Speed control for patient handling device

• US 8,442,738 B2
• Filed: 10/12/2009
• Issued: 05/14/2013
• Est. Priority Date: 10/12/2009
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Patmore, Kevin M.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US12/577,355
• Publication Number:
  US 20110087416A1
• Time in Patent Office: 1,310 Days
• Field of Search: 701/93, 701/96, 701/70, 701300-302, 180170-171, 180 191- 193, 340435-436, 340/901, 340/903
• US Class Current: 701/93
• CPC Class Codes: A61G 1/0218 3 pairs having wheels within a pair on the same position in longitudinal direction, e.g. on the same axis
• CPC Class Codes: A61G 1/0225 other configuration, e.g. odd number of wheels
• CPC Class Codes: A61G 1/0237 having at least one swivelling wheel, e.g. castors
• CPC Class Codes: A61G 1/0268 having deployable or retractable wheels
• CPC Class Codes: A61G 1/0275 having driven wheels, e.g. motorised
• CPC Class Codes: A61G 1/0281 having a steering device
• CPC Class Codes: A61G 1/0287 having brakes, e.g. slowing down and/or holding details of brake actuators on castors B60B33/0078; brakes on hand carts B62B5/04; brakes in general F16D49/00 - F16D65/853
• CPC Class Codes: A61G 1/048 Handles
• CPC Class Codes: A61G 2203/40 for distance
• CPC Class Codes: A61G 7/0528 Steering or braking devices for castor wheels
• CPC Class Codes: A61G 7/08 Apparatus for transporting beds
• CPC Class Codes: B60L 2200/24 Personal mobility vehicles
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 50/20 using propulsion power generated by humans or animals
• CPC Class Codes: B60L 58/10 for monitoring or controlling batteries
• CPC Class Codes: B60L 7/24 with additional mechanical or electromagnetic braking
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

A patient handling device, such as a bed, stretcher, cot, or the like, includes a motor for driving one or more wheels to assist in the movement of the device. At least one proximity sensor is positioned on the device in order to detect the presence of one or more objects that may lie in the path of the device when it moves. A controller on the device determines the distance between itself and the object and automatically controls the speed of the device in a manner designed to reduce the likelihood of a collision and/or to mitigate the impact of a collision. The automatic speed control of the device may follow one or more predetermined profiles that correlate certain parameters, such as a distance to the object or relative velocity, with a maximum acceptable speed of the device.

Claims

1. A patient handling device comprising:

a frame;

a patient support surface adapted to at least partially support a weight of a patient positioned on said patient handling device, said patient support surface supported by said frame;

a plurality of wheels adapted to allow said patient handling device to be rolled to different locations;

a motor adapted to drive at least one of said wheels;

a power assist control positioned on said patient handling device, said power assist control adapted to be activated by a person;

a sensor coupled to said patient handling device adapted to detect objects within a proximity to the patient handling device; and

a controller in communication with said power assist control, said motor, and said sensor, said controller adapted to drive said motor such that a speed of said patient handling device follows a predetermined speed profile while at least one of the objects continues to be detected and said power assist control continues to be activated, said predetermined speed profile defining a plurality of acceptable speeds for a range of distances between said patient handling device and the at least one object.

2. The device of claim 1 wherein said predetermined profile correlates a distance of the object to a relative speed of the device and said profile includes only non-zero speeds.

3. The device of claim 2 wherein said speed profile indicates slowing down the speed of the motor at a rate that increases with increasing closeness of the object to the sensor.

4. The device of claim 1 wherein said speed profile indicates accelerating said patient handling device if an increase in distance between said patient handling device and the object is detected.

5. The device of claim 1 wherein said sensor is positioned at a first end of said patient handling device and said power assist control is positioned at a second end of said patient handling device, said second end opposite said first end.

6. The device of claim 1 further including a speed sensor adapted to detect an absolute speed of said patient handling device, said speed sensor in communication with said controller, and said controller further adapted to control a speed of said motor in a manner that takes into account the absolute speed of said patient handling device.

7. The device of claim 1 wherein said patient handling device is one of a bed and stretcher, and said patient handling device further includes:

a first siderail positioned on a first side of said frame;

a second siderail positioned on a second side of said frame, said second side opposite said first side; and

a lifting device adapted to raise and lower said patient support surface.

8. The device of claim 7 wherein said plurality of wheels include four castered wheels and at least one non-castered wheel, said non-castered wheel adapted to be driven by said motor.

9. The device of claim 1 wherein said controller is adapted to drive said motor, when no object is detected by said sensor at a speed based upon an amount of force exerted by a person on said power assist control.

10. The device of claim 1 further including a brake in communication with said controller wherein said controller is further adapted to activate said brake in order to follow said speed profile.

