Inspection device and inspection method

Abstract

To automatically inspect an electric bulb mounted on a high place, without manual intervention.SOLUTION: An own device is made to fly in the air to move to a position at which an electric bulb 2150 whose metal base 2151 is screwed with a socket 2160 can be gripped. The device turns the electric bulb 2150 alternately in a turning direction in which the metal base 2151 is screwed with the socket 2160 and in a turning direction in which the screwing is released, with the electric bulb 2150 gripped, which can inspect whether the electric bulb 2150 normally lights up. This enables the electric bulb 150 to be efficiently inspected, without using a scaffolding, a stepladder, a high-place work vehicle or the like.SELECTED DRAWING: Figure 21B

Description

[Technical Field]

[0001] This invention relates to a light bulb installation device, a light bulb installation method, and a light bulb installation program for installing light bulbs. This invention also relates to a light bulb removal device, a light bulb removal method, and a light bulb removal program for removing light bulbs. This invention also relates to a light bulb inspection device, a light bulb inspection method, and a light bulb inspection program for checking whether light bulbs are lighting properly. This invention also relates to a light bulb cleaning device, a light bulb cleaning method, and a light bulb cleaning program for cleaning light bulbs. This invention also relates to a light bulb management system that includes a light bulb management support device that controls these light bulb installation devices, light bulb removal devices, light bulb inspection devices, and light bulb cleaning devices. [Background technology]

[0002] Conventionally, bulb management work such as installing, removing, inspecting, and cleaning bulbs in lighting fixtures attached to high ceilings on roofs or in lighting fixtures installed in high positions outdoors has been done manually using scaffolding, aerial work platforms, stepladders, etc.

[0003] Related technology includes a light bulb replacement device for high ceiling lights that has a moving device with an extendable support, a monitoring device for confirming the position, a holder for supporting the light bulb, and a torque limiter and a rotating device that can rotate forward and backward (see, for example, Patent Document 1 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Utility Model Registration No. 3140738 Summary of the Invention [Means for solving the problem]

[0005] In order to solve the above-mentioned problems and achieve the object, the light bulb inspection device of the present invention is characterized by comprising: a moving unit that flies through the air to move the device to a position where it can grasp a light bulb whose base is screwed into a socket; a light bulb holding unit that holds the light bulb; and a rotating unit that, while the light bulb holding unit is holding the light bulb, rotates the light bulb in a rotational direction that screws the base into the socket.

[0006] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, the rotating part stops rotating after the light bulb is properly attached to the socket, and the light bulb gripping and moving part releases its grip on the light bulb after the rotation by the rotating part has stopped.

[0007] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, the moving unit moves the device to a position where it can grasp a light bulb other than the light bulb in question after the light bulb grasping unit releases its grip on the light bulb.

[0008] Furthermore, the light bulb inspection device of the present invention is characterized by comprising: a moving unit that flies through the air to move the device to a position where it can grasp a light bulb whose base is screwed into a socket; a light bulb gripping unit that grips the light bulb; and a rotating unit that, while the light bulb gripping unit is gripping the light bulb, rotates the light bulb alternately in a rotation direction that screws the base into the socket and in a rotation direction that releases the screwing.

[0009] Furthermore, in the light bulb inspection device according to the present invention, in the above invention, the rotating part rotates the light bulb by rotating the device itself while flying in the air.

[0010] In addition, in the light bulb inspection device according to the present invention, the rotation unit rotates the light bulb independently of the rotation of the device itself.

[0011] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it is provided with a replacement necessity determination unit that determines whether the light bulb needs to be replaced, and if the replacement of the light bulb is not necessary based on the determination result by the replacement necessity determination unit, the rotation unit rotates the light bulb in the rotation direction that screws together the base and the socket, thereby properly attaching the light bulb to the socket.

[0012] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, the rotating part stops rotating after the light bulb is properly attached to the socket, and the light bulb gripping and moving part releases its grip on the light bulb after the rotation by the rotating part has stopped.

[0013] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it is provided with a replacement necessity determination unit that determines whether the light bulb needs to be replaced, and if the light bulb needs to be replaced based on the determination result by the replacement necessity determination unit, the rotating unit rotates the light bulb in a rotation direction that releases the screw engagement between the base and the socket, and removes the light bulb from the socket.

[0014] In addition, the light bulb inspection device of this invention is the same as the above invention, and is characterized in that it comprises an imaging unit that captures an image or video of the light bulb, and an analysis unit that analyzes the image or video captured by the imaging unit, and the replacement necessity determination moving unit determines that the light bulb does not need to be replaced if the light bulb is lit based on the analysis results of the analysis unit.

[0015] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it is equipped with a luminous intensity detection unit that detects the luminous intensity of the light bulb, and the replacement necessity determination moving unit determines that the light bulb does not need to be replaced based on the detection result of the luminous intensity detection unit if the luminous intensity of the light bulb becomes a predetermined value or remains above the predetermined value for a predetermined period of time or more.

[0016] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it is equipped with a temperature detection unit that detects the temperature of the light bulb, and the replacement necessity determination moving unit determines that the light bulb does not need to be replaced if the temperature of the light bulb becomes a predetermined value or remains above a predetermined value for a predetermined period of time based on the detection result of the temperature detection unit.

[0017] In addition, the light bulb inspection device of the present invention is characterized in that, in the above invention, it comprises a GNSS (Global Navigation Satellite System) receiving unit and a memory unit that stores location information of the destination of the device, and the moving unit moves the device based on the positioning results by the GNSS receiving unit and the location information of the destination stored in the memory unit.

[0018] In addition, in the light bulb inspection device according to the present invention, in the above invention, the position information of the destination includes angle information relating to the inclination of the socket at the destination.

[0019] In addition, the light bulb inspection device of the present invention is characterized in that, in the above invention, it is provided with a receiving unit that receives information about the destination, and the memory / movement unit stores the information about the destination received by the receiving unit.

[0020] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it comprises an imaging unit that captures images or videos of at least one of the light bulb and the socket, and an analysis unit that analyzes the images or videos captured by the imaging unit, and the movement unit moves the device based on the analysis results of the analysis unit.

[0021] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it is provided with a reach determination unit that determines whether the device has reached a position where the light bulb holding unit can hold the light bulb, and the light bulb holding and moving unit grasps the light bulb when the device has reached the position based on the determination result by the reach determination unit.

[0022] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it comprises an imaging unit that captures an image or video of the light bulb, and an analysis unit that analyzes the image or video captured by the imaging unit, and the reach determination movement unit determines that the device has reached a position where it can grasp the light bulb based on the analysis results of the analysis unit.

[0023] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, the reach determination moving unit determines that the device has reached a position where it can hold the light bulb when the image or video of the light bulb captured by the imaging unit matches the image or video of the light bulb when the device has reached a position where it can hold the light bulb.

[0024] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, the reach determination moving unit determines that the device has reached a position where it can grasp the light bulb when a predetermined point on the light bulb holding unit comes into contact with the light bulb.

[0025] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it is provided with a light bulb gripping judgment unit that judges whether the light bulb gripping unit is able to grip the light bulb normally, and the rotating unit rotates the light bulb based on the judgment result by the light bulb gripping judgment unit.

[0026] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, it comprises an imaging unit that captures an image or video of the light bulb, and an analysis unit that analyzes the image or video captured by the imaging unit, and the light bulb grip determination movement unit determines that the light bulb has been gripped correctly if the captured image or video is an image or video of the light bulb that can be gripped correctly, based on the analysis results of the analysis unit.

[0027] In addition, the light bulb inspection device of this invention is characterized in that, in the above invention, the light bulb gripping judgment moving unit determines that the light bulb has been gripped normally when a predetermined point of the light bulb gripping unit comes into contact with the light bulb.

[0028] In addition, the light bulb inspection device of the present invention is characterized in that, in the above invention, it is equipped with an imaging unit that captures an image or video of the light bulb, and a transmitting unit that transmits the image or video captured by the imaging unit.

[0029] Furthermore, the light bulb inspection method of the present invention is characterized in that an unmanned aerial vehicle flies through the air to a position where it can grasp a light bulb whose base is screwed into a socket, grasps the light bulb, and while holding the light bulb, rotates the light bulb in a rotational direction that screws the base into the socket.

[0030] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle stops its rotation after successfully inserting the light bulb into the socket, and then releases its grip on the light bulb after the rotation has stopped.

[0031] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process in which, after releasing its grip on the light bulb, it moves its own device to a position where it can grip a light bulb other than the light bulb in question.

[0032] Furthermore, the light bulb inspection method of the present invention is characterized in that an unmanned aerial vehicle flies through the air to a position where it can grasp a light bulb whose base is screwed into a socket, grasps the light bulb, and while holding the light bulb, rotates the light bulb alternately in a rotation direction that screws the base into the socket and in a rotation direction that releases the screwing.

[0033] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle performs a process of rotating the light bulb by rotating the device itself while flying in the air.

[0034] In addition, the light bulb inspection method according to the present invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to rotate the light bulb independently of the rotation of the unmanned aerial vehicle itself.

[0035] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether the light bulb needs to be replaced, and if the light bulb does not need to be replaced based on the determination result, rotates the light bulb in the rotation direction that screws together the base and the socket, thereby properly attaching the light bulb to the socket.

[0036] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle stops its rotation after successfully inserting the light bulb into the socket, and then releases its grip on the light bulb after the rotation has stopped.

[0037] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether the light bulb needs to be replaced, and if it is determined based on the determination result that the light bulb needs to be replaced, rotates the light bulb in a rotational direction that releases the screw engagement between the base and the socket, and removes the light bulb from the socket.

[0038] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle captures an image or video of the light bulb, analyzes the captured image or video, and, based on the analysis results, determines that if the light bulb is lit, the light bulb does not need to be replaced.

[0039] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle detects the luminous intensity of the light bulb and, based on the detection result, determines that replacement of the light bulb is not necessary if the luminous intensity of the light bulb is above a predetermined value or remains above a predetermined value for a predetermined period of time.

[0040] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle detects the temperature of the light bulb and, based on the detection result, determines that replacement of the light bulb is not necessary if the temperature of the light bulb becomes a predetermined value or remains above a predetermined value for a predetermined period of time or more.

[0041] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle stores location information of the destination of the device, and performs a process to move the device based on the positioning results using GNSS (Global Navigation Satellite System) and the stored location information of the destination.

[0042] In addition, in the light bulb inspection method according to the present invention, in the above invention, the position information of the destination includes angle information relating to the inclination of the socket at the destination.

[0043] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle receives information about the destination and performs a process to store the received information about the destination.

[0044] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle captures images or videos of at least one of the light bulb and the socket, analyzes the captured images or videos, and moves the device based on the analysis results.

[0045] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether it has reached a position where it can grasp the light bulb, and based on the determination result, executes a process to grasp the light bulb when it has reached the position.

[0046] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle performs a process in which it captures an image or video of the light bulb, analyzes the captured image or video, and, based on the analysis results, determines that the unmanned aerial vehicle has reached a position where it can grasp the light bulb.

[0047] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process in which it determines that its own device has reached a position where it can hold the light bulb if the captured image or video of the light bulb matches the image or video of the light bulb when the unmanned aerial vehicle has reached a position where it can hold the light bulb.

[0048] In addition, the light bulb inspection method of this invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to determine that the device has reached a position where it can grasp the light bulb when a predetermined point of the light bulb gripping mechanism comes into contact with the light bulb.

[0049] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether it has been able to properly grasp the light bulb, and performs a process to rotate the light bulb based on the determination result.

[0050] Furthermore, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle captures an image or video of the light bulb, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb has been held correctly if the captured image or video is an image or video of the light bulb that can be held correctly.

[0051] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to determine that the light bulb has been properly gripped when a predetermined point of the light bulb gripping mechanism comes into contact with the light bulb.

[0052] In addition, the light bulb inspection method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle performs a process of capturing an image or video of the light bulb and transmitting the captured image or video.

[0053] In addition, the light bulb inspection program of the present invention is characterized in that it causes an unmanned aerial vehicle to fly through the air to a position where it can grasp a light bulb whose base is screwed into a socket, grasp the light bulb, and while holding the light bulb, rotate the light bulb in a rotational direction that screws the base into the socket.

[0054] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to execute a process in which the rotation is stopped after the light bulb has been properly attached to the socket, and the grip on the light bulb is released after the rotation has stopped.

[0055] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to move the device to a position where it can grasp a light bulb other than the light bulb in question after the grip of the light bulb is released.

[0056] In addition, the light bulb inspection program of the present invention is characterized in that it causes an unmanned aerial vehicle to fly through the air to a position where it can grasp a light bulb whose base is screwed into a socket, grasp the light bulb, and while holding the light bulb, rotate the light bulb alternately in a rotation direction that screws the base into the socket and in a rotation direction that releases the screwing.

[0057] In addition, the light bulb inspection program of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to rotate the light bulb by rotating the device itself while flying in the air.

[0058] In addition, the light bulb inspection program according to the present invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to rotate the light bulb independently of the rotation of the unmanned aerial vehicle itself.

[0059] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether the light bulb needs to be replaced, and if the light bulb does not need to be replaced based on the determination result, rotates the light bulb in the rotation direction that screws together the base and the socket, thereby properly attaching the light bulb to the socket.

[0060] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to execute a process in which the rotation is stopped after the light bulb has been properly attached to the socket, and the grip on the light bulb is released after the rotation has stopped.

[0061] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether the light bulb needs to be replaced, and if it is determined based on the determination result that the light bulb needs to be replaced, rotates the light bulb in a rotational direction that releases the screw engagement between the base and the socket, and removes the light bulb from the socket.

[0062] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to perform processing such as capturing an image or video of the light bulb, analyzing the captured image or video, and, based on the analysis results, determining that if the light bulb is lit, the light bulb does not need to be replaced.

[0063] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to execute a process of detecting the luminous intensity of the light bulb and, based on the detection result, determining that replacement of the light bulb is not necessary if the luminous intensity of the light bulb becomes a predetermined value or remains above a predetermined value for a predetermined period of time.

[0064] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to execute a process of detecting the temperature of the light bulb and, based on the detection result, determining that replacement of the light bulb is not necessary if the temperature of the light bulb becomes a predetermined value or remains above a predetermined value for a predetermined period of time or more.

[0065] In addition, the light bulb inspection program of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle stores location information of the destination of the device, and executes processing to move the device based on the positioning results using GNSS (Global Navigation Satellite System) and the stored location information of the destination.

[0066] In addition, in the light bulb inspection program according to the present invention, in the above invention, the position information of the movement destination includes angle information relating to the inclination of the socket at the movement destination.

[0067] In addition, the light bulb inspection program of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to execute a process of receiving information about the destination and storing the received information about the destination.

[0068] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to take images or videos of at least one of the light bulb and the socket, analyze the taken images or videos, and move the device based on the analysis results.

[0069] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether it has reached a position where it can grasp the light bulb, and based on the determination result, executes a process to grasp the light bulb when it has reached the position.

[0070] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to perform a process of capturing an image or video of the light bulb, analyzing the captured image or video, and determining, based on the analysis results, that the device has reached a position where it can grasp the light bulb.

[0071] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to determine that the device has reached a position where it can hold the light bulb if the captured image or video of the light bulb matches the image or video of the light bulb when the device has reached a position where it can hold the light bulb.

[0072] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process in which, when a predetermined point of the light bulb holding mechanism comes into contact with the light bulb, the unmanned aerial vehicle determines that it has reached a position where it can hold the light bulb.

[0073] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle determines whether the light bulb has been properly grasped, and executes a process to rotate the light bulb based on the determination result.

[0074] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to perform a process of capturing an image or video of the light bulb, analyzing the captured image or video, and, based on the analysis results, determining that the light bulb has been held correctly if the captured image or video is an image or video of the light bulb that can be held correctly.

[0075] In addition, the light bulb inspection program of this invention is characterized in that, in the above invention, the unmanned aerial vehicle executes a process to determine that the light bulb has been properly held when a predetermined point of the light bulb holding mechanism comes into contact with the light bulb.

[0076] In addition, the light bulb inspection program of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to execute a process of capturing an image or video of the light bulb and transmitting the captured image or video. [Effects of the Invention]

[0077] The light bulb installation device, light bulb installation method, and light bulb installation program of the present invention have the effect of enabling the replacement, inspection, and cleaning of light bulbs installed in high ceilings or high outdoor locations to be carried out quickly, efficiently, and safely. [Brief explanation of the drawings]

[0078] [Figure 1A] 1 is an explanatory diagram (part 1) showing an example of the appearance of a light bulb attachment device (unmanned aerial vehicle) according to a first embodiment of the present invention. [Figure 1B] FIG. 2 is an explanatory diagram (part 2) showing an example of the appearance of the light bulb attachment device (unmanned aerial vehicle) of the first embodiment according to the present invention. [Figure 2] 1 is a block diagram showing an example of a hardware configuration of a light bulb attachment device (unmanned aerial vehicle) according to a first embodiment of the present invention. [Figure 3] 1 is a block diagram showing an example of a functional configuration of a light bulb attachment device (unmanned aerial vehicle) according to a first embodiment of the present invention. [Figure 4] 5 is a flowchart showing an example of a processing procedure of the light bulb attachment device (unmanned aerial vehicle) according to the first embodiment of the present invention. [Figure 5] FIG. 1 is an explanatory diagram (part 1) showing the operation of installing a light bulb using the light bulb installation device. [Figure 6]FIG. 2 is an explanatory diagram (part 2) showing the operation of installing a light bulb using the light bulb installation device. [Figure 7] FIG. 3 is an explanatory diagram (part 3) showing the operation of installing a light bulb using the light bulb installation device. [Figure 8] FIG. 4 is an explanatory diagram (part 4) showing the operation of installing a light bulb using the light bulb installation device. [Figure 9] FIG. 5 is an explanatory diagram (part 5) showing the operation of installing a light bulb using the light bulb installation device. [Figure 10] FIG. 6 is an explanatory diagram (part 6) showing the operation of installing a light bulb using the light bulb installation device. [Figure 11A] FIG. 10 is an explanatory diagram (part 1) showing an example of the appearance of a light bulb removal device (unmanned aerial vehicle) according to a second embodiment of the present invention. [Figure 11B] FIG. 10 is an explanatory diagram (part 2) showing an example of the appearance of the light bulb removal device (unmanned aerial vehicle) according to the second embodiment of the present invention. [Figure 12] FIG. 10 is a block diagram showing an example of a hardware configuration of a light bulb removal device (unmanned aerial vehicle) according to a second embodiment of the present invention. [Figure 13] FIG. 10 is a block diagram showing an example of a functional configuration of a light bulb removal device (unmanned aerial vehicle) according to a second embodiment of the present invention. [Figure 14] 10 is a flowchart showing an example of a processing procedure of the light bulb removal device (unmanned aerial vehicle) according to the second embodiment of the present invention. [Figure 15] FIG. 1 is an explanatory diagram (part 1) showing the operation of removing a light bulb using a light bulb removal device. [Figure 16] FIG. 2 is an explanatory diagram (part 2) showing the bulb removal process using the bulb removal device. [Figure 17] FIG. 3 is an explanatory diagram (part 3) showing the bulb removal process using the bulb removal device. [Figure 18] FIG. 4 is an explanatory diagram (part 4) showing the bulb removal process using the bulb removal device. [Figure 19] FIG. 5 is an explanatory diagram (part 5) showing the bulb removal process using the bulb removal device. [Figure 20] FIG. 6 is an explanatory diagram (part 6) showing the bulb removal process using the bulb removal device. [Figure 21A] FIG. 10 is an explanatory diagram (part 1) showing an example of the appearance of a light bulb inspection device (unmanned aerial vehicle) according to a third embodiment of the present invention. [Figure 21B] FIG. 10 is an explanatory diagram (part 2) showing an example of the appearance of the light bulb inspection device (unmanned aerial vehicle) according to the third embodiment of the present invention. [Figure 22] FIG. 10 is a block diagram showing an example of a hardware configuration of a light bulb inspection device (unmanned aerial vehicle) according to a third embodiment of the present invention. [Figure 23] FIG. 10 is a block diagram showing an example of a functional configuration of a light bulb inspection device (unmanned aerial vehicle) according to a third embodiment of the present invention. [Figure 24] 10 is a flowchart showing an example of a processing procedure of a light bulb inspection device (unmanned aerial vehicle) according to a third embodiment of the present invention. [Figure 25] FIG. 1 is an explanatory diagram (part 1) showing the operation of inspecting a light bulb using a light bulb inspection device. [Figure 26] FIG. 2 is an explanatory diagram (part 2) showing the state of the light bulb inspection work using the light bulb inspection device. [Figure 27] FIG. 3 is an explanatory diagram (part 3) showing the operation of inspecting a light bulb using a light bulb inspection device. [Figure 28] FIG. 4 is an explanatory diagram (part 4) showing the state of the light bulb inspection work using the light bulb inspection device. [Figure 29] FIG. 5 is an explanatory diagram (part 5) showing the operation of inspecting a light bulb using a light bulb inspection device. [Figure 30] FIG. 6 is an explanatory diagram (part 6) showing the state of light bulb inspection work using a light bulb inspection device. [Figure 31A] FIG. 10 is an explanatory diagram (part 1) showing an example of the appearance of a light bulb cleaning device (unmanned aerial vehicle) according to a fourth embodiment of the present invention. [Figure 31B] FIG. 10 is an explanatory diagram (part 2) showing an example of the appearance of the light bulb cleaning device (unmanned aerial vehicle) according to the fourth embodiment of the present invention. [Figure 32]FIG. 10 is a block diagram showing an example of a hardware configuration of a light bulb cleaning device (unmanned aerial vehicle) according to a fourth embodiment of the present invention. [Figure 33] FIG. 10 is a block diagram showing an example of a functional configuration of a light bulb cleaning device (unmanned aerial vehicle) according to a fourth embodiment of the present invention. [Figure 34] 10 is a flowchart showing an example of a processing procedure of a light bulb cleaning device (unmanned aerial vehicle) according to a fourth embodiment of the present invention. [Figure 35] FIG. 1 is an explanatory diagram (part 1) showing the operation of cleaning a light bulb using a light bulb cleaning device. [Figure 36] FIG. 2 is an explanatory diagram (part 2) showing the operation of cleaning a light bulb using the light bulb cleaning device. [Figure 37] FIG. 3 is an explanatory diagram (part 3) showing the operation of cleaning a light bulb using the light bulb cleaning device. [Figure 38] FIG. 4 is an explanatory diagram (part 4) showing the operation of cleaning a light bulb using the light bulb cleaning device. [Figure 39] FIG. 5 is an explanatory diagram (part 5) showing the operation of cleaning a light bulb using the light bulb cleaning device. DETAILED DESCRIPTION OF THE INVENTION

[0079] Preferred embodiments of the present invention (embodiment 1, embodiment 2, embodiment 3, and embodiment 4) will be described in detail below with reference to the accompanying drawings. Embodiment 1 relates to a light bulb installation device, a light bulb installation method, and a light bulb installation program. Embodiment 2 relates to a light bulb removal device, a light bulb removal method, and a light bulb removal program. Embodiment 3 relates to a light bulb inspection device, a light bulb inspection method, and a light bulb inspection program. Embodiment 4 relates to a light bulb cleaning device, a light bulb cleaning method, and a light bulb cleaning program.

[0080] <First Embodiment> (Example of the appearance of a light bulb mounting device) 1A and 1B are explanatory diagrams showing an example of the appearance of a light bulb installation device (unmanned aerial vehicle) according to a first embodiment of the present invention, in which Fig. 1A shows the device in a state where a light bulb is not being held, and Fig. 1B shows the device in a state where a light bulb is being held.

[0081] As can be seen from Figures 1A and 1B, the light bulb fitting device 100 is configured, for example, as an unmanned aerial vehicle (drone). Hereinafter, the light bulb fitting device 100 will also be referred to as an unmanned aerial vehicle (drone). In Figures 1A and 1B, the unmanned aerial vehicle (drone) that is the light bulb fitting device 100 can specifically be, for example, a quadcopter with four propellers 101a to 101d on its periphery.

