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基于深度学习的康养机器人暗光下药瓶的识别与定位研究
Abstract
Withthedevelopmentofroboticstechnology,theapplicationrangeofrobotsis
becomingincreasinglywidespread,andrecognitionandpositioningtechnologyinlowlight
environmentsisbecomingincreasinglyimportant.Thevisualrecognitionandpositioningof
medicinebottlesunderlowlightisaprerequisiteforKangyangrobotstocomplete
medicationretrievalanddeliveryinlowlightenvironments.Thisarticlefocusesonthe
recognitionandpositioningofmedicinebottlesinlowlightenvironments,andstudiesthe
problemoflowvisualrecognitionaccuracyleadingtopoorpositioningeffect.Anewmethod
isproposedtoimprovethevisualrecognitionandpositioningeffectofmedicinebottlesin
lowlightenvironments.Thisarticlemainlyfocusesonthevisualrecognitionandpositioning
ofmedicinebottlesinlowlightenvironments,aswellastheapplicationofvisualrecognition
andpositioningsystemsformedicinebottles.
Firstly,achievetherecognitionofmedicinebottlesinlowlightenvironments.The
purposeofthisstudyistoimprovetheaccuracyofdrugbottleidentificationinlow-light
environment,becauseaccurateidentificationofmedicinebottlesiscrucialforthesafetyof
patients.Therefore,thispaperimprovestheYOLOv5networkandimprovestheperformance
ofthemodelthroughavarietyofmethods.Amongthem,themethodsofimprovingthe
featurefusionstructure,replacingthebackbonenetwork,addingattentionmodule,adding
convolutionandattentionfusionmodule,andfusingimprovementcanimprovethe
robustnessofthemodeltothemedicinebottleimageunderdifferentlightingconditions,so
astoimprovetherecognitionaccuracy.Asanoptimizationstrategy,Pix2Piximage
enhancementcanfurtherimprovethegeneralizationabilityandaccuracyofthemodel.
ExperimentalresultsshowthatthemAPvalueoftheYOLOv5-Allmodel
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