Intelligent Control Wheelchair Using a New Visual Joystick

Table 1

The features of the proposed intelligent wheelchair.

Parameters of the wheelchair		A processing device (Raspberry pi II Model B)		Camera (LifeCam Cinema H5D-00013)
Height	89 cm	Price	$39.99	720p HD video up to 30 fps
Width	61 cm	Chip	Broadcom BCM2836	Autofocus
Frame weight with batteries	58 kg	Processor	ARMv7 quad-core	High-precision glass element lens
Load capacity	110 kg	Processor speed	900 MHz	TrueColor technology
Linear velocity	8 km/h	Voltage and power draw	650 mA at 5 V	360-degree rotation
Ø front wheels	20 cm	GPU	Dual-Core Video Core IV Multimedia Co-Processor	Wide-angle lens
Ø rear wheels	30 cm	Size	85 × 56 mm	Widescreen 16 : 9 format
Stopping distance	1 m	Memory	1 GB SDRAM at 400 MHz	Connectivity (USB 2.0)
Noise	65 dB	GPIO	40
Battery life	20 km	USB 2.0	4
Battery	2 × 12 V 28 Ah	Ethernet	10/100 Mb Ethernet RJ45 Jack
Engine power	2 × 220 W 24 V	Audio	Multichannel HD audio over HDMI, analog stereo from 3.5 mm headphone jack