[0082] The unmanned aerial vehicle (drone) 100 is not limited to a quadcopter, and various types of multicopters can be used, such as a hexacopter with six propellers or an octocopter with eight propellers. The unmanned aerial vehicle (drone) 100 can maintain its attitude by independently controlling the rotation direction and rotation speed of the multiple propellers (four propellers 101a to 101d), and can also ascend, descend, move horizontally, and rotate clockwise and counterclockwise (spin on its own axis).

[0083] Furthermore, unmanned aerial vehicle 100 is not limited to one equipped with a propeller, but may be one that flies through the air using a drive other than a propeller, or a combination of such a drive and a propeller.

[0084] The unmanned aerial vehicle (drone) that is the light bulb attachment device 100 includes a gripping mechanism 102 that grips the light bulb 150, and a connecting member 103 that connects the gripping mechanism 102 to the unmanned aerial vehicle (drone). In FIGS. 1A and 1B, the connecting member 103 is configured, for example, as a rod-shaped member. However, it is not limited to a rod-shaped member. For example, one end of the connecting member 103 is connected to the center of the housing, i.e., near the center of the four propellers 101a to 101d, and the gripping mechanism 102 is provided at the other end.

[0085] The gripping mechanism 102 is composed of multiple arms 104 (104a to 104d) (four in FIGS. 1A and 1B). The arms 104 are driven by one or more motors, gear trains, wires, etc. (not shown) built into the gripping mechanism 102. Each arm 104 moves from a direction away from the center toward the center, and the arms 104 and their joints move along the curved surface of the glass bulb 152, thereby gripping the bulb so that the base of the arm 104 (palm portion 601 shown in FIG. 6, described later) envelops the glass bulb 152. Conversely, the arm 104 releases its grip on the bulb 150 by moving away from the center.

[0086] The drive control of the arm 104 is changed depending on the size and shape of the glass sphere 152, and glass spheres 152 of multiple types (shapes) can be gripped with an optimal gripping force.

[0087] Each arm 104 may be provided with a gripping aid 105 at a portion that comes into contact with the glass bulb 152. The gripping aid 105 is made of a material that has at least two functions: a buffering function to prevent the glass bulb 152 from being scratched or the light bulb 150 from being broken, and an anti-slip function to prevent the light bulb 150 from rotating (turning) within the arm 104 when screwing or unscrewing the light bulb 150 into or from the socket (receptacle) 160 while the glass bulb 152 is being gripped.

[0088] Furthermore, gripping auxiliary members 105 made of a material that functions as a buffer member and gripping auxiliary members 105 that function as an anti-slip member may be provided separately (for example, alternately) on multiple arms. Gripping auxiliary members 105 may be provided integrally with arms 104, or gripping auxiliary members 105 may be attached separately.

[0089] By providing the arm 104 with a gripping auxiliary member 105, the light bulb 150 does not spin freely within the arm 104 gripping the glass bulb 152 of the light bulb 150, and the light bulb 150 can be securely attached (mounted) to the socket 160 or removed from the socket 160.

[0090] The body of the unmanned aerial vehicle (drone) 100 is equipped with a rotation mechanism (not shown) that rotates (turns) the connected connection member 103 clockwise and counterclockwise around its center in the longitudinal direction. The rotation mechanism can be driven by a motor. When the connection member 103 rotates (turns), the gripping mechanism 102 also rotates (turns), and the light bulb 150 held by the gripping mechanism 102 also rotates, thereby allowing the light bulb 150 to be screwed into or released from the socket 160.

[0091] The connecting member 103 is detachable from the gripping mechanism 102 and the unmanned aerial vehicle (drone). Therefore, the gripping mechanism 102 may be attached directly to the unmanned aerial vehicle (drone) body without providing the connecting member 103. Furthermore, the length of the connecting member 103 can be changed as appropriate depending on the position where the light bulb is to be attached or removed and the surrounding conditions. In other words, connecting members 103 of different lengths can be used interchangeably. Furthermore, the connecting member 103 itself may have an extendable mechanism.

[0092] Furthermore, gripping mechanism 102 may be formed integrally with the unmanned aerial vehicle (drone) body. That is, the unmanned aerial vehicle (drone) body may be provided with a mechanism for gripping light bulb 150 (either the same as gripping mechanism 102 or a mechanism having a different configuration from gripping mechanism 102) without using connecting member 103.

[0093] Furthermore, the gripping mechanism 102 does not have to have such a configuration as long as it can grip the light bulb 150 and automatically detach (release the grip) the gripped light bulb 150. For example, although not shown in the drawings, it may grip the light bulb 150 by suction.

[0094] Although not shown in FIGS. 1A and 1B, the unmanned aerial vehicle (drone) that is the light bulb fitting device 100 is equipped with a camera 205 (see FIG. 2). The camera 205 can be realized, for example, by a general-purpose digital camera. The light bulb fitting device 100 uses the camera 205 to capture images of the area around the light bulb fitting device 100. Therefore, although not shown in FIGS. 1A and 1B, the camera should be mounted in a position that allows it to capture images of the area around the gripping mechanism 102. There are no restrictions on the position.

[0095] Camera 205 may be provided on gripping mechanism 102 or connecting member 103. More specifically, camera 205 may be provided near the area that comes into contact with the light bulb when gripping mechanism 102 grips the light bulb, such as on arms 104a to 104d or the bases of arms 104a to 104d (palm portions 601).

[0096] The light bulb fitting device 100 may be equipped with one or more cameras 205. A light bulb fitting device 100 equipped with multiple cameras 205 is not limited to one type of camera 205, and may be equipped with multiple different types of cameras 205.

[0097] The camera 205 may be connected to the light bulb fitting device 100 in a manner that allows its posture to be adjusted. Specifically, the camera 205 may be connected to the bottom of the light bulb fitting device 100 via a universal joint such as a ball joint. Connecting the camera 205 to the light bulb fitting device 100 via a universal joint such as a ball joint ensures a high degree of freedom in adjusting the posture of the camera 205.

[0098] Furthermore, the light bulb fitting device 100 may be equipped with a drive mechanism that changes the attitude of the camera 205 relative to the device itself (the drone). This allows the attitude of the camera 205 relative to the light bulb fitting device 100 to be adjusted without human intervention. This drive mechanism may be composed of, for example, a motor or a gear train. By making it possible to adjust the attitude of the camera 205 relative to the light bulb fitting device 100 without human intervention, the shooting direction can be adjusted as desired while the light bulb fitting device 100 is flying, regardless of the attitude of the light bulb fitting device 100. The camera 205 may also be equipped with a zoom function.

[0099] The light bulb mounting device 100 may be equipped with a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power feeding) is a technology that receives power from the battery 203 shown in Fig. 2 without going through a charging contact, and is also called contactless power feeding or wireless power feeding.

[0100] The receiving coil is located inside the exterior surface of the housing of the light bulb mounting device 100. This prevents the receiving coil from being deteriorated or broken down due to water droplets from rain or dew, oil from hands, etc. The light bulb mounting device 100 may be provided with a charging contact for charging the battery 203 instead of, or in addition to, the receiving coil.

[0101] The light bulb fitting device 100 may further include a solar cell (solar battery) 206 that generates electricity using external light such as sunlight. The solar cell 206 may be mounted, for example, on the upper surface of the housing of the light bulb fitting device 100. This ensures that external light is taken in during flight and power is generated efficiently. Furthermore, the inclusion of the solar cell 206 allows charging during flight, ensuring longer flight times per flight.

[0102] The light bulb mounting device 100 may also be equipped with a speaker (not shown). The device may detect the installation status of the light bulb 150 and, depending on the detected status, emit a warning sound, a confirmation sound, or a sound such as "Installation begins!", "Installation complete!", or "Installation error occurred!" This allows workers on the ground to be accurately informed of the installation status.

[0103] The light bulb mounting device 100 may also be equipped with an LED lamp (not shown). The LED lamp detects the installation status of the light bulb 150 and emits red, blue, yellow, etc. depending on the detected status, thereby accurately informing workers on the ground of the installation status.

[0104] (Hardware configuration of the bulb mounting device) Next, we will explain the hardware configuration of the light bulb fitting device 100. Figure 2 is a block diagram showing an example of the hardware configuration of the light bulb fitting device (unmanned aerial vehicle) according to the first embodiment of the present invention.

[0105] 2, light bulb fitting device (unmanned aerial vehicle) 100 is made up of control circuit 201, communication I / F 202, battery 203, motor 204, camera 205, solar cell 206, etc. Light bulb fitting device 100 also has sensors such as torque sensor 211, illuminance sensor 212, temperature sensor 213, GPS sensor 214, contact sensor 215, and various sensors (acceleration sensor, object sensor, etc.) 216. The various parts 201-206 and 211-216 of light bulb fitting device 100 are connected by bus 200.

[0106] The control circuit 201 drives and controls each component of the light bulb fitting device 100. The control circuit 201 can be implemented by a microcomputer consisting of a CPU, memory, etc. The memory stores various information such as the control program for the unmanned aerial vehicle according to the embodiment of the present invention, the positional information of the socket 160, and information previously input by the user of the light bulb fitting device 100.

[0107] Specifically, the control circuit 201 can be realized by, for example, a large scale integration (LSI) or a field-programmable gate array (FPGA).

[0108] The CPU executes programs stored in the memory to provide overall control of the light bulb attachment device 100. The memory stores various types of information, such as the programs executed by the CPU, information about various conditions related to the operation of the light bulb attachment device 100, and information about images captured by the camera 205.

[0109] Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive), etc. The memory may also be a memory card that is detachable from the light bulb mounting device 100 via a card slot provided in the light bulb mounting device 100.

[0110] The memory card may be implemented by an IC card such as a Secure Digital (SD) memory card, etc. The memory may be implemented by an external USB memory or the like.

[0111] Specifically, the control circuit 201 includes, for example, a flight controller and an ESC (Electronic Speed ​​Controller). The control circuit 201 may further include circuits such as a BEC (Battery Elimination Circuit) and a UBEC (Universal BEC). In addition, when the battery 203 is realized by a secondary battery, the control circuit 201 may include a charging circuit that charges (stores) the battery 203.

[0112] The flight controller performs calculations related to the rotation control of the motor 204 and outputs a control signal. The ESC controls the rotation of the motor 204 based on the control signal output from the flight controller. While the unmanned aerial vehicle 100 is flying, the flight controller detects the inclination of the unmanned aerial vehicle 100, performs calculations repeatedly, and recursively outputs a control signal to the motor 204.

[0113] The flight controller outputs control signals to the ESCs to control the rotation direction and speed of propellers 101a-101d. Specifically, for example, the flight controller prevents unmanned aerial vehicle 100 from rotating by outputting control signals that control adjacent propellers to rotate in opposite directions.

[0114] For example, the propellers 101a-101d at the front of the vehicle are controlled to rotate slower than the propellers 101a-101d at the rear of the vehicle, thereby moving the light bulb fitting device 100 forward. For example, the propeller on the right side of the vehicle, among the propellers 101a-101d, is controlled to rotate slower than the propeller on the left side of the vehicle, thereby turning the light bulb fitting device 100 to the right.

[0115] The control circuit 201 may also include a circuit such as an IMU (Inertial Measurement Unit: inertial sensor).

[0116] The IMU and the above-mentioned microcomputer constitute a flight controller. The flight controller performs calculations related to the rotation control of the motor 204, and outputs control signals to the ESC to control the rotation direction and rotation speed of the propellers 101a to 101d (propeller motors 204).

[0117] The IMU is a set of sensors necessary for the unmanned aerial vehicle 100 to acquire external information, and is configured, for example, with various sensors 216 (acceleration sensor, gyro sensor, barometric pressure sensor, ultrasonic sensor, magnetic direction sensor (compass), etc.). The GPS sensor 214 may also be included in the IMU.

[0118] The control circuit 201 also includes a charging circuit that charges the battery 203 with power generated by the solar cell 206, a remaining capacity measuring circuit that measures the remaining capacity of the battery 203, and the like.

[0119] The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 206. The remaining capacity measurement circuit measures the remaining capacity of the battery 203 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

[0120] The communication I / F 202 is a wireless communication interface that connects the controller 250 to the network N via a communication line, and serves as an interface between the network N and the interior of the light bulb installation device 100, controlling the input of data from and the output of data to external devices connected via the network N. The network N is realized, for example, by the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0121] The communication I / F 202 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). Alternatively, the communication I / F 202 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System)).

[0122] The communication via the communication I / F 202 may be performed periodically, such as at a predetermined time or at predetermined intervals, or may be performed at any timing depending on the status of the communication line, etc. The memory may store information acquired through the communication via the communication I / F 202.

[0123] The control circuit 201 can acquire various information, including the location information of the light bulb 150 (socket 160) to be replaced, from an external device (such as the controller 250 or the management server 260) by communicating with the external device via the communication I / F 202. Furthermore, each time the control circuit 201 acquires various information from the external device, it may store the acquired information in memory or update the contents of the memory based on the acquired information.

[0124] The battery 203 supplies the power required for the operation of each part of the light bulb fitting device 100. The battery 203 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 203 realized by a secondary battery may be detachable from the light bulb fitting device 100.

[0125] Furthermore, light bulb attachment device (unmanned aerial vehicle) 100 may be provided with a charging contact for charging battery 203. The charging contact may have, for example, an exposed terminal shape or a connector shape.

[0126] Instead of or in addition to the charging contacts for charging the battery 203, the light bulb fixture (unmanned aerial vehicle) 100 may be provided with a power receiving coil for wireless power transfer (contactless power transmission).

[0127] Wireless power transfer is a technology that receives power from battery 203 without using a charging contact, and is also called contactless power transfer or wireless power transfer. The power receiving coil is located inside the exterior surface of light bulb mounting device (unmanned aerial vehicle) 100. This prevents deterioration or breakdown of light bulb mounting device (unmanned aerial vehicle) 100 due to water droplets from rain or dew. Battery 203 may be realized by a primary battery that only discharges DC power.

[0128] Motor 204 is controlled by control circuit 201, and rotates to rotate propellers 101a to 101d. Specifically, motor 204 may be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is made up of a coil.

[0129] By providing the same number of motors 204 as the propellers 101a-101d, it is possible to rotate each of the propellers 101a-101d independently, thereby moving the light bulb attachment device 100 forward, backward, turning left or right, and rotating (pivoting).In addition, a motor may be provided to rotate the gripping mechanism 102 and connecting member 103, and a motor may be provided to drive the arm 104 that opens and closes the grip of the gripping mechanism 102.

[0130] 1A and 1B, the camera 205 includes an image sensor and captures an image by receiving light that passes through a photographing lens at the image sensor. The camera 205 outputs the captured image, i.e., image information (photographed data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 201.

[0131] Camera 205 may be a camera that captures moving images. Moving images include still images captured continuously at predetermined time intervals. Image information may be compressed using a predetermined standard for compressing moving image and audio data (for example, MPEG (Moving Picture Experts Group)). Camera 205 may also be a camera that captures still images.

[0132] Instead of a general-purpose digital camera, camera 205 may be realized by a night vision camera that captures images in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared light, an infrared color night vision camera that captures color images by analyzing the black and white shading in images captured by an infrared camera, etc. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., it is possible to accurately recognize the user even at night or in a room with low illumination.

[0133] Solar cell 206 is constructed by bonding a P-type silicon semiconductor, which tends to be positively charged, and an N-type silicon semiconductor, which tends to be negatively charged, together via a PN junction surface. In solar cell 206, when light energy from external light such as sunlight is applied to the PN junction surface, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 206, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

[0134] Torque sensor 211 can measure torque by transmitting the force applied to the input shaft to the measurement shaft within the measuring device, distorting the measurement shaft, and measuring the distortion. Specifically, it can transmit the force applied to the shaft of connecting member 103 connected to gripping mechanism 102 that grips light bulb 150 to the measurement shaft, and measure the gripping torque applied to gripping mechanism 102 that grips light bulb 150 due to the distortion of the measurement shaft.

[0135] The illuminance sensor 212 converts light incident on a light-receiving element into an electric current and detects brightness. That is, the current flowing through the phototransistor changes depending on the brightness, which causes a voltage corresponding to the brightness to appear across a resistor installed in the circuit, enabling light to be detected. The illuminance sensor 212 may, for example, have a structure in which a photodiode and a transistor are integrated.

[0136] The temperature sensor 213 may be a contact type in which the sensor is brought into contact with the object to be measured (light bulb 150) and the temperature of the object to be measured and the sensor are treated as being the same, or a non-contact type in which the temperature is measured from the intensity of the thermal energy radiated from the object to be measured.

[0137] Contact temperature sensors may be thermocouples, which measure by connecting the tips of two metal wires made of different materials and using the principle that thermoelectric power is generated by the temperature difference between one end and the other, resistance thermometers, which measure by using the property that the electrical resistance of metal increases or decreases in proportion to temperature, thermistors, which measure by using the property that the resistance value of a sintered metal oxide element changes significantly with temperature, bimetals, which measure temperature by bonding dissimilar metals together and using the change in shape due to the difference in the thermal expansion coefficients of each, and immersion thermometers, which measure by converting the thermal expansion of a temperature-sensing element into a pressure change.

[0138] The non-contact temperature sensor may also be a radiation thermometer that captures thermal energy radiation from an object to be measured and measures the temperature. Specifically, it may be a total radiation thermometer that measures thermal energy over a wide wavelength range, a partial radiation thermometer that measures thermal energy over a relatively wide wavelength range, a monochromatic radiation thermometer that measures thermal energy over a narrow wavelength range, or a two-color radiation thermometer that measures the ratio of thermal energy in two narrow wavelength ranges. It may also be a thermal image sensor (such as a thermograph) that can measure the temperature distribution over a relatively wide area.

[0139] The GPS sensor 214 identifies the current location of the light bulb mounting device 100. Specifically, the GPS sensor 214 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit.

[0140] The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the light bulb mounting device 100 based on the baseband signal demodulated by the RF unit.

[0141] The GPS sensor 214 may further include a filter that removes unnecessary components, and an amplifier such as an LNA (Low Noise Amplifier) ​​or a PA (Power Amplifier).

[0142] The current location of the light bulb fitting device 100 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distances to each of the four GPS satellites and calculates the location where these distances intersect. Instead of GPS, which determines the geometric position of the light bulb fitting device 100 relative to the GPS satellites based on radio waves received from the GPS satellites, the current location of the light bulb fitting device 100 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

[0143] Specifically, a CMC (Carbon Micro Coil) tactile sensor or the like can be used as the contact sensor 215. The contact state can be determined by detecting a change in the electrical characteristics of the sensor element due to mechanical deformation of the material (CMC) uniformly dispersed inside the sensor element, and an output signal can be obtained.

[0144] The object sensor, one of the various sensors 216, detects whether or not there is an obstacle within a predetermined range of the light bulb fitting device 100. The object sensor also detects the distance to the obstacle. An obstacle is an object that interferes with the flight of the light bulb fitting device 100, and specific examples of such an object include a wall, ceiling, furniture, and a person. When flying the light bulb fitting device 100 outdoors, any object that interferes with the flight of the light bulb fitting device 100, such as a vehicle, another light bulb fitting device 100, a tree, or a building, is an obstacle.

[0145] Specifically, the object sensor can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, an ultrasonic sensor, etc. The object sensor can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, an ultrasonic sensor, etc.

[0146] Unmanned aerial vehicle 100 may be equipped with multiple types of non-contact sensors as object sensors. Furthermore, light bulb attachment device 100 may detect the presence or absence of obstacles within a predetermined range from unmanned aerial vehicle 100 based on images captured by camera 205.

[0147] The acceleration sensor among the various sensors 216 detects gravity, vibration and other movements, and shocks acting on the unmanned aerial vehicle. The acceleration sensor may be, for example, a frequency-change acceleration sensor such as a low-noise, highly stable quartz acceleration sensor. Alternatively, the acceleration sensor may be a piezoelectric acceleration sensor, a capacitance acceleration sensor, a piezo-resistive acceleration sensor, or the like.

[0148] The acceleration sensor detects the amount of change in the speed of unmanned aerial vehicle 100. The gyro sensor and acceleration sensor can calculate the amount of change in both the degree of tilt of unmanned aerial vehicle 100 and the speed of unmanned aerial vehicle 100, so unmanned aerial vehicle 100 can continue flying even if it remains tilted.

[0149] The gyro sensor among the various sensors 216 detects the amount of change in the angle of unmanned aerial vehicle 100. The gyro sensor detects the amount of change in the angle of unmanned aerial vehicle 100, for example, by measuring angular velocity using Coriolis force. The gyro sensor enables unmanned aerial vehicle 100 to fly stably.

[0150] The barometric pressure sensor among the various sensors 216 detects the altitude of the unmanned aerial vehicle 100. The barometric pressure sensor detects the altitude of the unmanned aerial vehicle 100, for example, by detecting changes in air pressure. By measuring the altitude of the unmanned aerial vehicle 100 with the barometric pressure sensor, the altitude of the unmanned aerial vehicle 100 can be maintained.

[0151] The ultrasonic sensor among the various sensors 216 detects the distance from an object (floor, obstacle, etc.) located below the unmanned aerial vehicle 100. The ultrasonic sensor is provided, for example, on the underside of the unmanned aerial vehicle 100, and detects the distance from an object located below the unmanned aerial vehicle 100 by utilizing the reflection of ultrasonic waves emitted below the unmanned aerial vehicle 100.

[0152] This allows for stable ground tracking (floor, ground, etc.) and landing of unmanned aerial vehicle 100. When an ultrasonic sensor is used as the object sensor, ultrasonic waves may be emitted in all directions of unmanned aerial vehicle 100, and the ultrasonic sensor may function both as an object sensor and as part of the IMU.

[0153] The magnetic orientation sensor among the various sensors 216 detects whether the unmanned aerial vehicle 100 is facing north, south, east, or west. Because the unmanned aerial vehicle 100 is affected by magnetism depending on the flight location, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when the flight location is changed.

[0154] The human presence sensor among the various sensors 216 outputs an electrical signal corresponding to a temperature change caused by a light receiving element absorbing infrared rays to the control circuit 201. Specifically, the human presence sensor converts a current signal corresponding to the temperature change into a voltage signal, amplifies the voltage signal, and outputs a predetermined electrical signal to the control circuit 201 when the amplified voltage signal exceeds a predetermined threshold. The control circuit 201 detects a user when it receives an input of the predetermined electrical signal output from the human presence sensor.

[0155] A speaker (not shown) generates sound by vibrating a diaphragm with an electrical signal, which is an audio signal. The speaker may also be an output terminal that outputs an audio signal, and an external speaker may be connected to the output terminal to generate sound.

[0156] Although not shown in FIG. 2, unmanned aerial vehicle 100 may also be equipped with a microphone and an LED lamp.

[0157] The microphone collects sounds around unmanned aerial vehicle 100. The microphone converts sounds input as analog data into electrical signals. Specifically, the microphone performs analog-to-digital conversion on the analog sound signals input as analog data, generating digital sound data.

[0158] The LED lamp is controlled by control circuit 201 to turn on, turn off, or blink. The LED lamp may also indicate the status of unmanned aerial vehicle 100. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamp blinks in a predetermined pattern. The color of the light emitted by the LED lamp is not limited to one color, and may be multiple colors.

[0159] Although not shown, unmanned aerial vehicle 100 may also include input / output devices such as keys or buttons for inputting instructions to unmanned aerial vehicle 100, a power switch for turning unmanned aerial vehicle 100 on and off, and LED lamps provided in positions other than those corresponding to the eyes. The input / output devices may be realized by connection terminals to which other information processing devices can be connected.

