated based on the latest device information. Therefore, even if a medical device 5 is carried in or out of the medical facility 1, it is possible to prevent the stoppage of a high-priority medical device 5 that is life-saving.

[0041] Fig. 5A is a graph showing the change over time in the charging rate of the first battery 21, which is an example of the remaining charge of the first battery 21 provided in two high-priority medical devices 5A and 5B. Fig. 5A shows the results of estimating the time when the charging rate will reach zero if charging is not performed by the mobile charging robot 2. The tilt angle in Fig. 5A corresponds to the power consumption of the medical devices 5A and 5B. Both of the two high-priority medical devices 5A and 5B are medical devices 5 that are related to human life and should not be stopped.

[0042] The device information acquisition unit 150 acquires the charging rates and power consumption of the medical devices 5A and 5B as device information. At time t1, the charging schedule creation unit 154 calculates, from the charging rates and power consumption, times txA-1 and txB-1 at which the charging rates of the medical devices 5A and 5B become zero, as shown in FIG. 5A. If the time difference (TxAB) between times txA-1 and txB-1 is shorter than a predetermined time (Tx-0), it can be said that there is a risk that multiple high-priority medical devices 5A and 5B will stop simultaneously within a short period of time. To prevent multiple high-priority medical devices 5A and 5B from stopping simultaneously, charging is performed even if the charging rates of the first batteries 21 of the medical devices 5A and 5B are sufficiently high, i.e., even if there is a sufficient remaining charge. This charging is called "adjusted charging FC." In other words, the charging schedule creation unit 154 creates the following charging schedule. This charging schedule gives priority to charging at least one medical device 5A among two or more medical devices 5A and 5B that may stop operating simultaneously within a short period of time, regardless of the remaining charge of the first battery 21 of the medical device 5A.

[0043] 5B is a graph showing the change over time in the charging rates of the medical devices 5A and 5B when the mobile charging robot 2 uses adjusted charging FC to prioritize charging of the medical device 5A. The mobile charging robot 2 charges the medical device 5A during the charging time from time t2 to t3. As a result, the time at which the charging rate of the medical device 5A reaches zero is delayed until time txA-2, and the time difference (TxAB) between time txA-2 and time txB-1 becomes longer than the predetermined time (Tx-0). This prevents two or more high-priority medical devices 5A and 5B, which are related to human life, from stopping simultaneously within a short period of time.

[0044] Fig. 6A is a graph showing the change over time in the charging rates of the medical devices 5A, 5B, and 5C when the mobile charging robot 2 performs charging and discharging according to the charging schedule of Fig. 6B. Fig. 6B is a diagram showing an example of a charging schedule for the medical devices 5A, 5B, and 5C including the regulated charging FC of Fig. 5B.

[0045] 6A and 6B, the change in the charging rate of the medical devices 5A, 5B, and 5C over time when the mobile charging robot 2 performs charging and discharging in accordance with the charging schedule 163 for the medical devices 5A, 5B, and 5C created by the charging schedule creation unit 154 will be described.

[0046] The medical devices 5A and 5B are high-priority devices that are related to human life, while the medical device 5C is a low-priority medical device 5 that does not require continuous operation and can be stopped for unavoidable periods. Furthermore, it is desirable to actually start charging at a stage before the remaining charge reaches zero. The higher the priority of the medical device 5, the higher the lower limit of the charging rate for determining whether charging is necessary. This allows the higher the priority of the medical device 5, the more time can be allowed to start charging, preventing the medical device 5 from being stopped due to depletion of the first battery 21. In the examples of FIGS. 6A and 6B, the lower limit of the charging rate of the medical devices 5A and 5B is set to 25%, and the lower limit of the charging rate of the medical device 5C is set to 10%.

[0047] First, at time t0, the processes of steps S1 to S4 in FIG. 4 are executed in order. That is, the mobile charging robot 2 creates map data 161 and acquires device information of the medical devices 5A, 5B, and 5C while patrolling the medical facility 1. Furthermore, the mobile charging robot 2 creates a priority list 162 from the device information and creates a charging schedule 163 shown in FIG. 6B. The charging schedule 163 created initially may be the entire schedule shown in FIG. 6B or a portion of the schedule shown in FIG. 6B. Alternatively, the schedule shown in FIG. 6B may be a portion of the charging schedule 163 created initially.

