US 10,889,312 B2
Self-balancing and power-assisted payload carrying vehicles using operator-applied force sensing
Michael J. Casey, Bedford, NH (US); Kimberley A. St. Louis, Bedford, NH (US); Nicholas A. DeAngelis, Bedford, NH (US); Benjamin C. Minerd, Bedford, NH (US); Robert M. Bowman, Bedford, NH (US); and Jason A. Swift, Bedford, NH (US)
Assigned to Segway, Inc., Bedford, NH (US)
Filed by Segway, Inc., Bedford, NH (US)
Filed on Dec. 20, 2017, as Appl. No. 15/848,968.
Application 15/848,968 is a continuation in part of application No. 15/617,758, filed on Jun. 8, 2017, abandoned.
Claims priority of provisional application 62/453,247, filed on Feb. 1, 2017.
Claims priority of provisional application 62/437,392, filed on Dec. 21, 2016.
Prior Publication US 2018/0170417 A1, Jun. 21, 2018
Int. Cl. B62B 5/00 (2006.01); B62B 1/10 (2006.01); B62B 5/02 (2006.01); B62B 1/14 (2006.01); B62B 1/00 (2006.01)
CPC B62B 5/0073 (2013.01) [B62B 1/008 (2013.01); B62B 1/10 (2013.01); B62B 1/14 (2013.01); B62B 1/145 (2013.01); B62B 5/0069 (2013.01); B62B 5/023 (2013.01); B62B 5/026 (2013.01); B62B 5/0033 (2013.01); B62B 2203/72 (2013.01); B62B 2301/254 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method of operating a hand truck carrying a payload over a surface, the hand truck having first and second laterally disposed wheels positioned along a central axis, wherein each of the first and second laterally disposed wheels is powered by, respectively, a first and a second motor, the method comprising:
a user setting the hand truck in an orientation at a static balance point by applying a force to the hand truck and positioning the hand truck to place a center of mass of the hand truck and the payload directly above the central axis such that only the first and second laterally disposed wheels are contacting the surface; and
subsequent to the user setting the hand truck in the static balance point orientation and no longer applying force to the hand truck:
controlling at least one of the first and second motors to provide torque to at least one of the first and second laterally disposed wheels to maintain the hand truck balanced in place at the static balance point orientation.