[0160] Unmanned aerial vehicle 100 may also include a projector that projects images. Specifically, control circuit 201 may include, for example, a GPU (Graphics Processing Unit) that specializes in image processing for images projected by the projector. By including a GPU, fast-moving videos and the like can be projected with high image quality.

[0161] The projector guides light emitted from a projector light source along a predetermined path using an optical system and projects the light outside the projector through a projection lens, thereby projecting an image at the location where the light is irradiated. The projector may adjust the image quality of the projected image by adjusting the intensity of the light emitted from the projector light source according to the distance from the position where the image is to be projected.

[0162] The distance between the projector and the position where the image is projected can be determined using, for example, a distance sensor, which may be any of various known sensors such as a laser distance sensor, an ultrasonic sensor, or an infrared sensor.

[0163] The light bulb mounting device 100 can be manually controlled using the controller 250. This allows manual operation of installation, removal, inspection, and cleaning, even when these tasks are difficult to perform automatically. The controller 250 may be a typical drone controller equipped with a control mechanism for controlling the gripping mechanism 102.

[0164] (Functional configuration of the bulb mounting device) FIG. 3 is a block diagram illustrating an example of a functional configuration of the light bulb attachment device (unmanned aerial vehicle) according to the first embodiment of the present invention.

[0165] In Figure 3, the light bulb installation device (unmanned aerial vehicle) 100 includes the following components: a light bulb holding unit 301, a moving unit 302, a rotating unit 303, a light bulb installation completion determination unit 304, an imaging unit 305, an analyzing unit 306, a torque detection unit 307, a luminous intensity detection unit 308, a temperature detection unit 309, a transmitting unit 310, a GNSS receiving unit 311, a memory unit 312, and a receiving unit 313.

[0166] The light bulb gripping unit 301 has the function of gripping the light bulb 150 and is able to grip the light bulb 150. The light bulb gripping unit 301 also has the function of releasing the grip of the gripped light bulb 150 and is able to release the grip of the gripped light bulb 150. Specifically, the function of the light bulb gripping unit 301 can be realized by the control circuit 201, gripping mechanism 102, etc. shown in Figures 1A, 1B, and 2, for example.

[0167] The bulb holder 301 can hold the bulb 150 by gripping the surface of the glass bulb 152 with the gripping mechanism 102 so that the base 151 can be screwed into the socket 160. Also, the bulb 150 can be held by gripping the glass bulb 152 with the gripping mechanism 102 so that the bulb 150 can be unscrewed from the socket 160.

[0168] Moving unit 302 flies through the air to move its own device, light bulb removal device (unmanned aerial vehicle) 100. Specifically, moving unit 302 flies through the air to move its own device, light bulb installation device (unmanned aerial vehicle) 100, so that base 151 of light bulb 150 (for example, near the tip of base 151) abuts against opening 161 of socket 160 to which light bulb 150 is attached.

[0169] Specifically, the function of the moving unit 302 can be realized by the propeller 101 shown in FIGS. 1A and 1B, the motor 204 shown in FIG. 2, the control circuit 201, and the like.

[0170] The moving unit 302 can lift the device into the air by causing the control circuit 201 to control the motor 204 to rotate the propellers 101a to 101d independently. Then, in this state, the control circuit 201 further controls the motor 204 to move the device to a predetermined position (a position where the base 151 abuts against the opening 161 of the socket 160).

[0171] The rotating part 303 rotates the light bulb 150 held by the light bulb holding part 301 so that the base 151 of the light bulb 150 abuts against the opening 161 of the socket 160 and the base 151 screws into the socket 160.

[0172] Specifically, the function of rotating unit 303 can be realized by, for example, propeller 101 shown in FIGS. 1A and 1B, motor 204 shown in FIG. 2, control circuit 201, and the like.

[0173] The rotating unit 303 can rotate the device itself (light bulb mounting device (unmanned aerial vehicle) 100) while flying in the air, thereby rotating the light bulb 150 held by the light bulb holding unit 301. The rotating unit 303 hovers in a position with the base 151 of the light bulb 150 abutting against the opening 161 of the socket 160.

[0174] The rotating unit 303 adjusts the rotation speed of each of the four propellers 101a to 101d, thereby causing the drone to rotate clockwise or counterclockwise around the center of the unmanned aerial vehicle (drone) body, i.e., the position where the connecting member 103 is connected.

[0175] Furthermore, instead of rotating its own device (light bulb mounting device (unmanned aerial vehicle) 100) while flying in the air, the rotating unit 303 may rotate the light bulb 150 independently of the rotation of its own device. The rotating unit 303 hovers in a position with the base 151 of the light bulb 150 abutting against the opening 161 of the socket 160.

[0176] Rotating unit 303 then drives motor 204 to rotate (pivot) connecting member 103 clockwise and counterclockwise around its longitudinal center as an axis, which in turn rotates gripping mechanism 102 and light bulb 150 gripped by gripping mechanism 102, allowing the light bulb 150 to be screwed into or released from socket 160.

[0177] The rotation unit 303 can rotate the light bulb 150 by rotating its own device (light bulb mounting device (unmanned aerial vehicle) 100) itself in this way, or by being provided with a rotation mechanism that is independent of the rotation of its own device. These methods may be used in combination. That is, the device (light bulb mounting device (unmanned aerial vehicle) 100) itself may be rotated, and the light bulb 150 may be rotated by rotational drive using a rotation mechanism. Furthermore, these rotation methods may be used differently depending on the situation. For example, one of the methods may be used primarily, and the other may be used secondary.

[0178] The bulb installation completion determination unit 304 determines whether the bulb 150 has been successfully installed in the socket 160. Then, the rotation unit 303 stops the rotation of the bulb 150 based on the determination result by the bulb installation completion determination unit 304. Furthermore, the bulb gripping unit 301 releases its grip on the bulb 150 after the rotation by the rotation unit 303 has stopped.

[0179] Specifically, the function of the bulb installation completion determination unit 304 can be realized by, for example, the control circuit 201 shown in FIG.

[0180] The imaging unit 305 captures an image or video of the vicinity of the base 151 of the light bulb 150 (the periphery of the base 151). Specifically, the functions of the imaging unit 305 can be realized by, for example, the camera 205, the control circuit 201, etc. shown in FIG.

[0181] The analysis unit 306 analyzes the image or video captured by the imaging unit 305. Specifically, the function of the analysis unit 306 can be realized by, for example, the control circuit 201 shown in FIG.

[0182] Then, based on the analysis results of the analysis unit 306, the bulb installation completion determination unit 304 can determine that the bulb 150 has been successfully installed in the socket 160 when a predetermined part of the base 151 is hidden by the socket 160 and cannot be seen.

[0183] The predetermined portion is a mark or the like that is marked in advance on the base 151. If, as a result of the analysis by the analysis unit 306, the base 151 is screwed into the socket at the predetermined position, the light bulb 150 cannot rotate any further, and the mark is hidden by the socket and becomes completely invisible, or only part of the mark becomes invisible, the light bulb installation completion determination unit 304 can determine that the light bulb 150 has been properly installed in the socket 160.

[0184] Torque detection unit 307 detects the gripping torque applied to bulb gripping unit 301 in the direction of rotation of bulb 150 by rotating unit 303. Specifically, the function of torque detection unit 307 can be realized by, for example, torque sensor 211 shown in FIG.

[0185] Then, based on the detection result of the torque detection unit 307, the bulb installation completion determination unit 304 can determine that the bulb 150 has been successfully installed in the socket 160 if the gripping torque reaches or exceeds a predetermined value or remains at or above the predetermined value for a predetermined period of time.

[0186] The gripping torque detected by the torque detector 307, i.e., the torque applied to the bulb gripping unit 301 (each arm 104 of the gripping mechanism 102), is not large while the base 151 is threaded into the threading groove 162 of the socket 160. After that, the gripping torque increases when the bulb can no longer be turned after threading is complete. Therefore, changes in the gripping torque are detected, and if the gripping torque exceeds a predetermined value, it is determined that the bulb 150 has been properly inserted into the socket 160.

[0187] Alternatively, it may be determined that the light bulb 150 has been properly inserted into the socket 160 when the gripping torque remains above a predetermined value for a predetermined period of time, rather than immediately after the gripping torque reaches or exceeds the predetermined value. This reliably prevents the light bulb 150 from being erroneously determined to have been properly inserted into the socket 160 when the gripping torque temporarily increases during screwing.

[0188] The luminous intensity detection unit 308 detects the luminous intensity of the light bulb. Specifically, the function of the luminous intensity detection unit 308 can be realized by, for example, the illuminance sensor 212 shown in FIG.

[0189] Then, based on the detection result of the luminous intensity detection unit 308, the bulb installation completion determination unit 304 determines that the bulb 150 has been properly installed in the socket 160 if the luminous intensity of the bulb 150 reaches or exceeds a predetermined value or remains at or exceeds the predetermined value for a predetermined period of time.

[0190] That is, when the light bulb 150 is properly attached to the socket 160, the tip of the base 151 comes into contact with the electrode of the socket 160, electricity is passed through the light bulb 150, and the light bulb 150 lights up. The luminous intensity detector 308 detects the change in luminous intensity caused by the light bulb 150 being lit, and if the luminous intensity is equal to or greater than a predetermined value, it determines that the light bulb 150 is properly attached to the socket 160.

[0191] Alternatively, it may be determined that the light bulb 150 is properly installed in the socket 160 when the luminous intensity remains above a predetermined value for a predetermined period of time, rather than immediately after the light bulb 150 reaches a predetermined value or higher. This allows the light bulb 150 to be temporarily turned on and the luminous intensity reaches a predetermined value or higher, but it may not yet be properly installed in the socket 160. In such cases, it may be erroneously determined that the light bulb 150 is properly installed. Therefore, the condition that the luminous intensity remains above a predetermined value for a predetermined period of time is added. This makes it possible to reliably avoid erroneous determinations.

[0192] The luminous intensity detection unit 308 detects a change (increase) in luminous intensity when the light bulb 150 is turned on, and if the luminous intensity remains above a predetermined value for a predetermined period of time while the light bulb 150 is installed, it can be determined that the light bulb 150 is properly installed in the socket 160.

[0193] In this way, it is possible to check that the installed light bulb 150 lights up when powered on, which allows for more reliable installation of the light bulb. Also, since it is not necessary for a worker to do the installation manually (they do not have to directly touch the light bulb 150 with their hands), the risk of the worker getting an electric shock can be reliably avoided even when power is on, allowing for safe work.

[0194] The temperature detection unit 309 detects the temperature of the light bulb 150. Specifically, the function of the temperature detection unit 309 can be realized by, for example, the temperature sensor 212 shown in FIG.

[0195] Then, based on the detection result of temperature detection unit 309, light bulb installation completion determination unit 304 determines that light bulb 150 has been properly installed in socket 160 if the temperature of light bulb 150 reaches or exceeds a predetermined value, or if it remains at or exceeds the predetermined value for a predetermined period of time. In other words, when light bulb 150 has been properly installed in socket 160, electricity is passed through light bulb 150, causing light bulb 150 to light up and generate heat. Temperature detection unit 309 detects a change (rise) in temperature due to light bulb 150 being turned on, and determines that light bulb 150 has been properly installed in socket 160 if the temperature reaches or exceeds the predetermined value.

[0196] Alternatively, it may be determined that the light bulb 150 is properly inserted into the socket 160 when the temperature remains above a predetermined value for a predetermined period of time, rather than immediately after the temperature reaches or exceeds the predetermined value. This allows for the possibility that the light bulb 150 may not be properly inserted into the socket 160 even if it is temporarily turned on and generates heat, causing the temperature to exceed the predetermined value. In such cases, it may be erroneously determined that the light bulb is properly inserted, so the condition is set to require that the temperature remains above the predetermined value for a predetermined period of time. This reliably avoids erroneous determinations.

[0197] In this way, it is possible to confirm that the installed light bulb 150 lights up when power is applied, and since the light bulb 150 becomes hot when it lights up, it is possible to install the light bulb more reliably. Also, since it is not necessary for a worker to do it manually (they do not have to directly touch the light bulb 150 with their hands), it is possible to reliably avoid the risk of the worker being burned by the heat of the light bulb even when power is applied.

[0198] The light bulb installation completion determination unit 304 may determine whether light bulb installation is complete based on one of four results: the analysis result of the analysis unit 306, the detection result of the torque detection unit 307, the detection result of the luminous intensity detection unit 308, and the detection result of the temperature detection unit 309. Alternatively, it may determine whether light bulb installation is complete by combining two or more of the four results. The result to be used may be changed depending on conditions such as the situation and environment in which the light bulb 150 is installed, and if multiple results are used, they may be freely combined. Furthermore, whether light bulb installation is complete may be determined based on information other than these four results.

[0199] Furthermore, separately from or in addition to these results, the light bulb installation completion determination unit 304 may determine that installation of the light bulb 150 is complete when the light bulb 150 has rotated a predetermined number of times. Also, since the rotation speed of the light bulb 150 is predetermined, installation of the light bulb 150 may be determined to be complete when the light bulb 150 has rotated continuously for a predetermined period of time.

[0200] The transmitter 310 transmits an image or video of at least one of the light bulb 150 and the socket 160 captured by the image capture unit 305. The image or video may be transmitted to, for example, the controller 250 or the management server 260. Specifically, the transmitter 310 can realize its function using, for example, the communication I / F 202 shown in FIG. 2 .

[0201] The imaging unit 305 captures images or videos of the state before, during, and after the installation of the light bulb 150. In this way, the transmission unit 310 transmits the images or videos, allowing the user to know the state (status) of the installation of the light bulb 150. In addition, the state (status) of the light bulb installation work can be managed.

[0202] Furthermore, the imaging unit 305 captures an image or video of the vicinity of the base 151 of the light bulb 150, and the analysis unit 306 analyzes the image or video captured by the imaging unit 305. Then, the movement unit 302 may move its own device (light bulb attachment device (unmanned aerial vehicle) 100) based on the analysis result of the analysis unit 306.

[0203] The imaging unit 305 may also be configured to read a two-dimensional code (not shown) provided on the base 151 or around the base 151. This two-dimensional code is associated with information about the socket 160 and information about the types of light bulbs 150 that can be used. The analysis unit 306 may analyze the information in the two-dimensional code.

[0204] In this way, the destination position can be identified based on the analysis results of the image or video around the base 151 by the analysis unit 306, so the moving unit 302 can move the device so that the base 151 more reliably contacts the opening 161 of the socket 160.

[0205] The GNSS (Global Navigation Satellite System) receiver 311 measures the current position of the device itself. Specifically, the function of the GNSS receiver 311 can be realized by the GPS sensor 214 shown in FIG. 2 or the like. The moving unit 302 may then move the device itself (light bulb attachment device (unmanned aerial vehicle) 100) based on the positioning result by the GNSS receiver 311.

[0206] In this way, the destination location can be identified based on the positioning results by the GNSS receiving unit 311, so the moving unit 302 can move the device so that the base 151 more reliably contacts the opening 161 of the socket 160.

[0207] The moving unit 302 may also move its own device (light bulb attachment device (unmanned aerial vehicle) 100) based on the location information of the destination stored in the memory unit 312. Specifically, the function of the memory unit 312 can be realized by, for example, the control circuit 201 (memory thereof) shown in FIG.

[0208] Here, the destination location information may be more detailed latitude and longitude information. Furthermore, the information is not limited to latitude and longitude information, as long as it can identify the destination location of socket 160. Furthermore, the destination location information may also include angle information related to the tilt of socket 160 at the destination. For example, in cases other than when socket 160 is installed vertically, moving unit 302 can adjust the installation direction of light bulb 150 by tilting its own device (light bulb installation device (unmanned aerial vehicle) 100) to the angle based on the angle information related to the tilt, and move light bulb 150 to the opening 161 of socket 160.

[0209] In addition to the location information of the destination, the storage unit 312 may also store information about the socket 160 at the destination (such as the type and characteristics of the socket 160), information about the types of light bulbs that can be used, and information about the replacement work (such as the last time it was replaced or cleaned, and the work history). This information allows the replacement of light bulbs to be carried out more efficiently and reliably (preventing unexpected accidents and incorrect work).

[0210] The receiving unit 313 receives information about the destination of the device itself (light bulb attachment device (unmanned aerial vehicle) 100). The source of the destination information may be, for example, the control device 250 or the management server 260. Specifically, the function of the receiving unit 313 can be realized by, for example, the communication I / F 202 shown in FIG. 2. The memory unit 312 stores the destination information received by the receiving unit 313.

[0211] In this way, the position information of the socket 160 in which the light bulb 150 is attached can be easily and reliably obtained.

[0212] (Bulb Mounting Device Processing Procedure) Fig. 4 is a flowchart showing an example of a processing procedure of the light bulb fitting device (unmanned aerial vehicle) according to the first embodiment of the present invention, and Figs. 5 to 10 are explanatory diagrams showing how the light bulb fitting device works to fit a light bulb.

[0213] 4, first, as a preparation step, the light bulb 150 is attached to the gripping mechanism 102 of the light bulb attachment device (unmanned aerial vehicle) 100 (the arm 104 is made to grip the glass bulb 152) (step S401). The light bulb 150 may be attached manually by an operator, or may be automatically gripped by the arm 104.

[0214] After the bulb has been attached (held), the propellers 101a to 101d are rotated to cause the bulb attachment device (unmanned aerial vehicle) 100 to take off (float) (step S402).

[0215] The light bulb attachment device (unmanned aerial vehicle) 100 flies through the air and moves to a predetermined destination (step S403). Since the destination is predetermined, it flies the shortest distance unless there is an obstacle. If there is an obstacle, it flies in a way that avoids the obstacle based on information about the obstacle. Figure 5 shows the light bulb attachment device (unmanned aerial vehicle) 100 carrying (holding) a light bulb 150 while flying through the air.

[0216] Then, it is determined whether or not the base 151 of the light bulb 150 has come into contact with the opening 161 of the target socket 160, which is the predetermined destination (step S404). Whether or not contact has occurred can be determined based on an analysis of the image from the camera 205 and detection results from the contact sensor 215, various sensors 216 (object sensors), etc.

[0217] If there is no contact yet (step S404: No), the process returns to step S403 and continues flying and moving in the air. On the other hand, if there is contact (step S404: Yes), the entry angle (screw-in angle) of base 151 is adjusted (step S405). Figure 6 shows the state where base 151 is in contact with opening 161 of socket 160.

[0218] After the angle adjustment is complete, the light bulb 150 is rotated clockwise (step S406). This starts the screwing process. Figure 7 shows the state in which the light bulb 150 is being rotated clockwise (in the direction of the arrow in the figure) to screw the light bulb 150 into the screwing groove 162 of the socket 160.

[0219] Thereafter, it is determined whether or not the light bulb 150 has been properly attached to the socket 160 (step S407). If it has not been properly attached (step S407: No), the process returns to step S406, and the light bulb 150 continues to be rotated clockwise.

[0220] If the light bulb 150 is successfully attached to the socket 160 (step S407: Yes), the rotation of the light bulb 150 is stopped (step S408). Figure 8 shows the state in which the light bulb 150 has been attached to the socket 160 and the rotation of the light bulb 150 has stopped.

[0221] After the rotation of the light bulb 150 has stopped, the grip of the gripping mechanism 102 on the light bulb 150 is released (step S409). Figure 9 shows the state in which the grip of the light bulb 150 has been released. Even if the grip of the light bulb 150 has been released, the light bulb 150 will not fall because it has already been properly inserted into the socket 160.

[0222] After releasing its grip on the light bulb 150, the light bulb attachment device (unmanned aerial vehicle) 100 leaves the scene (step S410). It then flies again through the air to a predetermined destination (return destination) (step S411). Figure 10 shows the light bulb attachment device (unmanned aerial vehicle) 100 leaving the position of the socket 160 and moving while flying through the air. The predetermined destination may usually be the position from which it took off, or may be some other location.

[0223] Thereafter, the drone lands at a predetermined destination (step S412), and the series of processes ends. Here, it is also possible to automatically install a new bulb 150 and move to a new destination without landing.

[0224] As described above, the light bulb mounting device 100 of the first embodiment of the present invention can include a light bulb holding unit 301 that holds the light bulb 150, a moving unit 302 that flies through the air to move the device (the light bulb mounting device 100) so that the base 151 of the light bulb 150 abuts against the opening 161 of the socket 160 to which the light bulb 150 is to be attached, and a rotating unit 303 that rotates the light bulb 150 held by the light bulb holding unit 301 so that the base 151 screws into the socket 160 while the base 151 is abutting against the opening 161 of the socket 160. This allows the light bulb 150 to be automatically mounted in the desired socket 160 without manual intervention.

[0225] Furthermore, the light bulb fitting device 100 of the first embodiment of the present invention can rotate the device itself (the light bulb fitting device 100) while flying through the air, which eliminates the need for a separate drive source for screwing the light bulb 150 into the socket 160.

[0226] Furthermore, in the light bulb fitting device 100 of the first embodiment of the present invention, the rotating part 303 can rotate the light bulb 150 independently of the rotation of the device itself (the light bulb fitting device 100). This allows the light bulb 150 to be screwed into the socket 160 without the device itself (the light bulb fitting device 100) rotating (spinning on its axis).

[0227] The light bulb mounting device 100 of the first embodiment of the present invention further includes a light bulb installation completion determination unit 304 that determines whether the light bulb 150 has been properly installed in the socket 160. Based on the determination result of the light bulb installation completion determination unit 304, the rotating unit 303 stops rotating, and the light bulb gripping unit 301 releases its grip on the light bulb 150 after the rotating unit 303 has stopped rotating. This reliably prevents the light bulb 150 from being damaged by being rotated too far.

[0228] The light bulb mounting device 100 of the first embodiment of the present invention further includes an imaging unit 305 that captures an image or video of the area around the base 151 of the light bulb 150, and an analysis unit 306 that analyzes the image or video captured by the imaging unit 305. Based on the analysis results of the analysis unit 306, the light bulb installation completion determination unit 304 can determine that the light bulb 150 has been properly installed in the socket 160 when a predetermined part of the base 151 is hidden by the socket 160 and cannot be seen. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0229] The light bulb attachment device 100 of the first embodiment of the present invention further includes a torque detection unit 307 that detects the gripping torque applied to the light bulb holder 301 in the direction of rotation of the light bulb 150 by the rotation unit 303. Based on the detection results of the torque detection unit 307, the light bulb attachment completion determination unit 304 can determine that the light bulb 150 has been properly attached to the socket 160 if the gripping torque reaches or exceeds a predetermined value, or if it remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly attached.

[0230] The light bulb mounting device 100 of the first embodiment of the present invention further includes a luminous intensity detection unit 308 that detects the luminous intensity of the light bulb 150. The light bulb mounting completion determination unit 304 can determine, based on the detection result of the luminous intensity detection unit 308, that the light bulb 150 has been properly mounted in the socket 160 if the luminous intensity of the light bulb 150 reaches or exceeds a predetermined value, or if the luminous intensity remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0231] The light bulb attachment device 100 of the first embodiment of the present invention further includes a temperature detection unit 309 that detects the temperature of the light bulb 150. Based on the detection result of the temperature detection unit 309, the light bulb attachment completion determination unit 304 can determine that the light bulb 150 has been properly attached to the socket 160 if the temperature of the light bulb 150 reaches or exceeds a predetermined value, or if it remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly attached.

[0232] The light bulb mounting device 100 of the first embodiment of the present invention can further include an imaging unit 305 that captures images or videos of at least one of the light bulb 150 and the socket 160, and a transmission unit 310 that transmits the images or videos captured by the imaging unit 305. This allows the user to remotely monitor how the light bulb 150 is being mounted.

[0233] The light bulb fitting device 100 of the first embodiment of the present invention further includes an imaging unit 305 that captures an image or video of the vicinity of the base 151 of the light bulb 150, and an analysis unit 306 that analyzes the image or video captured by the imaging unit 305, and the movement unit 302 can move the device (light bulb fitting device 100) itself based on the analysis results of the analysis unit 306. This makes it possible to more reliably move the device (light bulb fitting device 100) itself to the location of the destination socket 160.

