Journal of Applied Science and Engineering

Published by Tamkang University Press

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Research on Robot Intelligent Delivery Based on Adaptive CLAHE-LAB Spatial Feature Fusion Algorithm

 2026

 Volume 34

Jinyu Ren, Weijie Ma, and Qi Yang

School of Mechanical Engineering, Shenyang Ligong University, Shenyang, Liaoning, China

Received: June 02, 2026
Accepted: June 28, 2026
Publication Date: August 12, 2026

上傳圖片

Schematic diagram of the anti-jamming structure

 Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

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To address illumination-induced color recognition instability, ball stacking and jamming during continuous delivery, and reduced reliability of intelligent delivery robots in complex environments, this paper proposes a robot intelligent delivery method integrating an anti-jamming storage structure and an adaptive CLAHE-LAB spatial feature fusion algorithm. First, a passive anti-jamming ball storage structure based on ball-diameter
constraints is designed for continuous ball storage and delivery. A top light shield reduces external illumination interference, a ball-diameter-matched multi-hole inlet array disperses the ball entry path, and inner-wall antibridging limiting ribs disrupt stable support states caused by multi-ball stacking, thereby reducing the risk of jamming and discharge interruption. Second, an adaptive CLAHE-LAB spatial feature fusion algorithm is proposed to overcome false and missed detection caused by traditional RGB/HSV threshold segmentation under weak, strong, and non-uniform illumination. By decoupling luminance and chromaticity in LAB space, enhancing local contrast, and fusing color saliency features, the separability between blue targets and the background is improved. Finally, an experimental platform is built to evaluate color recognition, segmentation accuracy, jamming frequency, and continuous delivery success rate. Experimental results show that the proposed method improves blue target recognition stability, alleviates ball stacking and jamming, and enhances continuous delivery reliability.

Keywords: Intelligent delivery robot; Adaptive CLAHE; LAB color space; Feature fusion; Color recognition

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