Design of an Agricultural Robot for Indoor Quinoa Seeding Using Visible Light Positioning

Given the growing necessity of indoor quinoa agriculture and the limitations of GPS in such environments, this article proposes a novel design for a greenhouse seeding robot that employs Visible Light Positioning (VLP) for localization. The robot integrates a seed distribution mechanism, a tillage implement, and a suspension system. To validate the design, the suspension behavior was simulated, structural analysis was performed, and a VLP experiment was conducted by projecting a colored grid with a high-intensity LED through birefringent material. The results showed a stabilization time of 2.06 s for the suspension system. In addition, the robot’s pose was estimated using four machine learning models, achieving accuracies ranging from 77.8% to 99.8% for grid position detection.