[0234] The light bulb fitting device 100 of the first embodiment of the present invention further includes a GNSS (Global Navigation Satellite System) receiver 311, and the moving unit 302 can move the device (light bulb fitting device 100) itself based on the positioning results obtained by the GNSS receiver 311. This allows the device (light bulb fitting device 100) to be moved more reliably to the location of the destination socket 160.

[0235] Furthermore, the light bulb fitting device 100 of the first embodiment of the present invention further includes a memory unit 312 that stores location information of the destination of the device (light bulb fitting device 100), and the moving unit 302 can move the device (light bulb fitting device 100) based on the location information of the destination stored in the memory unit 312. This makes it possible to more reliably move the device (light bulb fitting device 100) to the location of the destination socket 160.

[0236] Furthermore, the light bulb mounting device 100 of the first embodiment of the present invention can further include, in the position information of the destination, angle information relating to the inclination of the socket 160 at the destination. This allows the light bulb mounting device 100 to reliably screw into even a socket 160 that is installed at an angle.

[0237] The light bulb fitting device 100 of the first embodiment of the present invention further includes a receiving unit 313 that receives information about the destination, and the memory unit 312 can store the information about the destination received by the receiving unit 313. This makes it possible to more reliably know the location of the socket 160 to which the light bulb fitting device 100 has been moved.

[0238] Furthermore, the light bulb installation method of the first embodiment of the present invention can execute a process in which the unmanned aerial vehicle (light bulb installation device 100) grasps a light bulb, flies through the air so that the base 151 of the light bulb abuts against the opening 161 of the socket 160 in which the light bulb 150 will be installed, and then rotates the light bulb 150 so that the base 151 screws into the socket 160 while the base 151 is abutting against the opening 161 of the socket 160. This allows the light bulb 150 to be installed automatically in the desired socket 160 without human intervention.

[0239] Furthermore, the light bulb installation method of the first embodiment of the present invention can also execute a process in which the unmanned aerial vehicle (light bulb installation device 100) rotates itself (the light bulb installation device 100) while flying in the air, thereby rotating the light bulb 150. This eliminates the need for a separate drive source to screw the light bulb 150 into the socket 160.

[0240] Furthermore, the light bulb installation method of the first embodiment of the present invention can also execute a process in which the unmanned aerial vehicle (light bulb installation device 100) rotates the light bulb 150 independently of the rotation of the device itself (the light bulb installation device 100). This allows the light bulb 150 to be screwed into the socket 160 without the device itself (the light bulb installation device 100) rotating (spinning on its own axis).

[0241] Furthermore, the light bulb installation method of the first embodiment of the present invention further allows the unmanned aerial vehicle (light bulb installation device 100) to determine whether the light bulb 150 has been properly installed in the socket 160, stop the rotation of the light bulb 150 based on the determination result, and release the grip on the light bulb 150 after the rotation has stopped. This reliably prevents the light bulb 150 from being damaged by excessive rotation.

[0242] Furthermore, the light bulb installation method of the first embodiment of the present invention can also perform processing in which the unmanned aerial vehicle (light bulb installation device 100) captures an image or video of the area around the base 151 of the light bulb 150, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb 150 has been properly installed in the socket 160 when a predetermined part of the base 151 is hidden by the socket 160 and cannot be seen. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0243] Furthermore, the light bulb installation method of the first embodiment of the present invention further includes a process in which the unmanned aerial vehicle (light bulb installation device 100) detects the gripping torque in the rotational direction of the light bulb 150 applied to the gripping part that grips the light bulb 150, and determines that the light bulb 150 has been properly installed in the socket 160 if the gripping torque detection result exceeds a predetermined value or if the gripping torque remains above the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0244] Furthermore, the light bulb installation method of the first embodiment of the present invention can also perform a process in which the unmanned aerial vehicle (light bulb installation device 100) detects the luminous intensity of the light bulb 150 and, based on the luminous intensity detection result, determines that the light bulb 150 has been properly installed in the socket 160 if the luminous intensity of the light bulb 150 reaches or exceeds a predetermined value or if the luminous intensity remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0245] Furthermore, the light bulb installation method of the first embodiment of the present invention can also perform a process in which the unmanned aerial vehicle (light bulb installation device 100) detects the temperature of the light bulb 150 and, based on the temperature detection result, determines that the light bulb 150 has been properly installed in the socket 160 if the temperature of the light bulb 150 reaches or exceeds a predetermined value or if the temperature remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0246] Furthermore, the light bulb installation method of the first embodiment of the present invention can also perform a process in which the unmanned aerial vehicle (light bulb installation device 100) captures images or videos of at least one of the light bulb 150 and the socket 160 and transmits the captured images or videos. This allows the user to remotely monitor how the light bulb 150 installation work is being carried out.

[0247] Furthermore, the light bulb installation method of the first embodiment of the present invention can also perform a process in which the unmanned aerial vehicle (light bulb installation device 100) captures an image or video of the area around the base 151 of the light bulb 150, analyzes the captured image or video, and moves the device (light bulb installation device 100) based on the analysis results. This makes it possible to more reliably move the device (light bulb installation device 100) to the location of the destination socket 160.

[0248] Furthermore, the light bulb installation method of the first embodiment of the present invention can also perform a process in which the unmanned aerial vehicle (light bulb installation device 100) moves its own device (light bulb installation device 100) based on the results of positioning by the GNSS (Global Navigation Satellite System). This makes it possible to more reliably move the own device (light bulb installation device 100) to the location of the destination socket 160.

[0249] Furthermore, the light bulb installation method of the first embodiment of the present invention can also execute a process in which the unmanned aerial vehicle (light bulb installation device 100) stores location information of the destination of its own device (light bulb installation device 100) and moves its own device (light bulb installation device 100) based on the stored location information of the destination. This makes it possible to more reliably move its own device (light bulb installation device 100) to the destination location of the socket 160.

[0250] Furthermore, in the light bulb installation method according to the first embodiment of the present invention, the destination position information can also include angle information relating to the inclination of the socket 160 at the destination. This allows reliable screwing even into a socket 160 that is installed at an angle.

[0251] Furthermore, the light bulb installation method of the first embodiment of the present invention further allows the unmanned aerial vehicle (light bulb installation device 100) to receive and store information about the destination. This allows the unmanned aerial vehicle (light bulb installation device 100) to more reliably know the location of the socket 160 at the destination of its own device (light bulb installation device 100).

[0252] The light bulb installation program of the first embodiment of the present invention can cause the unmanned aerial vehicle (light bulb installation device 100) to grasp a light bulb, fly through the air to bring the light bulb base 151 into contact with the opening 161 of the socket 160 in which the light bulb 150 will be installed, and then rotate the light bulb 150 so that the base 151 screws into the socket 160 while the base 151 is in contact with the opening 161 of the socket 160. This allows the light bulb 150 to be installed automatically in the desired socket 160 without human intervention.

[0253] The light bulb installation program of the first embodiment of the present invention can also execute a process in which the unmanned aerial vehicle (light bulb installation device 100) rotates itself (the light bulb installation device 100) while flying in the air, thereby rotating the light bulb 150. This eliminates the need to provide a separate drive source for screwing the light bulb 150 into the socket 160.

[0254] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to execute a process to rotate the light bulb 150 independently of the rotation of the device itself (the light bulb installation device 100). This allows the light bulb 150 to be screwed into the socket 160 without the device itself (the light bulb installation device 100) rotating (spinning on its own axis).

[0255] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to determine whether the light bulb 150 has been properly installed in the socket 160, stop the rotation of the light bulb 150 based on the result of the determination, and release the grip on the light bulb 150 after the rotation has stopped. This reliably prevents the light bulb 150 from being damaged by excessive rotation.

[0256] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to take an image or video of the area around the base 151 of the light bulb 150, analyze the taken image or video, and, based on the analysis results, determine that the light bulb 150 has been properly installed in the socket 160 if a predetermined part of the base 151 is hidden by the socket 160 and cannot be seen. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0257] The light bulb installation program of the first embodiment of the present invention also causes the unmanned aerial vehicle (light bulb installation device 100) to detect the gripping torque applied to the gripper holding the light bulb 150 in the direction of rotation of the light bulb 150, and, based on the detected gripping torque, determine that the light bulb 150 has been properly installed in the socket 160 if the gripping torque exceeds a predetermined value or if the gripping torque remains above the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0258] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to execute a process that detects the luminous intensity of the light bulb 150 and, based on the luminous intensity detection result, determines that the light bulb 150 has been properly installed in the socket 160 if the luminous intensity of the light bulb 150 reaches or exceeds a predetermined value or if the luminous intensity remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0259] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to execute a process that detects the temperature of the light bulb 150 and, based on the temperature detection result, determines that the light bulb 150 has been properly installed in the socket 160 if the temperature of the light bulb 150 reaches or exceeds a predetermined value or if the temperature remains at or exceeds the predetermined value for a predetermined period of time. This makes it possible to reliably determine that the light bulb 150 has been properly installed.

[0260] The light bulb installation program of the first embodiment of the present invention can also execute a process to capture images or videos of at least one of the light bulb 150 and the socket 160 and transmit the captured images or videos to the unmanned aerial vehicle (light bulb installation device 100). This allows the user to remotely monitor how the light bulb 150 installation work is being carried out.

[0261] The light bulb fitting program of the first embodiment of the present invention can also execute processing to cause the unmanned aerial vehicle (light bulb fitting device 100) to capture an image or video of the area around the base 151 of the light bulb 150, analyze the captured image or video, and move the device (light bulb fitting device 100) based on the analysis results. This makes it possible to more reliably move the device (light bulb fitting device 100) to the location of the destination socket 160.

[0262] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to execute a process to move the device (light bulb installation device 100) based on the results of positioning by the Global Navigation Satellite System (GNSS). This makes it possible to more reliably move the device (light bulb installation device 100) to the location of the destination socket 160.

[0263] The light bulb fitting program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb fitting device 100) to store location information of its own device (light bulb fitting device 100) and execute processing to move its own device (light bulb fitting device 100) based on the stored location information of its own device. This makes it possible to more reliably move its own device (light bulb fitting device 100) to the location of the destination socket 160.

[0264] Furthermore, the light bulb installation program of the first embodiment of the present invention can further include, in the destination position information, angle information relating to the inclination of the socket 160 at the destination, which allows reliable screwing even into a socket 160 that is installed at an angle.

[0265] The light bulb installation program of the first embodiment of the present invention can also cause the unmanned aerial vehicle (light bulb installation device 100) to receive destination information and store the received destination information, thereby more reliably knowing the location of the socket 160 at the destination of the device (light bulb installation device 100).

[0266] The light bulb installation method described in this embodiment can also be realized by executing a pre-prepared program on unmanned aerial vehicle 100 or on a computer such as a personal computer or workstation. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, or SSD, and is executed by being read from the recording medium by the computer. This program may also be a transmission medium that can be distributed via a network such as the Internet.

[0267] The contents of the first embodiment will be described below as supplementary notes (Supplementary notes 101 to 142).

[0268] (Appendix 101) a light bulb holder that holds the light bulb; a moving unit that flies through the air and moves the device so that the base of the light bulb abuts on the opening of the socket to which the light bulb is attached; a rotating unit that rotates the bulb held by the bulb holding unit so that the base is screwed into the socket while the base is in contact with the opening of the socket; A light bulb mounting device comprising:

[0269] (Appendix 102) The light bulb mounting device of claim 101, wherein the rotating unit rotates the device itself while flying through the air.

[0270] (Appendix 103) The light bulb mounting device of claim 101, wherein the rotation unit rotates the light bulb independently of the rotation of the device itself.

[0271] (Appendix 104) a bulb installation completion determination unit that determines whether the bulb has been properly installed in the socket; The rotation unit stops rotation based on the result of the determination by the bulb installation completion determination unit, The light bulb mounting device according to any one of appendices 101 to 103, wherein the light bulb holder releases its grip on the light bulb after the rotation by the rotating part has stopped.

[0272] (Appendix 105) an imaging unit that captures an image or video of the vicinity of the base of the light bulb; an analysis unit that analyzes the image or video captured by the imaging unit; Equipped with The light bulb mounting device described in Appendix 104 is characterized in that the light bulb installation completion determination unit determines that the light bulb has been successfully installed in the socket when a predetermined part of the base is hidden by the socket and cannot be seen, based on the analysis results of the analysis unit.

[0273] (Appendix 106) a torque detection unit that detects a gripping torque applied to the bulb gripper in the direction of rotation of the bulb by the rotation unit; The light bulb mounting device described in appendix 104 or 105 is characterized in that the light bulb installation completion determination unit determines that the light bulb has been successfully installed in the socket if the gripping torque reaches or exceeds a predetermined value based on the detection result of the torque detection unit, or if the gripping torque remains above the predetermined value for a predetermined period of time.

[0274] (Appendix 107) a luminous intensity detection unit for detecting the luminous intensity of the light bulb; The light bulb mounting device described in any one of Appendices 104 to 106, characterized in that the light bulb installation completion determination unit determines that the light bulb has been successfully installed in the socket if, based on the detection result of the luminous intensity detection unit, the luminous intensity of the light bulb becomes a predetermined value or above, or if it remains a predetermined value or above for a predetermined period of time.

[0275] (Appendix 108) a temperature detection unit for detecting the temperature of the bulb; The light bulb mounting device described in any one of appendices 104 to 107 is characterized in that the light bulb installation completion determination unit determines that the light bulb has been successfully installed in the socket if the temperature of the light bulb reaches or exceeds a predetermined value based on the detection result of the temperature detection unit, or if the temperature remains above the predetermined value for a predetermined period of time.

[0276] (Appendix 109) an imaging unit that captures an image or video of at least one of the light bulb and the socket; a transmitting unit that transmits the image or video captured by the imaging unit; 109. The light bulb mounting device according to any one of claims 101 to 108, comprising:

[0277] (Appendix 110) an imaging unit that captures an image or video of the vicinity of the base of the light bulb; an analysis unit that analyzes the image or video captured by the imaging unit; Equipped with 109. The light bulb attachment device according to claim 101, wherein the movement unit moves the device itself based on the analysis result of the analysis unit.

[0278] (Appendix 111) Equipped with a GNSS (Global Navigation Satellite System) receiver, 111. The light bulb mounting device according to any one of appendices 101 to 110, wherein the moving unit moves the device itself based on the positioning result obtained by the GNSS receiving unit.

[0279] (Appendix 112) a storage unit that stores location information of the destination of the device; 112. The light bulb mounting device according to claim 110, wherein the moving unit moves the device itself based on the location information of the destination stored in the memory unit.

[0280] (Appendix 113) The light bulb mounting device described in Appendix 112, characterized in that the position information of the destination includes angle information regarding the inclination of the socket at the destination.

[0281] (Appendix 114) a receiving unit that receives the information about the destination; The light bulb mounting device according to claim 112 or 113, wherein the memory unit stores the destination information received by the receiver unit.

[0282] (Appendix 115) Unmanned aerial vehicles, Holding the light bulb Flying through the air and moving so that the base of the light bulb abuts on the opening of the socket in which the light bulb is to be mounted, With the base in contact with the opening of the socket, rotate the light bulb so that the base screws into the socket. A method for installing a light bulb, comprising:

[0283] (Appendix 116) The unmanned aerial vehicle, Rotating the device itself while flying through the air, thereby rotating the light bulb. 116. The method of claim 115, wherein the method comprises:

[0284] (Appendix 117) The unmanned aerial vehicle, Rotating the bulb independently of the device itself; 116. The method of claim 115, wherein the method comprises:

[0285] (Appendix 118) The unmanned aerial vehicle, determining whether the light bulb was properly attached to the socket; based on the result of the determination, stopping the rotation of the bulb; After the rotation has stopped, release the grip on the bulb. A light bulb installation method according to any one of appendices 115 to 117, characterized by carrying out a process.

[0286] (Appendix 119) The unmanned aerial vehicle, Taking an image or video of the vicinity of the base of the light bulb; Analyze the captured image or video, Based on the analysis result, if a predetermined part of the base is hidden by the socket and cannot be seen, it is determined that the light bulb has been properly attached to the socket. 119. The method of claim 118, wherein the method comprises:

[0287] (Appendix 120) The unmanned aerial vehicle, Detecting a gripping torque applied to a gripper gripping the light bulb in a rotational direction of the light bulb; Based on the detection result of the gripping torque, if the gripping torque is equal to or greater than a predetermined value or if the gripping torque is equal to or greater than a predetermined value continuously for a predetermined period of time or more, it is determined that the light bulb has been properly attached to the socket. 119. The method of claim 118, further comprising:

[0288] (Appendix 121) The unmanned aerial vehicle, Detecting the luminous intensity of the bulb; Based on the luminous intensity detection result, if the luminous intensity of the light bulb is equal to or greater than a predetermined value or if the luminous intensity remains equal to or greater than a predetermined value for a predetermined period of time, it is determined that the light bulb has been properly attached to the socket. A light bulb installation method according to any one of appendices 118 to 120, characterized by carrying out a process.

[0289] (Appendix 122) The unmanned aerial vehicle, Detecting the temperature of the bulb; Based on the temperature detection result, if the temperature of the bulb reaches or exceeds a predetermined value or remains at or above a predetermined value for a predetermined period of time, it is determined that the bulb has been properly attached to the socket. A light bulb installation method according to any one of appendices 118 to 121, characterized by carrying out a process.

[0290] (Appendix 123) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Transmitting captured images or videos; A light bulb installation method according to any one of appendices 115 to 122, characterized by carrying out a process.

[0291] (Appendix 124) The unmanned aerial vehicle, Taking an image or video of the vicinity of the base of the light bulb; Analyze the captured image or video, moving the device based on the analysis result; A light bulb installation method according to any one of appendices 115 to 123, characterized by carrying out a process.

[0292] (Appendix 125) The unmanned aerial vehicle, Move the device based on the positioning results obtained by the Global Navigation Satellite System (GNSS), A light bulb installation method according to any one of appendices 115 to 124, characterized by carrying out a process.

[0293] (Appendix 126) The unmanned aerial vehicle, storing location information of the destination of the own device; moving the device based on the stored location information of the destination; 126. The method of claim 124 or 125, wherein the method executes a process.

[0294] (Appendix 127) A light bulb installation method as described in Appendix 126, characterized in that the position information of the destination includes angle information regarding the inclination of the socket at the destination.

[0295] (Appendix 128) The unmanned aerial vehicle, receiving information about the destination; storing the received destination information; 128. The method of claim 126 or 127, wherein the method executes a process.

[0296] (Appendix 129) For unmanned aerial vehicles, Holding the light bulb Flying through the air and moving so that the base of the light bulb abuts on the opening of the socket in which the light bulb is to be mounted, With the base in contact with the opening of the socket, rotate the light bulb so that the base screws into the socket. A light bulb installation program that executes processing.

[0297] (Appendix 130) The unmanned aerial vehicle, Rotating the device itself while flying through the air, thereby rotating the light bulb. A light bulb installation program as described in Appendix 129, characterized by executing processing.

[0298] (Appendix 131) The unmanned aerial vehicle, Rotating the bulb independently of the device itself; A light bulb installation program as described in appendix 129, characterized by executing processing.

[0299] (Appendix 132) The unmanned aerial vehicle, determining whether the light bulb was properly attached to the socket; based on the result of the determination, stopping the rotation of the bulb; After the rotation has stopped, release the grip on the bulb. 132. A light bulb installation program according to any one of appendices 129 to 131, which causes a process to be executed.

[0300] (Appendix 133) The unmanned aerial vehicle, Taking an image or video of the vicinity of the base of the light bulb; Analyze the captured image or video, Based on the analysis result, if a predetermined part of the base is hidden by the socket and cannot be seen, it is determined that the light bulb has been properly attached to the socket. A light bulb installation program as described in Appendix 132, characterized by executing processing.

[0301] (Appendix 134) The unmanned aerial vehicle, Detecting a gripping torque applied to a gripper gripping the light bulb in a rotational direction of the light bulb; Based on the detection result of the gripping torque, if the gripping torque is equal to or greater than a predetermined value or if the gripping torque is equal to or greater than a predetermined value continuously for a predetermined period of time or more, it is determined that the light bulb has been properly attached to the socket. A light bulb installation program according to appendix 132 or 133 that executes processing.

[0302] (Appendix 135) The unmanned aerial vehicle, Detecting the luminous intensity of the bulb; Based on the luminous intensity detection result, if the luminous intensity of the light bulb is equal to or greater than a predetermined value or if the luminous intensity remains equal to or greater than a predetermined value for a predetermined period of time, it is determined that the light bulb has been properly attached to the socket. 135. A light bulb installation program according to any one of appendices 132 to 134, which causes a process to be executed.

[0303] (Appendix 136) The unmanned aerial vehicle, Detecting the temperature of the bulb; Based on the temperature detection result, if the temperature of the bulb reaches or exceeds a predetermined value or remains at or above a predetermined value for a predetermined period of time, it is determined that the bulb has been properly attached to the socket. 136. A light bulb installation program according to any one of appendices 132 to 135, which causes a process to be executed.

[0304] (Appendix 137) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Transmitting captured images or videos; 137. A light bulb installation program according to any one of appendices 129 to 136, which executes a process.

[0305] (Appendix 138) The unmanned aerial vehicle, Taking an image or video of the vicinity of the base of the light bulb; Analyze the captured image or video, moving the device based on the analysis result; 138. A light bulb installation program according to any one of appendices 129 to 137, which executes a process.

[0306] (Appendix 139) The unmanned aerial vehicle, Move the device based on the positioning results obtained by the Global Navigation Satellite System (GNSS), 139. A light bulb installation program according to any one of appendices 129 to 138, which causes a process to be executed.

[0307] (Appendix 140) The unmanned aerial vehicle, storing location information of the destination of the own device; moving the device based on the stored location information of the destination; 139. A light bulb installation program as set forth in claim 138 or 139, which executes a process.

[0308] (Appendix 141) The light bulb installation program described in Appendix 140, characterized in that the location information of the destination includes angle information regarding the inclination of the socket at the destination.

[0309] (Appendix 142) The unmanned aerial vehicle, receiving information about the destination; storing the received destination information; 142. The light bulb installation program according to claim 140 or 141, which executes a process.

[0310] <Embodiment 2> (Example of the appearance of a light bulb removal device) 11A and 11B are explanatory diagrams showing an example of the appearance of a light bulb removal device (unmanned aerial vehicle) according to a second embodiment of the present invention. Fig. 11A shows the device in a state where a light bulb is not being held, and Fig. 11B shows the device in a state where a light bulb is being held and is being removed from a socket.

[0311] As can be seen from Figures 11A and 11B, light bulb removal device 1100 is configured, for example, as an unmanned aerial vehicle (drone). Hereinafter, light bulb removal device 1100 will also be referred to as an unmanned aerial vehicle (drone). In Figures 11A and 11B, the unmanned aerial vehicle (drone) that is light bulb removal device 1100 can specifically be, for example, a quadcopter with four propellers 1101a to 1101d on its periphery.

[0312] The unmanned aerial vehicle (drone) 1100 is not limited to a quadcopter, and various types of multicopters can be used, such as a hexacopter with six propellers or an octocopter with eight propellers. The unmanned aerial vehicle (drone) 1100 can maintain its attitude by independently controlling the rotation direction and rotation speed of the multiple propellers (four propellers 1101a to 1101d), and can also ascend, descend, move horizontally, and rotate clockwise and counterclockwise (spin on its own axis).

[0313] Furthermore, unmanned aerial vehicle 1100 is not limited to one equipped with a propeller, but may be one that flies through the air by means of a drive other than a propeller, or a combination of such a drive and a propeller.

