System and method of braking for a patient support apparatus
A patient support apparatus includes a base having a length and including a plurality of caster wheels enabling movement of the patient support apparatus across a floor surface. An auxiliary wheel support structure is secured to the base and rotatably supports at least one non-castered auxiliary wheel. A drive mechanism including a motor may be configured to drive the auxiliary wheel. A braking system including at least one brake member may be configured to apply a braking force to decelerate the auxiliary wheel and is movable between a first position wherein the at least one brake member is disengaged from the auxiliary wheel and a deployed position wherein the at least one brake member is frictionally engaged with the auxiliary wheel to restrict rotation of the auxiliary wheel. The braking system may be configured to synchronize the braking forces applied to first and second auxiliary wheels.
1 . A method of braking or steering a patient support apparatus, the patient support apparatus having a plurality of front and rear bearings and first and second auxiliary wheels located between the front and rear bearings, said method comprising;
applying a braking force to brake the first auxiliary wheel and/or the second auxiliary wheel; and
moving the patient support apparatus in a non-straight path by modulating the braking force to slow one auxiliary wheel of the first and second auxiliary wheels relative to the other auxiliary wheel of the first and second auxiliary wheels.
2 . The method of claim 1 comprising braking the patient support in a straight path by synchronizing the braking force.
3 . The method of claim 1 comprising:
monitoring input from a sensor; and
synchronizing and/or modulating the braking force based on the input.
4 . The method of claim 3 wherein said monitoring includes monitoring input from a plurality of sensors.
5 . The method of claim 3 wherein the patient support apparatus includes a motor for driving the first and second auxiliary wheels, and wherein said applying the braking force includes using back EMF from the motor to apply the braking force.
6 . The method of claim 1 wherein the first and second auxiliary wheels are each mounted about a shaft, wherein a differential joins the shafts, and wherein said applying the braking force includes applying a torque to the differential to apply the braking force to the first and second auxiliary wheels.
7 . The method of claim 1 comprising controlling a clutch to synchronize the braking force applied to the first and second auxiliary wheels.
8 . The method of claim 7 comprising selectively applying, with the clutch, the braking force from the one auxiliary wheel of the first and second auxiliary wheels to the other auxiliary wheel of the first and second auxiliary wheels.
9 . The method of claim 1 wherein the first and second auxiliary wheels are first and second non-castered auxiliary wheels.
10 . A method of operating a patient support apparatus, the patient support apparatus including a base with a length and including a plurality of caster wheels that enable movement of the patient support apparatus across a floor surface, the patient support apparatus including first and second non-castered auxiliary wheels, said method comprising:
applying a braking force to the first non-castered auxiliary wheel and/or the second non-castered auxiliary wheel;
controlling the braking force, in a first mode, to direct movement of the patient apparatus in a non-straight path by slowing one auxiliary wheel of the first and second non-castered auxiliary wheels relative to the other auxiliary wheel of the first and second non-castered auxiliary wheels.
11 . The method of claim 10 comprising operating, in a second mode, to synchronize the braking force to brake the patient apparatus in a substantially straight path.
12 . The method of claim 10 comprising:
sensing a characteristic pertaining to the patient support; and
selectively applying the braking force based the sensed characteristic.
13 . The method of claim 12 wherein the characteristic is a wheel speed of at least one of the auxiliary wheels.
14 . The method of claim 12 wherein the characteristic is whether an object or person is present, and comprising actuating the braking force when the object or person is present to avoid a collision with the object or a person.
15 . The method of claim 10 wherein the patient support includes at least one brake member, and comprising:
moving the brake member between a deployed position and a non-deployed position, and
braking, with the brake member in the deployed position, at least one auxiliary wheel of the first and second non-castered auxiliary wheels.
16 . The method of claim 15 wherein the one auxiliary wheel of the first and second non-castered auxiliary wheels includes a disc, and comprising frictionally engaging, with the brake member, the disc to thereby brake the one auxiliary wheel.
17 . The method of claim 10 comprising driving the first and second non-castered auxiliary wheels with a motor.
18 . The method of claim 17 utilizing back EMF from the motor to brake the first non-castered auxiliary wheel and/or the second non-castered auxiliary wheel.
19 . The method of claim 10 wherein the patient support includes a clutch, and comprising synchronizing, with the clutch, the braking force applied to the first and second non-castered auxiliary wheels.
20 . The method of claim 19 comprising selectively applying, with the clutch, the braking force from the one auxiliary wheel of the first and second non-castered auxiliary wheels to the other auxiliary wheel of the first and second non-castered auxiliary wheels.