11. The device of claim 1 wherein said patient handling device includes weight sensors adapted to detect a weight of a patient supported on said patient support surface and said controller is adapted to control a speed of said motor when an object is detected in a way that is based upon said detected weight.

12. The device of claim 1 wherein said sensor is configured to detect multiple objects and said controller is adapted to select one of said multiple objects and use at least one characteristic about the selected object in controlling said motor.

13. The device of claim 12 wherein said controller is adapted to select the one of said multiple objects that is likely to impact the patient handling device the soonest, said selection being based at least upon the speed of the multiple objects and the respective distances of the multiple objects to the patient handling device.

14. The device of claim 4 wherein said controller allows said motor to continue driving said at least one wheel at at least a nominal speed no matter how close the object gets to said patient handling device, so long as said power assist control remains activated.

25. The device of claim 1 wherein said patient handling device is a bed or a stretcher, and said power assist control includes at least one handle positioned at an end of said patient handling device.

15. A patient handling device comprising:

a frame;

a patient support surface adapted to at least partially support a weight of a patient positioned on said patient handling device, said patient support surface supported by said frame;

a plurality of wheels adapted to allow said patient handling device to be rolled to different locations;

a motor adapted to drive at least one of said wheels;

a power assist control positioned adjacent a first end of said frame, said power assist control adapted to be activated by a person;

a sensor coupled to said patient handling device and adapted to detect objects within a proximity to the patient handling device; and

a controller in communication with said power assist control, said motor, and said sensor, said controller adapted to drive said motor in a manner based upon a relative velocity between said patient handling device and an object detected by said sensor.

16. The device of claim 15 wherein said controller drives said motor according to a predetermined speed profile that correlates a distance of the object to a relative speed between the object and said patient handling device.

17. The device of claim 16 wherein said profile includes only non-zero speeds.

26. The device of claim 15 wherein said patient handling device is a bed or a stretcher, and said power assist control includes at least one handle positioned at an end of said patient handling device.

18. A patient handling device comprising:

a frame;

a patient support surface adapted to at least partially support a weight of a patient positioned on said patient handling device, said patient support surface supported by said frame;

a plurality of wheels adapted to allow said patient handling device to be rolled to different locations;

a motor adapted to drive at least one of said wheels;

a power assist control positioned adjacent a first end of said frame, said power assist control adapted to be activated by a person;

a sensor coupled to said patient handling device and adapted to detect objects within a proximity to the patient handling device; and

a controller in communication with said power assist control, said motor, and said sensor, said controller adapted to;

(1) drive said motor in a manner to cause said patient handling device to move forward when a person activates said power assist control, (2) monitor said sensor to determine if an object is detected by said sensor, and (3) if an object is detected by said sensor, determine a distance from said patient handling device to said object and automatically adjust the motor in such a manner that said patient handling device will reduce its speed, but not completely stop, even if the object continues to get nearer to said patient handling device and the person continues activating said power assist control.

19. The device of claim 18 wherein said controller is further adapted to determine if said object is moving and, if so, determine a direction of movement of said object and use the direction of movement information to control said motor.

20. The device of claim 18 wherein said controller is further adapted to determine if multiple objects have been detected by said sensor and, if multiple objects have been detected, control said motor in a manner intended to avoid collision with any of said multiple objects.

27. The device of claim 18 wherein said patient handling device is a bed or a stretcher, and said power assist control includes at least one handle positioned at an end of said patient handling device.

21. A patient handling device comprising:

a frame;

a patient support surface adapted to at least partially support a weight of a patient positioned on said patient handling device, said patient support surface supported by said frame;

a plurality of wheels adapted to allow said patient handling device to be rolled to different locations;

a motor adapted to drive at least one of said wheels;

a power assist control positioned adjacent a first end of said frame, said power assist control adapted to be activated by a person;

a sensor coupled to said patient handling device and adapted to detect objects within a proximity to the patient handling device; and

a controller in communication with said power assist control, said motor, and said sensor, said controller adapted to;

(1) drive said motor in a manner to cause said patient handling device to move forward when a person pushes on said power assist control, (2) monitor said sensor to determine if an object is detected by said sensor, and (3) if an object is detected by said sensor, automatically control an absolute speed of said patient handling device so as to not exceed a predetermined speed profile.

22. The device of claim 21 wherein said controller is further adapted to automatically apply a brake on the patient handling device, as necessary, in order to not exceed said predetermined speed profile.

23. The device of claim 21 wherein said controller is further adapted to automatically accelerate said patient handling device if the detected distance between the object and the patient handling device increases.

24. The device of claim 21 wherein said predetermined speed profile maps object distances to acceptable speeds between said patient handling device and the object.

28. The device of claim 21 wherein said patient handling device is a bed or a stretcher, and said power assist control includes at least one handle positioned at an end of said patient handling device.