[0314] The unmanned aerial vehicle (drone) that is light bulb removal device 1100 includes a gripping mechanism 1102 that grips light bulb 1150, and a connecting member 1103 that connects gripping mechanism 1102 to the unmanned aerial vehicle (drone). In FIGS. 11A and 11B, connecting member 1103 is configured, for example, as a rod-shaped member. However, it is not limited to a rod-shaped member. For example, one end of connecting member 1103 is connected to the center of the housing, i.e., near the center of four propellers 1101a to 1101d, and gripping mechanism 1102 is provided at the other end.

[0315] The gripping mechanism 1102 is composed of multiple arms 1104 (1104a to 1104d) (four in FIGS. 11A and 11B). The arms 1104 are driven by one or more motors, gear trains, wires, etc. (not shown) built into the gripping mechanism 1102. Each arm 1104 moves from a direction away from the center to a direction toward the center, and the arms 1104 and their joints move along the curved surface of the glass bulb 1152, thereby gripping the bulb so that the base of the arm 1104 (palm portion 1601 shown in FIG. 16, described later) envelops the glass bulb 1152. Conversely, the arm 1104 releases its grip on the bulb 1150 by moving away from the center.

[0316] The drive control of the arm 1104 is changed depending on the size and shape of the glass sphere 1152, and multiple types (shapes) of glass sphere 1152 can be gripped with the optimal gripping force.

[0317] Each arm 1104 may be provided with a gripping aid 1105 at a portion that comes into contact with the glass bulb 1152. The gripping aid 1105 is made of a material that has at least two functions: a buffering function to prevent the glass bulb 1152 from being scratched or the light bulb 1150 from being broken, and an anti-slip function to prevent the light bulb 1150 from rotating (turning) within the arm 1104 when the light bulb 1150 is screwed into or unscrewed from the socket (receptacle) 1160 while the glass bulb 1152 is being gripped.

[0318] Furthermore, gripping auxiliary members 1105 made of a material that functions as a buffer member and gripping auxiliary members 1105 that function as an anti-slip member may be provided separately (for example, alternately) on multiple arms. The gripping auxiliary members 1105 may be provided integrally with the arms 1104, or the gripping auxiliary members 1105 may be attached separately.

[0319] By providing the arm 1104 with a gripping assisting member 1105, the light bulb 1150 does not spin freely within the arm 1104 gripping the glass bulb 1152 of the light bulb 1150, and the light bulb 1150 can be securely attached (mounted) to the socket 1160 or removed from the socket 1160.

[0320] The body of the unmanned aerial vehicle (drone) 1100 is equipped with a rotation mechanism (not shown) that rotates (turns) the connected connection member 1103 clockwise and counterclockwise around its center in the longitudinal direction. The rotation mechanism can be driven by a motor. When the connection member 1103 rotates (turns), the gripping mechanism 102 also rotates (turns), and the light bulb 1150 held by the gripping mechanism 1102 also rotates, thereby allowing the light bulb 1150 to be screwed into or released from the socket 1160.

[0321] The connecting member 1103 is detachable from the gripping mechanism 1102 and the unmanned aerial vehicle (drone). Therefore, the gripping mechanism 1102 may be attached directly to the unmanned aerial vehicle (drone) body without providing the connecting member 1103. Furthermore, the length of the connecting member 1103 can be changed as appropriate depending on the position where the light bulb is to be attached or removed and the surrounding conditions. In other words, connecting members 1103 of different lengths can be used interchangeably. Furthermore, the connecting member 1103 itself may have an extendable mechanism.

[0322] Furthermore, gripping mechanism 1102 may be formed integrally with the unmanned aerial vehicle (drone) body. That is, the unmanned aerial vehicle (drone) body may be provided with a mechanism for gripping light bulb 1150 (either the same as gripping mechanism 1102 or a mechanism having a different configuration from gripping mechanism 1102) without using connecting member 1103.

[0323] Furthermore, gripping mechanism 1102 does not have to have such a configuration as long as it can grip light bulb 1150 and automatically detach (release grip) the gripped light bulb 1150. For example, although not shown in the drawings, it may grip light bulb 1150 by suction.

[0324] 11A and 11B, the unmanned aerial vehicle (drone) that is light bulb removal device 1100 is equipped with a camera 1205. Camera 1205 can be realized, for example, by a general-purpose digital camera. Light bulb removal device 1100 uses camera 1205 to capture images of the area around light bulb removal device 1100. Therefore, although not shown in FIGS. 11A and 11B, the camera should be mounted in a position that allows it to capture images of the area around gripping mechanism 1102. There are no limitations on the position.

[0325] Camera 1205 may be provided on gripping mechanism 1102 or connecting member 1103. More specifically, camera 1205 may be provided near the area that comes into contact with the light bulb when gripping mechanism 1102 grips the light bulb, such as on arms 1104a to 1104d or the bases of arms 1104a to 1104d (palm portions 1601).

[0326] The light bulb removal device 1100 may be equipped with one or more cameras 1205. A light bulb removal device 1100 equipped with multiple cameras 1205 is not limited to one type of camera 1205, and may be equipped with multiple different types of cameras 1205.

[0327] Camera 1205 may be connected to light bulb removal device 1100 in a manner that allows its attitude to be adjusted. Specifically, camera 1205 can be connected to the bottom of light bulb removal device 1100 via a universal joint such as a ball joint. Connecting camera 1205 to light bulb removal device 1100 via a universal joint such as a ball joint ensures a high degree of freedom in adjusting the attitude of camera 1205.

[0328] Furthermore, light bulb removal device 1100 may be equipped with a drive mechanism that changes the attitude of camera 1205 relative to its own device (drone). This allows the attitude of camera 1205 relative to light bulb removal device 1100 to be adjusted without human intervention. This drive mechanism may be configured, for example, with a motor or gear train. By making it possible to adjust the attitude of camera 1205 relative to light bulb removal device 1100 without human intervention, the shooting direction can be adjusted as desired while light bulb removal device 1100 is flying, regardless of the attitude of light bulb removal device 1100. Camera 1205 may also be equipped with a zoom function.

[0329] The light bulb removal device 1100 may be equipped with a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power feeding) is a technology that receives power from the battery 1203 shown in Fig. 12 without going through a charging contact, and is also called contactless power feeding or wireless power feeding.

[0330] The receiving coil is located inside the exterior surface of the housing of the light bulb removal device 1100. This prevents the receiving coil from being damaged or broken due to water droplets from rain or dew, oil from hands, etc. Instead of or in addition to the receiving coil, the light bulb removal device 1100 may be provided with a charging contact for charging the battery 1203.

[0331] Light bulb removal device 1100 may further include a solar cell (solar battery) 1206 that generates electricity using external light such as sunlight. Solar cell 1206 may be mounted, for example, on the upper surface of the housing of light bulb removal device 1100. This allows for reliable intake of external light during flight and efficient power generation. Furthermore, by including solar cell 1206, charging can be performed during flight, ensuring longer flight times per flight.

[0332] The light bulb removal device 1100 may also be equipped with a speaker (not shown). The removal status of the light bulb 1150 may be detected, and depending on the detected status, the speaker may emit a warning sound, a confirmation sound, or a sound such as "Removal started!", "Removal complete!", or "Removal error occurred!" This allows the ground worker to be accurately informed of the removal status.

[0333] The light bulb removal device 1100 may also be equipped with an LED lamp (not shown). The LED lamp detects the removal status of the light bulb 1150 and emits red, blue, yellow, or other colors depending on the detected status, thereby accurately informing workers on the ground of the removal status.

[0334] (Hardware configuration of the light bulb removal device) Next, a description will be given of the hardware configuration of the light bulb removal device 1100. Fig. 12 is a block diagram showing an example of the hardware configuration of the light bulb removal device (unmanned aerial vehicle) according to the second embodiment of the present invention.

[0335] 12, light bulb removal device (unmanned aerial vehicle) 1100 is made up of control circuit 1201, communication I / F 1202, battery 1203, motor 1204, camera 1205, solar cell 1206, etc. Light bulb removal device 1100 also has sensors such as torque sensor 1211, illuminance sensor 1212, temperature sensor 1213, GPS sensor 1214, contact sensor 1215, and various sensors (acceleration sensor, objective sensor, etc.) 1216. The various units 1201 to 1206 and 1211 to 1216 of light bulb removal device 1100 are connected by bus 1200.

[0336] The components 1201 to 1206 and 1211 to 1216 are the same as the components 201 to 206 and 211 to 216 shown in the light bulb attachment device 100 of the first embodiment, so detailed description thereof will be omitted.

[0337] (Functional configuration of the bulb removal device) FIG. 13 is a block diagram illustrating an example of a functional configuration of a light bulb removal device (unmanned aerial vehicle) according to the second embodiment of the present invention.

[0338] In Figure 13, the light bulb removal device (unmanned aerial vehicle) 1100 includes the following components: a light bulb gripping unit 1301, a moving unit 1302, a rotating unit 1303, a light bulb removal completion determination unit 1304, an imaging unit 1305, an analyzing unit 1306, a torque detection unit 1307, a luminous intensity detection unit 1308, a temperature detection unit 1309, a transmitting unit 1310, a GNSS receiving unit 1311, a memory unit 1312, an arrival determination unit 1314, and a light bulb gripping determination unit 1315.

[0339] The light bulb holder 1301 has the function of holding the light bulb 1150 and can hold the light bulb 1150. The light bulb holder 1301 also has the function of releasing the grip of the held light bulb 1150 and can release the grip of the held light bulb 1150. Specifically, the function of the light bulb holder 1301 can be realized by, for example, the holding mechanism 1102 shown in Figures 11A and 11B, the control circuit 1201 shown in Figure 12, etc.

[0340] The light bulb holder 1301 can hold the light bulb 1150 by gripping the surface portion of the glass bulb 152 of the light bulb 150 with the gripping mechanism 1102 so that the base 1151 can be screwed into the socket 1160. Also, the light bulb 1150 can be held by gripping the glass bulb 1152 with the gripping mechanism 1102 so that the light bulb 1150 can be unscrewed from the socket 1160.

[0341] Moving unit 1302 flies through the air to move its own device, light bulb removal device (unmanned aerial vehicle) 1100. Specifically, moving unit 1302 moves light bulb removal device (unmanned aerial vehicle) 1100 to a position where it can grasp light bulb 1150 attached to socket 1160. When attaching a light bulb, moving unit 1302 flies through the air to move its own device, light bulb removal device (unmanned aerial vehicle) 1100, so that base 1151 of light bulb 1150 (for example, near the tip of base 1151) abuts against opening 1161 of socket 1160 to which the light bulb is to be attached.

[0342] Specifically, the function of the moving unit 1302 can be realized by, for example, the propeller 1101 shown in FIGS. 11A and 11B, the motor 1204 shown in FIG. 12, the control circuit 1201, and the like.

[0343] Movement unit 1302 can levitate its own device in the air by controlling motor 1204 via control circuit 1201 to rotate propellers 1101a to 1101d independently. Then, in this state, control circuit 1201 further controls motor 1204 to change the rotation speed of each of propellers 1101a to 1101d, thereby moving its own device to a predetermined position (a position where it can grasp light bulb 1150, whose base 1151 is screwed into socket 1160).

[0344] While the bulb holder 1301 holds the bulb 1150, the rotating part 1303 rotates the bulb 1150 so as to release the screw engagement between the base 1151 and the socket 1600.

[0345] Specifically, the function of the rotating unit 1303 can be realized by, for example, the propeller 1101 shown in FIGS. 11A and 11B, the motor 1204 shown in FIG. 12, the control circuit 1201, and the like.

[0346] Rotating unit 1303 can rotate light bulb 1150 held by light bulb holder 1301 by rotating the device itself (light bulb removal device (unmanned aerial vehicle) 1100) while flying in the air.

[0347] Specifically, the rotating unit 1303 hovers in a position with the base 1151 of the light bulb 1150 abutting against the opening 1161 of the socket 1160. Then, by adjusting the rotation speed of each of the four propellers 1101a to 1101d, the rotating unit 1303 can rotate the drone clockwise or counterclockwise around the center of the unmanned aerial vehicle (drone) body, that is, the position where the connecting member 1103 is connected.

[0348] Furthermore, instead of rotating the device itself (light bulb removal device (unmanned aerial vehicle) 1100) while flying in the air, the rotation unit 1303 may rotate the light bulb 1150 independently of the rotation of the device itself.

[0349] Specifically, the rotating unit 1303 hovers in a position with the base 1151 of the light bulb 1150 abutting against the opening 1161 of the socket 1160. Then, the rotating unit 1303 drives the motor 1204 to rotate (pivot) the connecting member 1103 clockwise and counterclockwise around its center in the longitudinal direction. This causes the holding mechanism 1102 and the light bulb 1150 held by the holding mechanism 1102 to rotate in the same way, thereby enabling the light bulb 1150 and the socket 1160 to be screwed together or released from each other.

[0350] Rotation unit 1303 can rotate light bulb 1150 around the center of the insertion direction of base 1151 by rotating its own device (light bulb removal device (unmanned aerial vehicle) 1100) itself in this way, or by providing a rotation mechanism independent of the rotation of its own device. These rotation methods may be used in combination. That is, the device (light bulb removal device (unmanned aerial vehicle) 1100) itself may be rotated, and light bulb 1150 may be rotated by rotational drive using a rotation mechanism. These rotation methods may also be used differently depending on the situation. For example, one method may be used primarily and the other method may be used secondary.

[0351] The light bulb removal completion determination unit 1304 determines whether the light bulb 1150 has been successfully removed from the socket 1160. Then, the rotation unit 1303 stops the rotation of the light bulb 1150 based on the determination result by the light bulb removal completion determination unit 1304. Then, after the rotation by the rotation unit 1303 has stopped, the movement unit 1302 moves the device (light bulb removal device (unmanned aerial vehicle) 1100) to a predetermined position with the light bulb gripping unit 1301 still gripping the light bulb 1150.

[0352] Specifically, the function of the bulb removal completion determination unit 1304 can be realized by, for example, the control circuit 1201 shown in FIG.

[0353] The imaging unit 1305 captures an image or video of at least one of the light bulb 1150 and the socket 1160. Specifically, the functions of the imaging unit 1305 can be realized by, for example, the camera 1205, the control circuit 1201, and the like shown in FIG.

[0354] The analysis unit 1306 analyzes the image or video captured by the imaging unit 1305. Specifically, the function of the analysis unit 1306 can be realized by, for example, the control circuit 1201 shown in FIG.

[0355] Then, based on the analysis results of the analysis unit 1306, the light bulb removal completion determination unit 1304 can determine that the light bulb 1150 has been successfully removed from the socket 1160 when a predetermined part of the base 1151 that was hidden by the socket 1160 becomes visible.

[0356] The predetermined portion may be a mark or the like that is previously marked on base 1151. If the analysis by analysis unit 1306 shows that base 1151 is screwed into the socket, and the mark that was hidden by the socket becomes visible, light bulb removal completion determination unit 1304 can determine that light bulb 1150 has been successfully removed from socket 1160.

[0357] The torque detection unit 1307 detects the gripping torque applied to the bulb gripping unit 1301 in the direction of rotation of the bulb 1150 by the rotating unit 1303. Specifically, the function of the torque detection unit 1307 can be realized by, for example, the torque sensor 1211 shown in FIG.

[0358] Then, based on the detection result of the torque detection unit 1307, the light bulb removal completion determination unit 1304 can determine that the light bulb 1150 has been successfully removed from the socket 1160 when the gripping torque becomes equal to or less than a predetermined value or remains equal to or less than the predetermined value for a predetermined period of time.

[0359] The gripping torque detected by the torque detector 1307, i.e., the torque applied to the light bulb gripping unit 1301 (each arm 1104 of the gripping mechanism 1102), becomes smaller when the base 1151 is disengaged from the threaded groove 1162 of the socket 1160 than when the base 1151 is threaded into the threaded groove 1162 of the socket 1160. Therefore, by detecting the change in gripping torque and detecting when the gripping torque is equal to or less than a predetermined value, it can be determined that the light bulb 1150 has been properly removed from the socket 1160.

[0360] Alternatively, it may be determined that the light bulb 1150 has been properly removed from the socket 1160 not immediately after the gripping torque falls below a predetermined value, but only if the gripping torque continues to fall below the predetermined value for a predetermined period of time. This reliably prevents the light bulb 1150 from being mistakenly determined to have been properly removed from the socket 1160 when the gripping torque temporarily decreases during the unscrewing process.

[0361] The luminous intensity detection unit 1308 detects the luminous intensity of the light bulb. Specifically, the function of the luminous intensity detection unit 1308 can be realized by, for example, the illuminance sensor 1212 shown in FIG.

[0362] Then, based on the detection result of the luminous intensity detection unit 1308, the bulb removal completion determination unit 1304 can determine that the bulb 1150 has been successfully removed from the socket 1160 if the luminous intensity of the bulb 1150 has been below a predetermined value for a predetermined period of time or more.

[0363] That is, when the light bulb 1150 is properly attached to the socket 1160, the tip of the base 1151 comes into contact with the electrode of the socket 1160, thereby energizing the light bulb 1150 and lighting it. When removal is initiated, the tip of the base 1151 is released from contact with the electrode of the socket 1160, causing the light bulb 1150 to go out, and then, by continuing to rotate for a predetermined time, the screw engagement between the screw groove 1162 and the base 1151 is released, allowing the light bulb to be removed.

[0364] The luminous intensity detection unit 1308 detects a change (decrease) in luminous intensity due to the bulb 1150 being turned off, and if the luminous intensity remains below a predetermined value for a predetermined period of time while the bulb 1150 continues to rotate, it can determine that the bulb 1150 has been properly removed from the socket 1160.

[0365] In this way, it is possible to confirm that the attached light bulb 1150 is turned off while the power is on, which allows for more reliable confirmation of the light bulb being removed. Also, since it does not need to be done by a worker's hand (the worker does not need to directly touch the light bulb 1150 with his or her hand), the risk of the worker getting an electric shock can be reliably avoided even while the power is on, allowing for safe work.

[0366] Temperature detection unit 1309 detects the temperature of light bulb 1150. Specifically, the function of temperature detection unit 1309 can be realized by, for example, temperature sensor 213 shown in FIG.

[0367] Based on the detection results of the temperature detection unit 1309, the light bulb removal completion determination unit 1304 can determine that the light bulb 1150 has been successfully removed from the socket 1160 if the temperature of the light bulb 1150 remains below a predetermined value for a predetermined period of time or more. That is, when the light bulb 1150 is properly inserted into the socket 1160, power is applied to the light bulb 1150, causing it to light up and generate heat. When removal begins, the light bulb 1150 turns off and stops generating heat. As the light bulb 1150 continues to rotate for a predetermined period of time, the threaded engagement between the threaded groove 1162 and the base 1151 is released, and the light bulb 1150 is removed. During this time, heat is released, i.e., the light bulb is cooled by the atmosphere, causing its temperature to drop below the predetermined value.

[0368] The temperature detection unit 1309 detects a change (decrease) in temperature due to the light bulb 1150 being turned off, and if the temperature drops below a predetermined value, it can determine that the light bulb 1150 has been properly removed from the socket 1160.

[0369] In this way, it is possible to confirm that the installed light bulb 1150 is turned off while the power is on, and by utilizing the fact that when the light bulb is turned off, the light bulb 1150 will release heat and drop in temperature after a specified time, it is possible to more reliably confirm that the light bulb has been removed. Also, because this does not need to be done by a worker's hands (they do not need to directly touch the light bulb 1150 with their hands), it is possible to reliably avoid the risk of the worker being burned by the heat of the light bulb even while the power is on, and work can be carried out safely.

[0370] The light bulb removal completion determination unit 1304 may determine whether light bulb removal is complete based on one of four results: the analysis result of the analysis unit 1306, the detection result of the torque detection unit 1307, the detection result of the luminous intensity detection unit 1308, and the detection result of the temperature detection unit 1309. Alternatively, it may determine whether light bulb removal is complete by combining two or more of the four results. The result to be used may be changed depending on conditions such as the situation and environment in which the light bulb 1150 is installed, and if multiple results are used, they may be freely combined. The completion of light bulb removal may also be determined based on information other than these four results.

[0371] Furthermore, separately from or in addition to these results, light bulb removal completion determiner 1304 may determine that removal of light bulb 1150 is complete when light bulb 1150 has rotated a predetermined number of times. Also, since the rotation speed of light bulb 1150 is predetermined, it may be determined that removal of light bulb 1150 is complete when light bulb 1150 has rotated continuously for a predetermined period of time.

[0372] The transmitter 1310 transmits an image or video of at least one of the light bulb 1150 and the socket 1160 captured by the image capture unit 1305. The image or video may be transmitted to, for example, the controller 250 or the management server 260. Specifically, the transmitter 1310 can realize its function using, for example, the communication I / F 1202 shown in FIG. 12 .

[0373] The imaging unit 1305 captures images or videos of the state of the light bulb 1150 before installation, during removal, and after removal. In this way, the transmission unit 1310 transmits the images or videos, allowing the user to know the state (status) of the light bulb 1150 removal work. In addition, the state (status) of the light bulb removal work can be managed.

[0374] Furthermore, the imaging unit 1305 captures an image or video of the vicinity of the base 1151 of the light bulb 1150, and the analysis unit 1306 analyzes the image or video captured by the imaging unit 1305. Then, the moving unit 1302 may move its own device (light bulb removal device (unmanned aerial vehicle) 1100) based on the analysis results of the analysis unit 1306.

[0375] The imaging unit 1305 may also be configured to read a two-dimensional code (not shown) provided on the base 1151 or around the base 1151. This two-dimensional code is associated with information about the socket 1160 and information about the types of light bulbs 1150 that can be used. The analysis unit 1306 may analyze the information in the two-dimensional code.

[0376] In this way, the destination position can be identified based on the analysis results of the image or video around the base 1151 by the analysis unit 1306, so the moving unit 1302 can more reliably move its own device to a position where it can grasp the light bulb 1150 to be removed.

[0377] A GNSS (Global Navigation Satellite System) receiver 1311 measures the current position of the device itself. Specifically, the function of the GNSS receiver 1311 can be realized by the GPS sensor 1214 shown in FIG. 12 or the like.

[0378] The moving unit 1302 may move the device itself (light bulb removal device (unmanned aerial vehicle) 1100) based on the positioning result obtained by the GNSS (Global Navigation Satellite System) receiving unit 1311.

[0379] In this way, the destination position can be identified based on the positioning result by the GNSS receiving unit 1311, so the moving unit 1302 can move the device to a position where the light bulb 1150 can be grasped.

[0380] Furthermore, the moving unit 1302 may move its own device (light bulb removal device (unmanned aerial vehicle) 1100) based on the location information of the destination stored in the memory unit 1312. Specifically, the function of the memory unit 1312 can be realized by, for example, the control circuit 1201 (memory thereof) shown in FIG.

[0381] Here, the destination location information may be more detailed latitude and longitude information. Furthermore, the information is not limited to latitude and longitude information, as long as it can identify the location of the destination socket 1160 (or the light bulb 1150 installed in the socket 1160). The destination location information may also include angle information related to the tilt of the socket 1160 at the destination. For example, in cases other than when the socket 1160 is installed vertically, the moving unit 1302 can adjust the gripping direction of the light bulb 1150 by tilting its own device (light bulb removal device (unmanned aerial vehicle) 1100) based on the angle information related to the tilt, and move the light bulb 1150.

[0382] In addition to the location information of the destination, the storage unit 1312 may also store information about the destination socket 1160 (such as the type and characteristics of the socket 1160), information about the type of light bulb used, and information about the replacement work (such as the last time it was replaced or cleaned, and the work history). This information allows the replacement of light bulbs to be carried out more efficiently and reliably (preventing unexpected accidents and incorrect work).

[0383] The receiving unit 1313 receives information about the destination of the device itself (light bulb removal device (unmanned aerial vehicle) 1100). Specifically, the function of the receiving unit 1313 can be realized by, for example, the communication I / F 1202 shown in FIG.

