## 3 Results and Discussion
For this purpose, while the initial platform illuminance level is 0 lx, the minimum illuminance level (E\({}_{\text{min}}\)) values--where successful results are obtained in image processing--are measured with a digital luxmeter by adjusting the electrical illumination power with the PWM signal for RGBY-colored objects with a diameter of  
Figure 10: Changes in platform illuminance depending on electrical lighting power. Figure 9: Output power values depending on the switching performance of the LED strip lamp driver for different PWM frequencies and duty cycles. 2.5 cm (Figure 11). Among the colors used in the experimental study, it is observed that yellow (E\({}_{\text{min}}\) = 21 lx) is the color with the lowest illuminance level and therefore requiring the least energy consumption, followed by green (E\({}_{\text{min}}\) = 32 lx), red (E\({}_{\text{min}}\) = 40 lx) and blue (E\({}_{\text{min}}\) = 50 lx) colors, respectively. In addition, based on Figures 10 and 11, it is concluded that working with the Yellow object in the system when E\({}_{\text{i}}\) = 0 lx provides 34%, 48% and 58% electricity savings compared to the Green, Red and Blue objects, respectively. Additionally, Table 4 shows the images obtained for different colored objects at various illuminance levels and their detection status. In the fourth stage of the study, the system illumination speed for the detection of RGBY reference colors is examined. When E\({}_{\text{i}}\) = 0 lx on the platform, the times taken to achieve the minimum illuminance level are 1.33 s, 2.17 s, 2.67 s and 3.26 s for the yellow, green, red and blue colors, respectively (Figure 12). It can be said that lighting control in the developed RGBY reference-color-based system is slower than traditional sensor-based methods. This is because the illumination speed, which is controlled by a software in the system, is directly related to the performance of the computer used in the design, which suggests that using a more powerful computer would increase this speed. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Object**} & \multicolumn{6}{c}{**Detection Status**} \\ \cline{2-9}  & E = 0 lx & E = 10 lx & E = 21 lx & E = 32 lx & E = 40 lx & E = 50 lx & E = 100 lx \\ \hline RGBY & & & & & & & & & \\ Reference Colored & & & & & & & & & \\ Objects & & & & & & & & & \\ \hline Yellow Object & & & & & & & & & \\ Blue Object & & & & & & & & & \\ Green Object & & & & & & & & & \\ Red Object & & & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Images obtained at various illuminance levels for objects and their detection status. Figure 11: Minimum illuminance levels needed for detecting objects with different colors by image processing. In the last stage of the study, the electrical lighting power values consumed by the system depending on the environmental illuminance level are investigated for object detection and position determination. For this purpose, the required electrical power values consumed (PLED) by the LED strip lamp are obtained by operating the system for different Ei values between 0 and 100 lx (Figure 13). While the Ei value in the system is 0 lx, the power consumed by lighting is approximately 225 mW. This consumed power decreases inversely with the Ei value and becomes 0 W by turning off the electrical lighting power above 50 lx.