[0048] As described with reference to FIGS. 5A and 5B, there is a risk that both medical devices 5A and 5B may stop functioning within a short period of time. Therefore, the mobile charging robot 2 starts moving toward the medical device 5A at time t1 and starts regulated charging FC of the medical device 5A from time t2. The charging rate of the medical device 5A at time t2 is higher than the lower limit (25%) of the charging rate. The regulated charging FC is performed regardless of the remaining charge (charging rate). Furthermore, the regulated charging FC does not necessarily require charging the medical device 5A to full charge (charging rate 100%). If the time difference (TxAB) between time txA-2 and time txB-1 is longer than a predetermined time (Tx-0), the charging of the medical device 5A ends at time t3.

[0049] At time t3, the mobile charging robot 2 starts moving toward the next medical device 5B to be charged. At time t4, the charging rate of the medical device 5B reaches the lower limit (25%), so the mobile charging robot 2 starts charging the medical device 5B. The mobile charging robot 2 charges the medical device 5B until the charging rate reaches 100% (time t5). The mobile charging robot 2 then moves to the charging spot 3 and uses the charging spot 3 to charge its own second battery 13.

[0050] When charging of the second battery 13 is complete, the mobile charging robot 2 moves again to the medical device 5A. At time t6, the charging rate of the medical device 5A reaches the lower limit (25%), so the mobile charging robot 2 starts charging the medical device 5A. When the mobile charging robot 2 finishes charging the medical device 5A to a charging rate of 100% (time t7), it moves to the charging spot 3 and charges its own second battery 13. When charging of the second battery 13 is complete, the mobile charging robot 2 moves to the medical device 5B. At time t8, the charging rate of the medical device 5B reaches the lower limit (25%), so the mobile charging robot 2 starts charging the medical device 5B. Charging of the medical device 5B ends at time t9.

[0051] On the other hand, the medical device 5C has a 100% charge rate at time t0 and consumes less power than the medical devices 5A and 5B. Therefore, it has not been charged at all between time t0 and time t9. However, as shown in FIG. 6A, the charge rate of the medical device 5C is approaching the preset lower limit (10%) of the charge rate. Therefore, the mobile charging robot 2 starts moving toward the medical device 5C and starts charging the medical device 5C from time t10.

[0052] When the mobile charging robot 2 finishes charging the medical device 5C up to a charging rate of 100% (time t11), it moves again toward the medical device 5A and starts charging the medical device 5A from time t12.

[0053] 6A, even during charging, the charging schedule creation unit 154 determines whether or not an adjustment charge FC is required between the medical devices 5A and 5B with the highest priority. If it is determined that an adjustment charge FC is required, the charging schedule creation unit 154 inserts the adjustment charge FC into the existing charging schedule.

[0054] (Action and effect) The control unit 15 controls the movement unit 10 based on map data 161 indicating the location of each medical device 5 in the medical facility 1, and moves the mobile charging robot 2 to the medical device 5 to be charged. Furthermore, the control unit 15 electrically connects the charging connector 20 of the medical device 5 with the charging / discharging connector 12 of the mobile charging robot 2. Then, the control unit 15 charges the first battery 21 using the second battery 13. The mobile charging robot 2 repeatedly moves and charges according to the charging schedule 163, thereby charging the multiple medical devices 5 in turn.

[0055] The control unit 15 considers the remaining charge of the first battery 21 and the priority of each medical device 5, and creates a charging schedule 163 so that the higher the priority of the medical device 5, the less likely the medical device 5 to stop. By charging the first batteries 21 of multiple medical devices 5 according to this charging schedule 163, it is possible to prevent the stoppage of medical devices 5 that are life-saving, such as artificial heart-lung machines.

[0056] The control unit 15 repeatedly acquires device information from each medical device 5, and based on the device information, the control unit 15 can update the map data 161 and the priority list 162 and recreate the charging schedule 163. Therefore, even if medical devices 5 are carried in and out of the medical facility 1, it is possible to prevent the stoppage of high-priority medical devices 5 that are life-saving.