[0384] Storage unit 1312 then stores the destination information received by receiving unit 1313. The destination information may be received from, for example, controller 250 or management server 260. In this way, the location information of socket 1160 from which light bulb 1150 is to be removed can be easily and reliably obtained.

[0385] The arrival determination unit 1314 determines whether the device itself has reached a position where the light bulb gripping unit 1301 can grip the light bulb 1150. Then, based on the determination result by the arrival determination unit 1314, when the device itself has reached a position where the light bulb gripping unit 1301 can grip the light bulb 1150, the light bulb gripping unit 1301 can grip the light bulb.

[0386] Specifically, the function of the arrival determining unit 1314 can be realized by, for example, the control circuit 1201 shown in FIG.

[0387] Furthermore, the imaging unit 1305 captures an image or video of the light bulb, and the analysis unit 1306 analyzes the image or video captured by the imaging unit 1305. Then, based on the analysis result of the analysis unit 1306, the arrival determination unit 1314 can determine that the device itself (light bulb removal device (unmanned aerial vehicle) 1100) has reached a position where it can grasp the light bulb 1150.

[0388] More specifically, the reach determination unit 1314 can determine that the device itself (light bulb removal device (unmanned aerial vehicle) 1100) has reached a position where it can grasp the light bulb 1150 if the image or video of the light bulb 1150 captured by the imaging unit 1305 matches the image or video of the light bulb 1150 captured when the device itself (light bulb removal device (unmanned aerial vehicle) 1100) has reached a position where it can grasp the light bulb 1150. That is, by image recognition, the captured image or video can be compared with the image or video of the light bulb captured when it has reached a position where it can grasp the light bulb, and the match between the two can be determined by pattern recognition between images using AI (Artificial Intelligence), or the like.

[0389] Furthermore, when a predetermined portion of the light bulb gripping unit 1301 (for example, arms 1104a to 1104d or the palm portions at the bases of arms 1104a to 1104d (1601 in FIG. 16, which will be described later)) comes into contact with the light bulb, the reach determination unit 1314 can determine that the device has reached a position where it can grip the light bulb 1150. The palm portions at the bases of arms 1104a to 1104d or arms 1104a to 1104d may be provided with a contact sensor 1215, as shown in FIG. 12.

[0390] In this way, after the arrival determination unit 1314 has confirmed that the device (light bulb removal device (unmanned aerial vehicle) 1100) has reliably reached a position where the light bulb holding unit 1301 can hold the light bulb 1150, the light bulb holding unit 1301 begins to hold the light bulb (operating to close the arms 1104a to 1104d, enveloping the light bulb 1150 with the arms 1104a to 1104d and the palm unit 1601, and holding the light bulb 1150 without moving within the arms 1104a to 1104d), which allows the light bulb holding unit 1301 to hold the light bulb 1150 more reliably.

[0391] The light bulb gripping determination unit 1315 determines whether the light bulb gripping unit 1301 has successfully gripped the light bulb 1150. The rotation unit 1303 can then rotate the light bulb 1150 based on the determination result by the light bulb gripping determination unit 1315. In other words, by rotating the light bulb 1150 after the light bulb gripping unit 1301 has successfully gripped the light bulb 1150, the socket 1160 and the base 1151 of the light bulb 1150 can be reliably released from their respective screws.

[0392] Specifically, the functions of the bulb holding determination unit 1315 can be realized by the control circuit 1201 and the contact sensor 1215 shown in FIG.

[0393] Furthermore, the imaging unit 1305 captures an image or video of the light bulb, and the analysis unit 1306 analyzes the image or video captured by the imaging unit 1305. Then, based on the analysis results of the analysis unit 1306, the light bulb grip determination unit 1315 can determine that the light bulb 1150 has been gripped correctly if the captured image or video matches an image or video of the light bulb being gripped correctly. That is, by image recognition, the captured image or video can be compared with an image or video of the light bulb being gripped correctly, and a match between the two can be determined by pattern recognition between images using AI (Artificial Intelligence), for example.

[0394] Furthermore, the light bulb gripping determiner 1315 can determine that the light bulb 1150 is gripped properly when a predetermined portion of the light bulb gripping unit 1301 comes into contact with the light bulb 1150. The predetermined portion of the light bulb gripping unit 1301 is, for example, the arms 1104a to 1104d. Using the contact sensors 1215 provided on each of these arms 1104a to 1104d, it can be determined that the light bulb 1150 is gripped properly when the light bulb 1150 comes into contact with at least a predetermined area of ​​the arms 1104a to 1104d in all of the arms 1104a to 1104d.

[0395] (Bulb removal device processing procedure) Fig. 14 is a flowchart showing an example of a processing procedure of the light bulb removal device (unmanned aerial vehicle) according to the second embodiment of the present invention. Figs. 15 to 20 are explanatory diagrams showing the operation of removing a light bulb by the light bulb removal device.

[0396] In the flowchart of FIG. 14, propellers 1101a to 1101d of light bulb removal device (unmanned aerial vehicle) 1100 are rotated to cause light bulb removal device (unmanned aerial vehicle) 1100 to take off (float) (step S1401).

[0397] The light bulb removal device (unmanned aerial vehicle) 1100 flies through the air and moves to a predetermined destination (step S1402). Because the destination is predetermined, it can fly the shortest distance unless there is an obstacle. If there is an obstacle, it can fly in a way that avoids the obstacle based on information about the obstacle. Figure 15 shows the light bulb removal device (unmanned aerial vehicle) 1100 moving through the air.

[0398] Then, it is determined whether or not the robot has reached a predetermined destination, a position where it can grasp the target light bulb 1150 (step S1403). Whether or not the robot has reached the destination can be determined based on the analysis of the image from the camera 1205 and the detection results of the contact sensor 1215, as described above.

[0399] If the target position has not yet been reached (step S1403: No), the process returns to step S1402 and continues flying through the air. On the other hand, if the target position has been reached (step S1403: Yes), the angle of gripping mechanism 1102 for gripping light bulb 1150, i.e., the angle of light bulb removal device (unmanned aerial vehicle) 1100, is adjusted (step S1404). Figure 16 shows that gripping mechanism 1102 is ready to grip light bulb 1150, i.e., the angle is adjusted and the light bulb removal device (unmanned aerial vehicle) 1100 is positioned so that it can grip light bulb 1150 when arm 1104 is closed.

[0400] After the angle adjustment is complete, the gripping mechanism 1102 (arms 1104a to 1104d) grips the light bulb 1150 (step S1405). FIG.

[0401] Then, it is determined whether the gripping mechanism 1102 has successfully gripped the light bulb 1150 (step S1406). If the gripping mechanism 1102 has not successfully gripped the light bulb 1150 (step S1406: No), the process returns to step S1404, and the angle adjustment and gripping operation are repeated. The process waits until the gripping mechanism 1102 successfully grips the light bulb 1150. If the gripping mechanism 1102 has successfully gripped the light bulb 1150 (step S1406: Yes), the light bulb 1150 is rotated counterclockwise (step S1407). This starts the unscrewing of the base 1151 of the light bulb 1150 from the socket 1160. FIG. 18 shows the state in which the light bulb 1150 is rotated counterclockwise to unscrew the socket 1160.

[0402] Thereafter, it is determined whether or not light bulb 1150 has been successfully removed from socket 1160 (step S1408). If it has not yet been successfully removed (step S1408: No), the process returns to step S1407, and light bulb 1150 continues to be rotated counterclockwise.

[0403] Thereafter, if light bulb 1150 has been successfully removed from socket 1160 (step S1408: Yes), the rotation of light bulb 1150 is stopped (step S1409). After the rotation of light bulb 1150 has stopped, light bulb removal device (unmanned aerial vehicle) 1100 leaves the location (the position of socket 1160) (step S1410). Figure 19 shows the state in which light bulb removal device (unmanned aerial vehicle) 1100 has been released and base 1151 has been separated from socket 1160.

[0404] Then, it flies again through the air and moves to a predetermined destination (return destination) (step S1411). Figure 20 shows light bulb removal device (unmanned aerial vehicle) 1100 leaving the position of socket 1160 and flying through the air while holding the removed light bulb 1150. The predetermined destination may usually be the position from which it took off, or may be some other location.

[0405] Thereafter, the robot lands at a predetermined destination (step S1412), and the series of processes ends. Here, the robot may automatically discard the light bulb 1150 that it was holding, and move to a new destination, without landing.

[0406] As described above, light bulb removal device 1100 of embodiment 2 of the present invention can include moving unit 1302 that flies through the air to move its own device (light bulb removal device 1100) to a position where it can grasp light bulb 1150, whose base 1151 is screwed into socket 1160, light bulb gripping unit 1301 that grips light bulb 1150, and rotating unit 1303 that rotates light bulb 1150 while light bulb gripping unit 1301 is gripping light bulb 1150 so as to release the screwed connection between base 1151 and socket 1160. This allows light bulb 1150 to be removed from socket 1160 automatically, without manual intervention.

[0407] Furthermore, in the light bulb removal device 1100 of the second embodiment of the present invention, the rotating unit 1303 can rotate the device itself (light bulb removal device 1100), thereby rotating the light bulb 1150. This eliminates the need for a separate drive source to unscrew the light bulb 1150 from the socket 1160.

[0408] Furthermore, in light bulb removal device 1100 of the second embodiment of the present invention, rotating unit 1303 can rotate light bulb 1150 independently of the rotation of the device itself (light bulb removal device 1100). This allows light bulb 1150 to be unscrewed from socket 1160 without rotating (spinning) the device itself (light bulb removal device 1100).

[0409] Furthermore, light bulb removal device 1100 according to the second embodiment of the present invention further includes a GNSS (Global Navigation Satellite System) receiver 1311 and a memory unit 1312 that stores location information of the destination of the device itself (light bulb removal device 1100), and moving unit 1302 can move the device itself (light bulb removal device 1100) based on the positioning results obtained by GNSS receiver 1311 and the location information of the destination stored in memory unit 1312. This allows the device itself (light bulb removal device 1100) to be more reliably moved to the location of the destination socket 1160 (light bulb 1150).

[0410] Furthermore, the light bulb removal device 1100 of the second embodiment of the present invention can further include, in the destination position information, angle information relating to the inclination of the socket 1160 at the destination. This makes it possible to reliably unscrew even a socket 1160 that is installed at an angle.

[0411] The light bulb removal device 1100 of the second embodiment of the present invention further includes a receiving unit 1311 that receives information about the destination, and the memory unit 1312 can store the information about the destination received by the receiving unit 1311. This makes it possible to more reliably know the location of the socket 1160 (light bulb 1150) to which the device (light bulb removal device 1100) is to be moved.

[0412] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes imaging unit 1305 that captures images or videos of at least one of light bulb 1150 and socket 1160, and analysis unit 1306 that analyzes the images or videos captured by imaging unit 1305. Movement unit 1302 can move the device itself (light bulb removal device 1100) based on the analysis results of analysis unit 1306. This allows the device itself (light bulb removal device 1100) to be moved more reliably to its destination position.

[0413] Furthermore, light bulb removal device 1100 of embodiment 2 of the present invention further includes arrival determination unit 1314 that determines whether or not its own device (light bulb removal device 1100) has reached a position where light bulb gripping unit 1301 can grip light bulb 1150, and light bulb gripping unit 1301 can grip light bulb 1150 when its own device (light bulb removal device 1100) has reached that position based on the determination result of arrival determination unit 1314. This allows light bulb 1150 to be gripped more reliably.

[0414] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes imaging unit 1305 that captures an image or video of light bulb 1150, and analysis unit 1306 that analyzes the image or video captured by imaging unit 1305. Based on the analysis results of analysis unit 1306, reach determination unit 1314 can determine that the device itself (light bulb removal device 1100) has reached a position where it can grasp light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on image analysis.

[0415] Furthermore, in light bulb removal device 1100 of embodiment 2 of the present invention, reach determination unit 1314 can determine that its own device (light bulb removal device 1100) has reached a position where it can grasp light bulb 1150 if the image or video of light bulb 1150 captured by imaging unit 1305 matches the image or video of light bulb 1150 captured when its own device (light bulb removal device 1100) reached a position where it can grasp light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on image analysis using pattern matching.

[0416] Furthermore, in the light bulb removal device 1100 of the second embodiment of the present invention, the reach determination unit 1314 can determine that the device itself (light bulb removal device 1100) has reached a position where it can grip the light bulb 1150 when a predetermined point on the light bulb gripping unit 1301 comes into contact with the light bulb 1150. This allows the light bulb 1150 to be gripped more reliably based on the detection result of the contact sensor 1215.

[0417] Furthermore, the light bulb removal device 1100 of the second embodiment of the present invention further includes a light bulb gripping determination unit 1315 that determines whether the light bulb gripping unit 1301 has successfully gripped the light bulb 1150, and the rotation unit 1303 can rotate the light bulb 1150 based on the determination result of the light bulb gripping determination unit 1315. This allows for more reliable removal of the light bulb 1150 and transportation of the removed light bulb 1150.

[0418] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes imaging unit 1305 that captures an image or video of light bulb 1150, and analysis unit 1306 that analyzes the image or video captured by imaging unit 1305. Based on the analysis results of analysis unit 1306, light bulb grip determination unit 1315 can determine that light bulb 1150 has been properly gripped if the captured image or video is an image or video of light bulb 1150 that can be properly gripped. This allows for more reliable confirmation of light bulb grip based on image analysis.

[0419] Furthermore, in the light bulb removal device 1100 of the second embodiment of the present invention, the light bulb gripping determination unit 1315 can determine that the light bulb 1150 has been properly gripped when a predetermined part of the light bulb gripping unit 1301 comes into contact with the light bulb 1150. This allows for more reliable confirmation of light bulb gripping based on the detection result of the contact sensor 1315.

[0420] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes light bulb removal completion determination unit 1304 that determines whether light bulb 1150 has been successfully removed from socket 1160. Based on the determination result of light bulb removal completion determination unit 1304, rotation unit 1303 stops the rotation of light bulb 1150, and after rotation by rotation unit 1303 has stopped, movement unit 1302 moves the device (light bulb removal device 1100) to a predetermined position with light bulb gripping unit 1301 still gripping light bulb 1150. This allows for more reliable and faster light bulb removal and transportation of the removed light bulb.

[0421] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes imaging unit 1305 that captures images or videos of at least one of light bulb 1150 and socket 1160, and analysis unit 1306 that analyzes the images or videos captured by imaging unit 1305. Based on the analysis results of analysis unit 1306, light bulb removal completion determination unit 1304 can determine that light bulb 1150 has been successfully removed from socket 1160 when a predetermined portion of base 1151 that was hidden by socket 1160 becomes visible. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0422] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes torque detection unit 1307, which detects the gripping torque applied to light bulb holder 1301 in the direction of rotation of light bulb 1150 by rotating unit 1303. Based on the detection results of torque detection unit 1307, light bulb removal completion determiner 1304 can determine that light bulb 1150 has been successfully removed from socket 1160 if the gripping torque falls below a predetermined value or remains below the predetermined value for a predetermined period of time. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0423] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes luminous intensity detection unit 1308 that detects the luminous intensity of light bulb 1150. Based on the detection result of luminous intensity detection unit 1308, light bulb removal completion determination unit 1304 can determine that light bulb 1150 has been successfully removed from socket 1160 if the luminous intensity of light bulb 1150 has been below a predetermined value for a predetermined period of time or more. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0424] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention further includes temperature detection unit 1309 that detects the temperature of light bulb 1150. Based on the detection results of temperature detection unit 1309, light bulb removal completion determination unit 1304 can determine that light bulb 1150 has been successfully removed from socket 1160 if the temperature of light bulb 1150 has remained below a predetermined value for a predetermined period of time or more. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0425] Furthermore, light bulb removal device 1100 of the second embodiment of the present invention can further include imaging unit 1305 that captures images or videos of at least one of light bulb 1150 and socket 1160, and transmission unit 1310 that transmits the images or videos captured by imaging unit 1305. This allows the user to remotely monitor how light bulb 1150 removal is being performed.

[0426] Furthermore, the light bulb removal method of the second embodiment of the present invention can execute a process in which unmanned aerial vehicle 1100 flies through the air to a position where it can grasp light bulb 1150, whose base 1151 is screwed into socket 1160, and then grasps light bulb 1150. While grasping light bulb 1150, it rotates light bulb 1150 to release the screwed engagement between base 1151 and socket 1160. This allows light bulb 1150 to be automatically removed from socket 1160 without human intervention.

[0427] Furthermore, the light bulb removal method of the second embodiment of the present invention can also execute a process in which unmanned aerial vehicle 1100 rotates its own device (unmanned aerial vehicle 1100) to rotate light bulb 1150. This eliminates the need to provide a separate drive source for unscrewing light bulb 1150 and socket 1160.

[0428] Furthermore, the light bulb removal method of the second embodiment of the present invention further allows unmanned aerial vehicle 1100 to execute a process to rotate light bulb 1150 independently of the rotation of its own device (unmanned aerial vehicle 1100). This allows light bulb 1150 and socket 1160 to be unscrewed without rotating (spinning) its own device (light bulb removal device 1100) itself.

[0429] Furthermore, the light bulb removal method of the second embodiment of the present invention further allows unmanned aerial vehicle 1100 to store location information of its own device (unmanned aerial vehicle 1100) and execute a process to move its own device (unmanned aerial vehicle 1100) based on the results of positioning by GNSS (Global Navigation Satellite System) and the stored location information of its own device (unmanned aerial vehicle 1100). This makes it possible to more reliably move its own device (light bulb removal device 1100) to the location of its destination socket 1160 (light bulb 1150).

[0430] Furthermore, the light bulb removal method of the second embodiment of the present invention can further include, in the destination position information, angle information relating to the inclination of socket 1160 at the destination. This makes it possible to reliably unscrew socket 1160 that is installed at an angle.

[0431] Furthermore, the light bulb removal method of the second embodiment of the present invention further allows unmanned aerial vehicle 1100 to execute a process of receiving destination information and storing the received destination information. This makes it possible to more reliably know the location of socket 1160 (light bulb 1150) at the destination of unmanned aerial vehicle 1100's own device.

[0432] Furthermore, the light bulb removal method of the second embodiment of the present invention can further include a process in which unmanned aerial vehicle 1100 captures an image or video of at least one of light bulb 1150 and socket 1160, analyzes the captured image or video, and moves its own device (unmanned aerial vehicle 1100) based on the analysis results. This allows its own device (light bulb removal device 1100) to be moved to its destination position more reliably.

[0433] Furthermore, the light bulb removal method of the second embodiment of the present invention can further perform a process in which unmanned aerial vehicle 1100 determines whether its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150, and, based on the determination result, if its own device (unmanned aerial vehicle 1100) has reached that position, it grasps light bulb 1150. This allows light bulb 1150 to be grasped more reliably.

[0434] Furthermore, the light bulb removal method of the second embodiment of the present invention can further include a process in which unmanned aerial vehicle 1100 captures an image or video of light bulb 1150, analyzes the captured image or video, and, based on the analysis results, determines that unmanned aerial vehicle 1100 has reached a position where it can grasp light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on the image analysis.

[0435] Furthermore, the light bulb removal method of the second embodiment of the present invention can further perform processing in which unmanned aerial vehicle 1100 determines that its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150 if the captured image or video of light bulb 1150 matches the image or video of light bulb 1150 captured when its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on image analysis using pattern matching.

[0436] Furthermore, the light bulb removal method of the second embodiment of the present invention can further execute a process in which unmanned aerial vehicle 1100 determines that its own device (unmanned aerial vehicle 1100) has reached a position where it can grip light bulb 1150 when a predetermined location of the gripping mechanism of light bulb 1150 comes into contact with light bulb 1150. This allows light bulb 1150 to be gripped more reliably based on the detection result of contact sensor 1215.

[0437] Furthermore, the light bulb removal method of the second embodiment of the present invention can further determine whether unmanned aerial vehicle 1100 has successfully grasped light bulb 1150, and based on the determination result, can execute a process to rotate light bulb 1150. This allows light bulb 1150 to be removed and transported more reliably.

[0438] Furthermore, the light bulb removal method of the second embodiment of the present invention can further execute a process in which unmanned aerial vehicle 1100 captures an image or video of light bulb 1150, analyzes the image or video captured by imaging unit 1305, and, based on the analysis results, determines that light bulb 1150 has been properly gripped if the captured image or video is an image or video of light bulb 1150 that can be properly gripped. This allows for more reliable confirmation of light bulb grip based on image analysis.

[0439] Furthermore, the light bulb removal method of the second embodiment of the present invention can further execute a process in which unmanned aerial vehicle 1100 determines that light bulb 1150 has been properly gripped when a predetermined location of the gripping mechanism of light bulb 1150 comes into contact with light bulb 1150. This makes it possible to more reliably confirm that the light bulb has been gripped based on the detection result of contact sensor 1215.

[0440] Furthermore, the light bulb removal method of the second embodiment of the present invention further allows unmanned aerial vehicle 1100 to execute a process in which it determines whether light bulb 1150 has been successfully removed from socket 1160, stops the rotation of light bulb 1150 based on the determination result, and, after the rotation has stopped, moves its own device (unmanned aerial vehicle 1100) to a predetermined position while still holding light bulb 1150. This allows the light bulb to be removed more reliably and quickly, and the removed light bulb to be transported.

[0441] Furthermore, the light bulb removal method of the second embodiment of the present invention can further execute a process in which unmanned aerial vehicle 1100 captures an image or video of at least one of light bulb 1150 and socket 1160, analyzes the captured image or video, and, based on the analysis results, determines that light bulb 1150 has been successfully removed from socket 1160 when a predetermined portion of base 1151 that was hidden by socket 1160 becomes visible. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0442] Furthermore, the light bulb removal method of the second embodiment of the present invention can further include a process in which unmanned aerial vehicle 1100 detects the gripping torque in the rotational direction of light bulb 1150 applied to the gripping part that grips light bulb 1150, and determines, based on the detected gripping torque, that light bulb 1150 has been successfully removed from socket 1160 if the gripping torque falls below a predetermined value or remains below the predetermined value for a predetermined period of time. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0443] Furthermore, the light bulb removal method of the second embodiment of the present invention can further perform processing in which unmanned aerial vehicle 1100 detects the luminous intensity of light bulb 1150 and, based on the luminous intensity detection results, determines that light bulb 1150 has been successfully removed from socket 1160 if the luminous intensity of light bulb 1150 has been below a predetermined value for a predetermined period of time or more. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0444] Furthermore, the light bulb removal method of the second embodiment of the present invention can further include a process in which unmanned aerial vehicle 1100 detects the temperature of light bulb 1150 and, based on the temperature detection results, determines that light bulb 1150 has been properly installed in socket 1160 if the temperature of light bulb 1150 has remained below a predetermined value for a predetermined period of time or more. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0445] Furthermore, the light bulb removal method of the second embodiment of the present invention can further include a process in which unmanned aerial vehicle 1100 captures an image or video of at least one of light bulb 1150 and socket 1160 and transmits the captured image or video. This allows the user to remotely monitor how the work of removing light bulb 1150 is being carried out.

[0446] Furthermore, the light bulb removal program of the second embodiment of the present invention can cause unmanned aerial vehicle 1100 to execute the following process: fly through the air to move its own device (unmanned aerial vehicle 1100) to a position where it can grasp light bulb 1150, whose base 1151 is screwed into socket 1160; grasp light bulb 1150; and, while grasping light bulb 1150, rotate light bulb 1150 so as to release the screwed engagement between base 1151 and socket 1160. This allows light bulb 150 to be automatically removed from socket 1160 without human intervention.

[0447] Furthermore, the light bulb removal program of the second embodiment of the present invention can also cause unmanned aerial vehicle 1100 to execute a process of rotating its own device (unmanned aerial vehicle 1100) to rotate light bulb 1150. This eliminates the need to provide a separate drive source for unscrewing light bulb 1150 and socket 1160.

[0448] Furthermore, the light bulb removal program of the second embodiment of the present invention can also cause unmanned aerial vehicle 1100 to execute a process that rotates light bulb 1150 independently of the rotation of its own device (unmanned aerial vehicle 1100). This allows light bulb 1150 and socket 1160 to be unscrewed without rotating (spinning) its own device (light bulb removal device 1100) itself.

[0449] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to store location information of its own device (unmanned aerial vehicle 1100) and execute processing to move its own device (unmanned aerial vehicle 1100) based on the results of positioning by GNSS (Global Navigation Satellite System) and the stored location information of its own device (unmanned aerial vehicle 1100). This makes it possible to more reliably move its own device (light bulb removal device 1100) to the location of its destination socket 1160 (light bulb 1150).

[0450] Furthermore, the light bulb removal program of the second embodiment of the present invention can further include, in the destination location information, angle information relating to the inclination of socket 1160 at the destination. This allows reliable unscrewing even for sockets 1160 that are installed at an angle.

[0451] Furthermore, the light bulb removal program of the second embodiment of the present invention can cause unmanned aerial vehicle 1100 to execute a process of receiving destination information and storing the received destination information. This makes it possible to more reliably know the location of socket 1160 (light bulb 1150) at the destination of the unmanned aerial vehicle (unmanned aerial vehicle 1100).

[0452] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to capture an image or video of at least one of light bulb 1150 and socket 1160, analyze the captured image or video, and move its own device (unmanned aerial vehicle 1100) based on the analysis results. This makes it possible to more reliably move its own device (light bulb removal device 1100) to its destination position.

[0453] Furthermore, the light bulb removal program according to the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to determine whether its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150, and, based on the determination result, execute a process to grasp light bulb 1150 when its own device (unmanned aerial vehicle 1100) has reached the position. This allows light bulb 1150 to be grasped more reliably.

[0454] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute processing to capture an image or video of light bulb 1150, analyze the captured image or video, and, based on the analysis results, determine that the unmanned aerial vehicle (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on the image analysis.

[0455] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute a process of determining that its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150 if the captured image or video of light bulb 1150 matches the image or video of light bulb 1150 captured when its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on image analysis using pattern matching.

[0456] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute a process to determine that its own device (unmanned aerial vehicle 1100) has reached a position where it can grasp light bulb 1150 when a predetermined location of the grasping mechanism of light bulb 1150 comes into contact with light bulb 1150. This allows light bulb 1150 to be grasped more reliably based on the detection result of contact sensor 1215.

[0457] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to determine whether light bulb 1150 has been properly grasped, and, based on the determination result, to execute a process of rotating light bulb 1150. This makes it possible to more reliably remove light bulb 1150 and transport the removed light bulb 1150.

[0458] The light bulb removal program of the second embodiment of the present invention can also cause unmanned aerial vehicle 1100 to execute the following process: capture an image or video of light bulb 1150, analyze the image or video captured by imaging unit 1305, and, based on the analysis results, determine that light bulb 1150 has been properly gripped if the captured image or video matches an image or video of light bulb 1150 that can be properly gripped. This allows for more reliable confirmation of light bulb grip based on image analysis.

[0459] The light bulb removal program of the second embodiment of the present invention can also cause unmanned aerial vehicle 1100 to execute a process to determine that light bulb 1150 has been properly gripped when a predetermined location of the gripping mechanism for light bulb 1150 comes into contact with light bulb 1150. This makes it possible to more reliably confirm that the light bulb has been gripped based on the detection result of contact sensor 1215.

[0460] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute the following process: determine whether light bulb 1150 has been successfully removed from socket 1160; based on the result of the determination, stop the rotation of light bulb 1150; and, after the rotation has stopped, move its own device (unmanned aerial vehicle 1100) to a predetermined position while still holding light bulb 1150. This allows for more reliable and rapid removal of the light bulb and transportation of the removed light bulb.

[0461] The light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute the following process: capture an image or video of at least one of light bulb 1150 and socket 1160; analyze the captured image or video; and, based on the analysis results, determine that light bulb 1150 has been successfully removed from socket 1160 when a predetermined portion of base 1151 that was hidden by socket 1160 becomes visible. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0462] The light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute a process that detects the gripping torque in the rotational direction of light bulb 1150 applied to the gripper that grips light bulb 1150, and determines, based on the detected gripping torque, that light bulb 1150 has been successfully removed from socket 1160 if the gripping torque falls below a predetermined value or remains below the predetermined value for a predetermined period of time. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0463] Furthermore, the light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute a process of detecting the luminous intensity of light bulb 1150 and, based on the luminous intensity detection result, determining that light bulb 1150 has been successfully removed from socket 1160 if the luminous intensity of light bulb 1150 has been below a predetermined value for a predetermined period of time or more. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0464] The light bulb removal program of the second embodiment of the present invention can further cause unmanned aerial vehicle 1100 to execute a process of detecting the temperature of light bulb 1150 and, based on the temperature detection result, determining that light bulb 1150 has been properly installed in socket 1160 if the temperature of light bulb 1150 has remained at or below a predetermined value for a predetermined period of time or more. This makes it possible to reliably determine that light bulb 1150 has been removed.

[0465] The light bulb removal program of the second embodiment of the present invention can also cause unmanned aerial vehicle 1100 to take an image or video of at least one of light bulb 1150 and socket 1160 and transmit the taken image or video. This allows the user to remotely check how the work of removing light bulb 1150 is being carried out.

[0466] The light bulb removal method described in this embodiment can also be realized by executing a prepared program on unmanned aerial vehicle 1100 or on a computer such as a personal computer or workstation. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, or SSD, and is executed by being read from the recording medium by the computer. This program may also be stored on a transmission medium that can be distributed via a network such as the Internet.

[0467] The contents of the second embodiment will be described below as supplementary notes (Supplementary notes 201 to 260).

[0468] (Appendix 201) a moving unit that flies through the air and moves the device to a position where it can grasp a light bulb whose base is screwed into a socket; a bulb holder that holds the bulb; a rotating unit that rotates the bulb while the bulb gripping unit grips the bulb so as to release the screw engagement between the base and the socket; A light bulb removal device comprising:

[0469] (Appendix 202) The light bulb removal device described in Appendix 201, characterized in that the rotating unit rotates the light bulb by rotating the device itself.

[0470] (Appendix 203) The light bulb removal device described in Appendix 201, characterized in that the rotation unit rotates the light bulb independently of the rotation of the device itself.

[0471] (Appendix 204) a GNSS (Global Navigation Satellite System) receiver; a storage unit that stores location information of the destination of the device; Equipped with A light bulb removal device described in any one of Appendices 201 to 203, characterized in that the moving unit moves the device based on the positioning results by the GNSS receiving unit and the location information of the destination stored in the memory unit.

[0472] (Appendix 205) The light bulb removal device described in Appendix 204, characterized in that the location information of the destination includes angle information regarding the inclination of the socket at the destination.

[0473] (Appendix 206) a receiving unit that receives the information about the destination; The light bulb removal device described in appendix 204 or 205, wherein the memory unit stores the destination information received by the receiving unit.

[0474] (Appendix 207) an imaging unit that captures an image or video of at least one of the light bulb and the socket; an analysis unit that analyzes the image or video captured by the imaging unit; Equipped with 207. The light bulb removal device according to any one of appendices 201 to 206, wherein the movement unit moves the device itself based on the analysis results of the analysis unit.

[0475] (Appendix 208) a reach determination unit that determines whether the device has reached a position where the bulb gripping unit can grip the bulb; A light bulb removal device as described in any one of appendices 201 to 207, characterized in that the light bulb gripping unit grips the light bulb when the device reaches the position based on the judgment result by the reach judgment unit.

[0476] (Appendix 209) an imaging unit that captures an image or video of the light bulb; an analysis unit that analyzes the image or video captured by the imaging unit; Equipped with The light bulb removal device described in Appendix 208, characterized in that the reach determination unit determines that the device has reached a position where it can grasp the light bulb based on the analysis results of the analysis unit.

[0477] (Appendix 210) The light bulb removal device described in Appendix 209 is characterized in that the reach determination unit determines that the device has reached a position where it can grasp the light bulb if the image or video of the light bulb captured by the imaging unit matches the image or video of the light bulb when the device has reached a position where it can grasp the light bulb.

[0478] (Appendix 211) A light bulb removal device as described in any one of Appendices 208 to 210, characterized in that the reach determination unit determines that the device has reached a position where it can grasp the light bulb when a predetermined point on the light bulb gripping unit comes into contact with the light bulb.

[0479] (Appendix 212) a bulb gripping determination unit that determines whether the bulb gripping unit has successfully gripped the bulb; The light bulb removal device according to any one of appendices 201 to 211, wherein the rotation unit rotates the light bulb based on the result of the determination made by the light bulb grip determination unit.

[0480] (Appendix 213) an imaging unit that captures an image or video of the light bulb; an analysis unit that analyzes the image or video captured by the imaging unit; Equipped with The light bulb removal device described in Appendix 212 is characterized in that the light bulb gripping determination unit determines that the light bulb has been gripped correctly if the captured image or video is an image or video of the light bulb being gripped correctly, based on the analysis results of the analysis unit.

[0481] (Appendix 214) The light bulb removal device described in Appendix 212 or 213, wherein the light bulb gripping determination unit determines that the light bulb has been properly gripped when a predetermined portion of the light bulb gripping unit comes into contact with the light bulb.

[0482] (Appendix 215) a bulb removal completion determination unit that determines whether the bulb has been successfully removed from the socket; The rotation unit stops the rotation of the light bulb based on the result of the determination by the light bulb removal completion determination unit, A light bulb removal device as described in any one of Appendices 201 to 214, characterized in that the moving unit moves the device to a predetermined position after rotation by the rotating unit stops, with the light bulb holding unit still holding the light bulb.

[0483] (Appendix 216) an imaging unit that captures an image or video of at least one of the light bulb and the socket; an analysis unit that analyzes the image or video captured by the imaging unit; Equipped with The light bulb removal device described in Appendix 215 is characterized in that the light bulb removal completion determination unit determines that the light bulb has been successfully removed from the socket when, based on the analysis results of the analysis unit, a specified part of the base that was hidden by the socket becomes visible.

[0484] (Appendix 217) a torque detection unit that detects a gripping torque applied to the bulb gripper in the direction of rotation of the bulb by the rotation unit; The light bulb removal device described in appendix 215 or 216 is characterized in that the light bulb removal completion determination unit determines that the light bulb has been successfully removed from the socket if the gripping torque falls below a predetermined value or remains below the predetermined value for a predetermined period of time based on the detection results of the torque detection unit.

[0485] (Appendix 218) a luminous intensity detection unit for detecting the luminous intensity of the light bulb; The light bulb removal device described in any one of Appendices 215 to 217 is characterized in that the light bulb removal completion determination unit determines that the light bulb has been successfully removed from the socket if, based on the detection results of the luminous intensity detection unit, the luminous intensity of the light bulb has been below a predetermined value for a predetermined period of time or more.

[0486] (Appendix 219) a temperature detection unit for detecting the temperature of the bulb; A light bulb removal device as described in any one of appendices 215 to 218, characterized in that the light bulb removal completion determination unit determines that the light bulb has been successfully inserted into the socket if the temperature of the light bulb has been below a predetermined value for a predetermined period of time or more continuously, based on the detection results of the temperature detection unit.

[0487] (Appendix 220) an imaging unit that captures an image or video of at least one of the light bulb and the socket; a transmitting unit that transmits the image or video captured by the imaging unit; A light bulb removal device according to any one of appendices 201 to 219, comprising:

[0488] (Appendix 221) Unmanned aerial vehicles, The device flies through the air and moves to a position where it can grasp a light bulb whose base is screwed into a socket, Grasping the light bulb; While holding the light bulb, rotate the light bulb so as to release the screw engagement between the base and the socket. A method for removing a light bulb, comprising:

[0489] (Appendix 222) The unmanned aerial vehicle, Rotating the device itself to rotate the light bulb. A light bulb removal method as described in Appendix 221, characterized by performing processing.

[0490] (Appendix 223) The unmanned aerial vehicle, Rotating the bulb independently of the device itself; A light bulb removal method as described in Appendix 221, characterized by performing processing.

[0491] (Appendix 224) The unmanned aerial vehicle, storing location information of the destination of the own device; Moving the device based on the positioning result by GNSS (Global Navigation Satellite System) and the stored location information of the destination of the device; A light bulb removal method according to any one of appendices 221 to 223, characterized by carrying out a process.

[0492] (Appendix 225) A light bulb removal method as described in Appendix 224, characterized in that the location information of the destination includes angle information regarding the inclination of the socket at the destination.

[0493] (Appendix 226) The unmanned aerial vehicle, receiving information about the destination; storing the received destination information; A light bulb removal method as described in appendix 224 or 225, characterized by performing processing.

[0494] (Appendix 227) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Analyze the captured image or video, Move the device based on the analysis results. A light bulb removal method according to any one of appendices 221 to 226, characterized by carrying out a process.

[0495] (Appendix 228) The unmanned aerial vehicle, determining whether the device has reached a position where it can grasp the light bulb; A light bulb removal method according to any one of appendices 221 to 227, characterized in that, based on the result of the determination, when the device reaches the position, it executes a process of grasping the light bulb.

[0496] (Appendix 229) The unmanned aerial vehicle, capturing an image or video of the light bulb; Analyze the captured image or video, The light bulb removal method described in Appendix 228, characterized by executing a process in which the device determines that the light bulb has reached a position where it can be grasped based on the analysis results.

[0497] (Appendix 230) The unmanned aerial vehicle, If the captured image or video of the light bulb matches the image or video of the light bulb when the device reaches a position where it can hold the light bulb, it is determined that the device has reached a position where it can hold the light bulb. A light bulb removal method as described in Appendix 229, characterized by performing processing.

[0498] (Appendix 231) The unmanned aerial vehicle, When a predetermined portion of the bulb gripping mechanism comes into contact with the bulb, the device determines that it has reached a position where it can grip the bulb. A light bulb removal method according to any one of appendices 228 to 230, characterized by carrying out a process.

[0499] (Appendix 232) The unmanned aerial vehicle, determining whether the light bulb was properly gripped; Rotating the light bulb based on the determination result. A light bulb removal method according to any one of appendices 221 to 231, characterized by carrying out a process.

[0500] (Appendix 233) The unmanned aerial vehicle, capturing an image or video of the light bulb; Analyzing the image or video captured by the imaging unit; If the captured image or video is an image or video of the light bulb being held normally based on the analysis results, it is determined that the light bulb has been held normally. 233. The bulb removal method of claim 232, further comprising:

[0501] (Appendix 234) The unmanned aerial vehicle, When a predetermined portion of the bulb gripping mechanism comes into contact with the bulb, it is determined that the bulb has been properly gripped. A light bulb removal method as described in appendix 232 or 233, characterized by performing a process.

[0502] (Appendix 235) The unmanned aerial vehicle, determining whether the light bulb was successfully removed from the socket; based on the result of the determination, stopping the rotation of the bulb; After the rotation has stopped, the user moves the device to a predetermined position while holding the bulb. A light bulb removal method according to any one of appendices 221 to 234, characterized by carrying out a process.

[0503] (Appendix 236) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Analyze the captured image or video, If a predetermined part of the base that was hidden by the socket becomes visible based on the analysis result, it is determined that the light bulb has been successfully removed from the socket. A light bulb removal method as described in Appendix 235, characterized by performing processing.

[0504] (Appendix 237) The unmanned aerial vehicle, Detecting a gripping torque applied to a gripper gripping the light bulb in a rotational direction of the light bulb; Based on the detection result of the gripping torque, if the gripping torque becomes equal to or less than a predetermined value or if the gripping torque remains equal to or less than the predetermined value for a predetermined period of time, it is determined that the light bulb has been successfully removed from the socket. A light bulb removal method as described in appendix 235 or 236, characterized by performing processing.

[0505] (Appendix 238) The unmanned aerial vehicle, Detecting the luminous intensity of the bulb; Based on the luminous intensity detection result, if the luminous intensity of the light bulb is equal to or lower than a predetermined value for a predetermined period of time or more, it is determined that the light bulb has been properly removed from the socket. A light bulb removal method according to any one of appendices 235 to 237, characterized by carrying out a process.

[0506] (Appendix 239) The unmanned aerial vehicle, Detecting the temperature of the bulb; If the temperature of the light bulb is equal to or lower than a predetermined value for a predetermined period of time based on the temperature detection result, it is determined that the light bulb has been properly attached to the socket. A light bulb removal method according to any one of appendices 235 to 238, characterized by carrying out a process.

[0507] (Appendix 240) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Transmitting captured images or videos; A light bulb removal method according to any one of appendices 221 to 239, characterized by carrying out a process.

[0508] (Appendix 241) For unmanned aerial vehicles, The device flies through the air and moves to a position where it can grasp a light bulb whose base is screwed into a socket, Grasping the light bulb; While holding the light bulb, rotate the light bulb so as to release the screw engagement between the base and the socket. A light bulb removal program that executes a process.

[0509] (Appendix 242) The unmanned aerial vehicle, Rotating the device itself to rotate the light bulb. A light bulb removal program as described in Appendix 241, characterized by executing processing.

[0510] (Appendix 243) The unmanned aerial vehicle, Rotating the bulb independently of the device itself; A light bulb removal program as described in Appendix 241, characterized by executing processing.

[0511] (Appendix 244) The unmanned aerial vehicle, storing location information of the destination of the own device; Moving the device based on the positioning result by GNSS (Global Navigation Satellite System) and the stored location information of the destination of the device; 244. A light bulb removal program according to any one of claims 241 to 243, which causes a process to be executed.

[0512] (Appendix 245) The light bulb removal program described in Appendix 244, characterized in that the location information of the destination includes angle information regarding the inclination of the socket at the destination.

[0513] (Appendix 246) The unmanned aerial vehicle, receiving information about the destination; storing the received destination information; A light bulb removal program as described in appendix 244 or 245, characterized by executing processing.

[0514] (Appendix 247) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Analyze the captured image or video, Move the device based on the analysis results. 247. A light bulb removal program according to any one of appendices 241 to 246, which causes a process to be executed.

[0515] (Appendix 248) The unmanned aerial vehicle, determining whether the device has reached a position where it can grasp the light bulb; A light bulb removal program according to any one of appendices 241 to 247, characterized in that, based on the result of the judgment, when the device reaches the position, it executes a process of grasping the light bulb.

[0516] (Appendix 249) The unmanned aerial vehicle, capturing an image or video of the light bulb; Analyze the captured image or video, The light bulb removal program described in Appendix 248 is characterized by executing a process that determines, based on the analysis results, that the device has reached a position where it can grasp the light bulb.

[0517] (Appendix 250) The unmanned aerial vehicle, If the captured image or video of the light bulb matches the image or video of the light bulb when the device reaches a position where it can hold the light bulb, it is determined that the device has reached a position where it can hold the light bulb. A light bulb removal program as described in Appendix 249, characterized by executing processing.

[0518] (Appendix 251) The unmanned aerial vehicle, When a predetermined portion of the bulb gripping mechanism comes into contact with the bulb, the device determines that it has reached a position where it can grip the bulb. 251. A light bulb removal program according to any one of appendices 248 to 250, which causes a process to be executed.

[0519] (Appendix 252) The unmanned aerial vehicle, determining whether the light bulb was properly gripped; Rotating the light bulb based on the determination result. 252. A light bulb removal program according to any one of appendices 241 to 251, which causes a process to be executed.

[0520] (Appendix 253) The unmanned aerial vehicle, capturing an image or video of the light bulb; Analyzing the image or video captured by the imaging unit; If the captured image or video is an image or video of the light bulb being held normally based on the analysis results, it is determined that the light bulb has been held normally. A light bulb removal program as described in appendix 252, characterized by executing processing.

[0521] (Appendix 254) The unmanned aerial vehicle, When a predetermined portion of the bulb gripping mechanism comes into contact with the bulb, it is determined that the bulb has been properly gripped. A light bulb removal program according to appendix 252 or 253, characterized in that it executes processing.

[0522] (Appendix 255) The unmanned aerial vehicle, determining whether the light bulb was successfully removed from the socket; based on the result of the determination, stopping the rotation of the bulb; After the rotation has stopped, the user moves the device to a predetermined position while holding the bulb. 255. A light bulb removal program according to any one of appendices 241 to 254, which causes a process to be executed.

[0523] (Appendix 256) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Analyze the captured image or video, If a predetermined part of the base that was hidden by the socket becomes visible based on the analysis result, it is determined that the light bulb has been successfully removed from the socket. A light bulb removal program as described in Appendix 255, characterized by executing processing.

[0524] (Appendix 257) The unmanned aerial vehicle, Detecting a gripping torque applied to a gripper gripping the light bulb in a rotational direction of the light bulb; Based on the detection result of the gripping torque, if the gripping torque becomes equal to or less than a predetermined value or if the gripping torque remains equal to or less than the predetermined value for a predetermined period of time, it is determined that the light bulb has been successfully removed from the socket. 257. The light bulb removal program according to claim 255 or 256, characterized by executing processing.

[0525] (Appendix 258) The unmanned aerial vehicle, Detecting the luminous intensity of the bulb; Based on the luminous intensity detection result, if the luminous intensity of the light bulb is equal to or lower than a predetermined value for a predetermined period of time or more, it is determined that the light bulb has been properly removed from the socket. 8. A light bulb removal program according to any one of appendices 255 to 257, which causes a process to be executed.

[0526] (Appendix 259) The unmanned aerial vehicle, Detecting the temperature of the bulb; If the temperature of the light bulb is equal to or lower than a predetermined value for a predetermined period of time based on the temperature detection result, it is determined that the light bulb has been properly attached to the socket. 259. A light bulb removal program according to any one of appendices 255 to 258, which causes a process to be executed.

[0527] (Appendix 260) The unmanned aerial vehicle, capturing an image or video of at least one of the light bulb and the socket; Transmitting captured images or videos; 259. A light bulb removal program according to claim 241, which executes a process.

[0528] <Third Embodiment> (Example of the appearance of a light bulb inspection device) 21A and 21B are explanatory diagrams showing an example of the appearance of a light bulb inspection device (unmanned aerial vehicle) according to a third embodiment of the present invention. Fig. 21A shows a state in which a light bulb is not being held, and Fig. 21B shows a state in which a light bulb is being held and is being removed from a socket.

[0529] As can be seen from Figures 21A and 21B, light bulb inspection device 2100 is configured by, for example, an unmanned aerial vehicle (drone). Hereinafter, light bulb inspection device 2100 will also be referred to as an unmanned aerial vehicle (drone). In Figures 21A and 21B, the unmanned aerial vehicle (drone) that is light bulb inspection device 2100 can specifically be, for example, a quadcopter equipped with four propellers 2101a to 2101d on its periphery.

[0530] The unmanned aerial vehicle (drone) 2100 is not limited to a quadcopter, and various types of multicopters can be used, such as a hexacopter with six propellers or an octocopter with eight propellers. The unmanned aerial vehicle (drone) 2100 can maintain its attitude by independently controlling the rotation direction and rotation speed of the multiple propellers (four propellers 2101a to 2101d), and can also ascend, descend, move horizontally, and rotate clockwise and counterclockwise (spin on its own axis).

[0531] Furthermore, unmanned aerial vehicle 2100 is not limited to one equipped with a propeller, but may be one that flies through the air by means of a drive other than a propeller, or a combination of such a drive and a propeller.

[0532] The unmanned aerial vehicle (drone) that is the light bulb inspection device 2100 includes a gripping mechanism 2102 that grips the light bulb 2150, and a connecting member 2103 that connects the gripping mechanism 2102 to the unmanned aerial vehicle (drone). In FIGS. 21A and 21B, the connecting member 2103 is configured, for example, as a rod-shaped member. However, the connecting member 2103 is not limited to a rod-shaped member. For example, one end of the connecting member 2103 is connected to the center of the housing, i.e., near the centers of the four propellers 2101a to 2101d, and the gripping mechanism 2102 is provided at the other end.