[0057] The control unit 15 creates the charging schedule 163 so that the charging schedule 163 includes the task of the mobile charging robot 2 charging the second battery 13 using the charging spots 3 installed in the medical facility 1. This makes it possible to prevent the second battery 13 from running out of power while preventing the medical device 5, which is life-saving, from being stopped.

[0058] The control unit 15 acquires information indicating the power consumption of the medical devices 5 as part of the device information, and when it determines that two or more medical devices 5A, 5B with high priority may stop within a predetermined time (Tx-0) based on the remaining charge and power consumption, it creates a charging schedule to charge at least one medical device 5A of the two or more medical devices 5A, 5B with priority, regardless of the remaining charge of the first battery 21. The control unit 15 can create a charging schedule to set the time difference between the first batteries 21 of the two or more medical devices 5A, 5B with high priority and related to human life to be equal to or greater than the predetermined time (Tx-0). This makes it possible to prevent two or more medical devices 5A, 5B with high priority and related to human life from stopping within a short period of time.

[0059] The control unit 15 creates a charging schedule to charge the medical device 5 when the remaining charge of the first battery 21 falls below a predetermined lower limit. The higher the priority of the medical device 5, the higher the predetermined lower limit is set. This allows charging of life-saving medical devices to begin well in advance.

[0060] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the present invention.

[0061] The method for creating a charging schedule is not limited to this embodiment, and for example, the method disclosed in JP-A-2020-521515 can be used. Furthermore, multiple mobile charging robots 2 may be operated simultaneously within one medical facility 1. In this case, the medical facility 1 may be divided into multiple areas and a mobile charging robot 2 may be assigned to each area, or a mobile charging robot 2 may be assigned to each medical device 5. [Explanation of symbols]

[0062] 2. 2-1~2-3 Mobile charging robot 3 Charging spots 4 beds 5, 5A~5F Medical equipment 10 Moving Part 11 Sensors 12 Charge / discharge connector 13 Second Battery 14, 22 Communications Department 15, 23 Control section 16, 24 Storage device 20 Charging connector 21 Battery No. 1 150 Device information acquisition section 151 Movement control unit 152 Charge / discharge control unit 153 Priority List Creation Department 154 Charging Schedule Creation Department 155 Mapping Department 161 map data 162 Priority List 163 Charging Schedule 241 Priority FC adjustment charging Tx-0 Predetermined time

Claims

1. A mobile charging robot that moves within a medical facility in which a plurality of medical devices driven by a first battery are installed and charges the plurality of medical devices, A moving part; A second battery; a charge / discharge connector electrically connecting the second battery to the first battery; a control unit that controls the moving unit and charging / discharging of the second battery; a storage device that stores map data indicating the location of each of the medical devices in the medical facility and a priority list indicating the priority of each of the medical devices; The control unit is acquiring device information from each medical device, the device information including a remaining charge of the first battery, a location within the medical facility, identification information, and a priority; creating a charging schedule according to the remaining charge of the first battery of each of the medical devices and the priority list, so that the medical device with a higher priority is not stopped; A mobile charging robot that charges the first batteries of the plurality of medical devices using the second battery according to the charging schedule.

2. The control unit is Repeatedly acquiring the device information; The mobile charging robot according to claim 1 , wherein when new medical equipment is brought into the medical facility or when medical equipment is taken out of the medical facility, the map data and the priority list are updated and a charging schedule is recreated based on the equipment information.

3. The mobile charging robot according to claim 1 , wherein the control unit creates the charging schedule so that the charging schedule includes an operation of the mobile charging robot charging the second battery using a charging spot installed in a medical facility.

4. The control unit is acquiring information indicating power consumption as the device information; 2. The mobile charging robot according to claim 1, wherein, when it is determined based on the remaining charge and the power consumption that two or more medical devices having high priority are likely to stop within a predetermined time, the charging schedule is created such that at least one of the two or more medical devices is charged preferentially, regardless of the remaining charge of the first battery.

5. the control unit creates the charging schedule so as to charge the medical device when the remaining charge of the first battery becomes equal to or less than a predetermined lower limit; The mobile charging robot according to claim 1 , wherein the predetermined lower limit value is set higher as the priority of the medical device increases.

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