[0533] The gripping mechanism 2102 is composed of multiple arms 2104 (2104a to 2104d) (four in FIGS. 21A and 21B). The arms 2104 are driven by one or more motors, gear trains, wires, etc. (not shown) built into the gripping mechanism 2102. As each arm 2104 moves from a direction away from the center to a direction approaching the glass bulb 2152, the arms 2104 and their joints are driven along the curved surface of the glass bulb 2152, and together with the base of the arm 2104 (palm portion 2601 shown in FIG. 26, which will be described later), the arm 2104 grips the light bulb so as to envelop the glass bulb 2152. Conversely, as the arm 2104 moves from a direction away from the center, the arm 2104 releases its grip on the light bulb 2150.

[0534] The drive control of the arm 2104 is changed depending on the size and shape of the glass sphere 2152, and multiple types (shapes) of glass sphere 2152 can be gripped with an optimal gripping force.

[0535] Each arm 2104 may be provided with a gripping aid 2105 at a portion that comes into contact with the glass bulb 2152. The gripping aid 2105 is made of a material that has at least two functions: a function as a buffer member to prevent the glass bulb 2152 from being scratched or the light bulb 2150 from being broken, and a function as an anti-slip member to prevent the light bulb 2150 from rotating (turning) inside the arm 2104 when the light bulb 2150 is screwed into or unscrewed from the socket (receptacle) 2160 while the glass bulb 2152 is being gripped.

[0536] Furthermore, gripping auxiliary members 2105 made of a material that functions as a buffer member and gripping auxiliary members 2105 that function as an anti-slip member may be provided separately (for example, alternately) on multiple arms. The gripping auxiliary members 2105 may be provided integrally with the arms 2104, or the gripping auxiliary members 2105 may be attached separately.

[0537] By providing the arm 2104 with the gripping assist member 2105, the light bulb 2150 does not spin freely within the arm 2104 gripping the glass bulb 2152 of the light bulb 2150, and the light bulb 2150 can be securely attached (mounted) to the socket 2160 or removed from the socket 2160.

[0538] The body of the unmanned aerial vehicle (drone) 2100 is provided with a rotation mechanism (not shown) that rotates (turns) the connected connection member 2103 clockwise and counterclockwise around the center of its longitudinal direction as an axis. The rotation mechanism can be driven by a motor. When the connection member 2103 rotates (turns), the gripping mechanism 2102 also rotates (turns), and the light bulb 2150 held by the gripping mechanism 2102 also rotates, thereby allowing the light bulb 2150 to be screwed into or released from the socket 2160.

[0539] The connecting member 2103 is detachable from the gripping mechanism 2102 and the unmanned aerial vehicle (drone). Therefore, the gripping mechanism 2102 may be attached directly to the unmanned aerial vehicle (drone) body without providing the connecting member 2103. Furthermore, the length of the connecting member 2103 can be changed as appropriate depending on the position where the light bulb is to be attached or removed and the surrounding conditions. In other words, connecting members 2103 of a plurality of different lengths can be used interchangeably. Furthermore, the connecting member 2103 itself may have an extendable mechanism.

[0540] Furthermore, gripping mechanism 2102 may be formed integrally with the unmanned aerial vehicle (drone) body. That is, the unmanned aerial vehicle (drone) body may be provided with a mechanism for gripping light bulb 2150 (either the same as gripping mechanism 2102 or a mechanism having a different configuration from gripping mechanism 2102) without using connecting member 2103.

[0541] Furthermore, the gripping mechanism 2102 does not have to have such a configuration as long as it can grip the light bulb 2150 and automatically detach (release the grip) the gripped light bulb 2150. For example, although not shown in the drawings, it may grip the light bulb 2150 by suction.

[0542] 21A and 21B, the unmanned aerial vehicle (drone) that is the light bulb inspection device 2100 is equipped with a camera 2205. The camera 2205 can be realized, for example, by a general-purpose digital camera. The light bulb inspection device 2100 uses the camera 2205 to capture images of the surroundings of the light bulb inspection device 2100. Therefore, although not shown in FIGS. 21A and 21B, the camera should be mounted in a position that allows it to capture images of the surroundings of the gripping mechanism 2102. The position is not limited.

[0543] Camera 2205 may be provided on gripping mechanism 2102 or connecting member 2103. More specifically, camera 2205 may be provided near the area that comes into contact with the light bulb when gripping mechanism 2102 grips the light bulb, such as on arms 2104a to 2104d or the bases of arms 2104a to 2104d (palm portion 2601).

[0544] The light bulb inspection device 2100 may be equipped with one or more cameras 2205. A light bulb inspection device 2100 equipped with multiple cameras 2205 is not limited to one type of camera 2205, and may be equipped with multiple different types of cameras 2205.

[0545] Camera 2205 may be connected to light bulb inspection device 2100 in a state where its attitude is adjustable. Specifically, camera 2205 can be connected to the bottom of light bulb inspection device 2100 via a universal joint such as a ball joint. By connecting camera 2205 to light bulb inspection device 2100 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of camera 2205 can be ensured.

[0546] Furthermore, the light bulb inspection device 2100 may be equipped with a drive mechanism that changes the attitude of the camera 2205 relative to its own device (drone). This makes it possible to adjust the attitude of the camera 2205 relative to the light bulb inspection device 2100 without human intervention. This drive mechanism may be configured, for example, with a motor, a gear train, or the like. By making it possible to adjust the attitude of the camera 2205 relative to the light bulb inspection device 2100 without human intervention, it is possible to arbitrarily adjust the shooting direction while the light bulb inspection device 2100 is flying, regardless of the attitude of the light bulb inspection device 2100. The camera 2205 may be equipped with a zoom function.

[0547] The light bulb inspection device 2100 may be equipped with a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power feeding) is a technology for receiving power from the battery 2203 shown in Fig. 22 without going through a charging contact, and is also called contactless power feeding or wireless power feeding.

[0548] The power receiving coil is provided inside the exterior surface of the housing of the light bulb inspection device 2100. This makes it possible to prevent deterioration or failure of the power receiving coil due to water droplets from rain or dew, oil from hands, etc. The light bulb inspection device 2100 may be provided with a charging contact for charging the battery 2203 instead of or in addition to the power receiving coil.

[0549] The light bulb inspection device 2100 may further include a solar cell (solar battery) 2206 that generates electricity using external light such as sunlight. The solar cell 2206 may be provided, for example, on the upper surface of the housing of the light bulb inspection device 2100. This allows external light to be reliably taken in during flight to generate electricity efficiently. Furthermore, the inclusion of the solar cell 2206 allows charging during flight, thereby ensuring a longer flight time per flight.

[0550] The light bulb inspection device 2100 may also be equipped with a speaker (not shown). The installation status of the light bulb 2150 may be detected, and depending on the detected status, the speaker may emit a warning sound, a confirmation sound, or a sound such as "Inspection started!", "Inspection completed!", or "Inspection abnormality occurred!" This allows workers on the ground to be accurately informed of the inspection status.

[0551] The light bulb inspection device 2100 may also be equipped with an LED lamp (not shown). The LED lamp detects the installation status of the light bulb 2150 and emits light in red, blue, yellow, or other colors depending on the detected status, thereby accurately informing workers on the ground of the installation status.

[0552] (Hardware configuration of light bulb inspection device) Next, a description will be given of the hardware configuration of the light bulb inspection device 2100. Fig. 22 is a block diagram showing an example of the hardware configuration of the light bulb inspection device (unmanned aerial vehicle) according to the third embodiment of the present invention.

[0553] 22, light bulb inspection device (unmanned aerial vehicle) 2100 is made up of control circuit 2201, communication I / F 2202, battery 2203, motor 2204, camera 2205, solar cell 2206, etc. Light bulb inspection device 2100 also includes sensors such as torque sensor 2211, illuminance sensor 2212, temperature sensor 2213, GPS sensor 2214, contact sensor 2215, and various sensors (acceleration sensor, objective sensor, etc.) 2216. The various units 2201 to 2206 and 2211 to 2216 included in light bulb inspection device 2100 are connected by bus 2200.

[0554] The components 2201 to 2206 and 2211 to 2216 are the same as the components 201 to 206 and 211 to 216 shown in the light bulb attachment device 100 of the first embodiment, so detailed explanations thereof will be omitted.

[0555] (Functional configuration of the light bulb inspection device) FIG. 23 is a block diagram illustrating an example of a functional configuration of a light bulb inspection device (unmanned aerial vehicle) according to the third embodiment of the present invention.

[0556] In Figure 23, the light bulb inspection device (unmanned aerial vehicle) 2100 has the following components: light bulb gripping unit 2301, moving unit 2302, rotating unit 2303, replacement necessity determination unit 2304, imaging unit 2305, analysis unit 2306, torque detection unit 2307, luminous intensity detection unit 2308, temperature detection unit 2309, transmission unit 2310, GNSS receiving unit 2311, memory unit 2312, receiving unit 2313, arrival determination unit 2314, and light bulb gripping determination unit 2315.

[0557] The light bulb holder 2301 has the function of holding the light bulb 2150 and is able to hold the light bulb 2150. The light bulb holder 2301 also has the function of releasing the grip of the held light bulb 2150 and is able to release the grip of the held light bulb 2150. Specifically, the function of the light bulb holder 2301 can be realized by the holding mechanism 2102 shown in Figures 21A and 21B, the control circuit 2201 shown in Figure 22, etc.

[0558] The light bulb holder 2301 can hold the light bulb 2150 by gripping the surface portion of the glass bulb 2152 of the light bulb 2150 with the gripping mechanism 2102 so that the base 2151 can be screwed into the socket 2160. Also, the light bulb 2150 can be held by gripping the glass bulb 2152 with the gripping mechanism 2102 so that the light bulb 2150 can be unscrewed from the socket 2160.

[0559] Moving unit 2302 flies through the air to move its own device, light bulb inspection device (unmanned aerial vehicle) 2100. Specifically, moving unit 2302 moves light bulb inspection device (unmanned aerial vehicle) 2100 to a position where it can grasp light bulb 2150 attached to socket 2160, for example. When attaching a light bulb, moving unit 2302 flies through the air to move light bulb inspection device (unmanned aerial vehicle) 2100, its own device, so that base 2151 of light bulb 2150 (for example, near the tip of base 2151) abuts on opening 2161 of socket 2160 to which the light bulb is to be attached.

[0560] Specifically, the function of moving unit 2302 can be realized by, for example, propeller 2101 shown in FIGS. 21A and 21B, motor 2204 shown in FIG. 22, control circuit 2201, and the like.

[0561] Movement unit 2302 can levitate its own device in the air by controlling motor 2204 to rotate propellers 2101a-2101d independently via control circuit 2201. Then, in this state, control circuit 2201 further controls motor 2204 to change the rotation speed of each of propellers 2101a-2101d, thereby moving its own device to a predetermined position (a position where it can grasp light bulb 2150, whose base 2151 is screwed into socket 2160).

[0562] With the bulb gripping part 2301 gripping the bulb 2150, the rotating part 2303 rotates (turns) the bulb 2150 in a direction in which the base 2151 and the socket 2600 are screwed together or in a direction in which the screwing is released.

[0563] Specifically, the function of the rotating portion 2303 can be realized by, for example, the propeller 2101 shown in FIGS. 21A and 21B, the motor 2204 shown in FIG. 22, the control circuit 2201, and the like.

[0564] The rotating part 2303 can rotate (turn) the light bulb 2150 held by the light bulb holding part 2301 by rotating (turning) the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) while flying in the air.

[0565] Specifically, rotating unit 2303 hovers in a position with base 2151 of bulb 2150 abutting on opening 2161 of socket 2160. By adjusting the rotation speed of each of four propellers 2101a to 2101d, rotating unit 2303 can rotate the drone clockwise or counterclockwise around the center of the unmanned aerial vehicle (drone) body, that is, the position where connecting member 2103 is connected.

[0566] In addition, instead of rotating (turning) the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) while flying in the air, the rotating unit 2303 may rotate (turn) the light bulb 2150 independently of the rotation (turning) of the device itself.

[0567] Specifically, the rotating unit 2303 hovers in a position with the base 2151 of the light bulb 2150 abutting against the opening 2161 of the socket 2160. Then, the rotating unit 2303 drives the motor 2204 to rotate (turn) the connecting member 2103 clockwise and counterclockwise around the center of its longitudinal direction as an axis. This causes the holding mechanism 2102 and the light bulb 2150 held by the holding mechanism 2102 to similarly rotate (turn), thereby enabling the light bulb 2150 and the socket 2160 to be screwed or unscrewed.

[0568] In this way, the rotating unit 2303 can rotate (turn) the light bulb 2150 around the center of the insertion direction of the base 2151 by rotating (turning) its own device (light bulb inspection device (unmanned aerial vehicle) 2100) itself, or by being provided with a rotating (turning) mechanism independent of the rotating (rotating) of its own device. These rotating (turning) methods may be used in combination. That is, the device (light bulb inspection device (unmanned aerial vehicle) 2100) itself may be rotated, and the light bulb 2150 may be rotated by a rotating (rotating) drive using a rotating (rotating) mechanism. Furthermore, these rotating (rotating) methods may be used differently depending on the situation. For example, one of the methods may be used primarily, and the other may be used secondary.

[0569] The replacement necessity determining unit 2304 determines whether or not it is necessary to replace the light bulb 2150. Specifically, the function of the replacement necessity determining unit 2304 can be realized by, for example, the control circuit 2201 shown in FIG.

[0570] If the replacement of the light bulb 2150 is not necessary based on the determination result by the replacement necessity determination unit 2304, the rotating unit 2303 rotates the light bulb 2150 in the direction that screws together the base 2151 and the socket 2160, thereby properly fitting the light bulb 2150 into the socket 2160. After the light bulb 2150 is properly fitted into the socket 2160, the rotating unit 2303 stops rotating. After the rotation by the rotating unit 2303 stops, the light bulb gripping unit 2301 releases its grip on the light bulb 2150. In this way, the inspection work is completed by re-inserting the light bulb 2150 to correct any looseness and then releasing its grip on the light bulb 2150.

[0571] Furthermore, if replacement of light bulb 2150 is necessary based on the determination result by replacement necessity determination unit 2304, rotation unit 2303 can rotate light bulb 2150 in a rotation direction that releases the screw engagement between base 2151 and socket 2160, thereby removing light bulb 2150 from the socket. The light bulb removal process has been described in embodiment 2, so a detailed description will be omitted.

[0572] The imaging unit 2305 captures an image or video of the light bulb 2150. Specifically, the functions of the imaging unit 2305 can be realized by, for example, the camera 2205, the control circuit 2201, and the like shown in FIG.

[0573] The analysis unit 2306 analyzes the image or video captured by the imaging unit 2305. Specifically, the function of the analysis unit 2306 can be realized by, for example, the control circuit 2201 shown in FIG.

[0574] Then, based on the analysis result of analysis unit 2306, replacement necessity determination unit 2304 can determine that if light bulb 2150 lights up, there is no need to replace light bulb 2150. Conversely, if light bulb 2150 does not light up, it may be determined that light bulb 2150 needs to be replaced.

[0575] Torque detection unit 2307 detects the gripping torque applied to light bulb gripping unit 2301 in the direction of rotation of light bulb 2150 by rotating unit 2303. Specifically, the function of torque detection unit 2307 can be realized by, for example, torque sensor 2211 shown in FIG.

[0576] If there is an abnormality in the gripping torque based on the detection result of the torque detection unit 2307, the replacement necessity determination unit 2304 can determine that the light bulb 2150 needs to be replaced. Specifically, it can determine that there is an abnormality in the base 2151 or the socket 2160.

[0577] The luminous intensity detection unit 2308 detects the luminous intensity of the bulb 2150 while the bulb is rotated clockwise or counterclockwise. Specifically, the function of the luminous intensity detection unit 2308 can be realized by, for example, the illuminance sensor 2212 shown in FIG.

[0578] Based on the detection result of luminous intensity detection unit 2308, replacement necessity determination unit 2304 can determine that replacement of bulb 2150 is unnecessary if the luminous intensity of bulb 2150 is equal to or greater than a predetermined value or if the luminous intensity remains equal to or greater than the predetermined value for a predetermined period of time. Conversely, it may be configured to determine that replacement of bulb 2150 is unnecessary if the luminous intensity is equal to or less than the predetermined value or if the luminous intensity does not remain equal to or greater than the predetermined value for a predetermined period of time.

[0579] That is, when the light bulb 2150 is properly attached to the socket 2160, the tip of the base 2151 comes into contact with the electrode of the socket 2160, so that electricity is applied to the light bulb 2150, and the light bulb 2150 lights up.

[0580] The light intensity detection unit 2308 detects a change (decrease) in light intensity due to the light bulb 2150 being turned off, and if the light intensity remains below a predetermined value for a predetermined period of time while the light bulb 2150 continues to rotate, it can determine that the light bulb 2150 has been properly removed from the socket 2160.

[0581] In this way, it is possible to confirm that the attached light bulb 2150 is turned off while the power is on, which allows for more reliable confirmation of the light bulb being removed. Also, since it is not necessary for the worker to do this manually (they do not have to directly touch the light bulb 2150 with their hands), it is possible to reliably avoid the risk of the worker getting an electric shock even while the power is on, and the work can be done safely.

[0582] Temperature detection unit 2309 detects the temperature of light bulb 2150 while light bulb 2150 is rotated clockwise or counterclockwise. Specifically, the function of temperature detection unit 2309 can be realized by, for example, temperature sensor 2213 shown in FIG.

[0583] Then, based on the detection result of temperature detection unit 2309, if the temperature of light bulb 2150 exceeds a predetermined value or remains above the predetermined value for a predetermined period of time, replacement necessity determination unit 2304 can determine that light bulb 2150 does not need to be replaced because light bulb 2150 is lit and generating heat. Conversely, if the temperature falls below the predetermined value or does not remain above the predetermined value for a predetermined period of time, it may be determined that light bulb 2150 needs to be replaced because light bulb 2150 is not lit and not generating heat.

[0584] In this way, it is possible to check that the installed light bulb 2150 lights up when it is energized, and by utilizing the fact that when it lights up, the light bulb 2150 generates heat and its temperature rises, it is possible to inspect the light bulb more reliably. Also, since this does not need to be done manually by a worker (the worker does not need to directly touch the light bulb 2150 with his or her hands), it is possible to reliably avoid the risk of the worker being electrocuted or burned by the heat of the light bulb even when it is energized, and work can be carried out safely.

[0585] The replacement necessity determination unit 2304 may determine whether the bulb has been lit based on any one of four results: the analysis result of the analysis unit 2306, the detection result of the torque detection unit 2307, the detection result of the luminous intensity detection unit 2308, and the detection result of the temperature detection unit 2309. Alternatively, it may determine whether the bulb has been lit based on a combination of two or more of the four results. The result to be used may be changed depending on the conditions such as the situation and environment in which the bulb 2150 is installed, and if multiple results are used, they may be freely combined. The completion of bulb lighting may also be determined based on information other than the four results.

[0586] The transmitter 2310 transmits an image or video of at least one of the light bulb 2150 and the socket 2160 captured by the image capturing unit 2305. The image or video may be transmitted to, for example, the controller 250 or the management server 260. Specifically, the function of the transmitter 2310 can be realized by, for example, the communication I / F 2202 shown in FIG.

[0587] The imaging unit 2305 captures images or videos of the state before the light bulb 2150 is installed, the state during the removal work, and the state after the removal work. In this way, the transmission unit 2310 transmits the images or videos, allowing the user to know the state (status) of the light bulb 2150 removal work. In addition, the state (status) of the light bulb inspection work can be managed.

[0588] Furthermore, the imaging unit 2305 captures an image or video of the vicinity of the base 2151 of the light bulb 2150, and the analysis unit 2306 analyzes the image or video captured by the imaging unit 2305. Then, the moving unit 2302 may move its own device (light bulb inspection device (unmanned aerial vehicle) 2100) based on the analysis result of the analysis unit 2306.

[0589] The imaging unit 2305 may also be configured to read a two-dimensional code (not shown) provided on the base 2151 or around the base 2151. This two-dimensional code is associated with information about the socket 2160 and information about the types of light bulbs 2150 that can be used. The analysis unit 2306 may analyze the information in the two-dimensional code.

[0590] In this way, the destination location can be identified based on the analysis results of the image or video around the base 2151 by the analysis unit 2306, so the moving unit 2302 can more reliably move its own device to a position where it can grasp the light bulb 2150 to be inspected.

[0591] A GNSS (Global Navigation Satellite System) receiver 2311 measures the current position of the device itself. Specifically, the function of the GNSS receiver 2311 can be realized by the GPS sensor 2214 shown in FIG. 22 . The moving unit 2302 may move the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) based on the positioning result by the GNSS receiver 2311.

[0592] In this way, the destination position can be identified based on the positioning result by the GNSS receiving unit 2311, so the moving unit 2302 can move the device to a position where the light bulb 2150 can be grasped.

[0593] Furthermore, the moving unit 2302 may move its own device (light bulb inspection device (unmanned aerial vehicle) 2100) based on location information of the destination stored in the memory unit 2312. Specifically, the function of the memory unit 2312 can be realized by, for example, the control circuit 2201 (memory thereof) shown in FIG.

[0594] Here, the location information of the destination may be more detailed latitude and longitude information. Furthermore, the information is not limited to latitude and longitude information, as long as it can identify the location of the destination socket 2160 (or the light bulb 2150 attached to the socket 2160). Furthermore, the location information of the destination may also include angle information related to the tilt of the socket 2160 at the destination. For example, in cases other than when the socket 2160 is attached vertically, the moving unit 2302 can adjust the gripping direction of the light bulb 2150 by tilting its own device (light bulb inspection device (unmanned aerial vehicle) 2100) based on the angle information related to the tilt, and move the light bulb 2150.

[0595] In addition to the location information of the destination, the storage unit 2312 may also store information about the destination socket 2160 (such as the type and characteristics of the socket 2160), information about the type of light bulb used, and information about the replacement work (such as the last time it was replaced or cleaned, and the work history). This information allows the replacement work of the light bulb to be carried out more efficiently and reliably (preventing unexpected accidents and incorrect work).

[0596] The receiving unit 2313 receives information about the destination of the device itself (light bulb inspection device (unmanned aerial vehicle) 2100). Specifically, the function of the receiving unit 2313 can be realized by, for example, the communication I / F 2202 shown in FIG.

[0597] Storage unit 2312 then stores the destination information received by receiving unit 2313. The destination information may be received from, for example, controller 250 or management server 260. In this way, location information of light bulb 2150 (socket 2160) to be inspected can be easily and reliably obtained.

[0598] The arrival determination unit 2314 determines whether the device itself has reached a position where the light bulb holding unit 2301 can hold the light bulb 2150. Then, based on the determination result by the arrival determination unit 2314, the light bulb holding unit 2301 can hold the light bulb 2150 when the device itself has reached a position where the light bulb 2150 can be held.

[0599] Specifically, the function of the arrival determination unit 2314 can be realized by, for example, the control circuit 2201 shown in FIG.

[0600] Furthermore, the imaging unit 2305 captures an image or video of the light bulb, and the analysis unit 2306 analyzes the image or video captured by the imaging unit 2305. Then, based on the analysis result of the analysis unit 2306, the arrival determination unit 2314 can determine that the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) has reached a position where it can grasp the light bulb 2150.

[0601] More specifically, the reach determination unit 2314 can determine that its own device (light bulb inspection device (unmanned aerial vehicle) 2100) has reached a position where it can grasp the light bulb 2150 if the image or video of the light bulb 2150 captured by the imaging unit 2305 matches the image or video of the light bulb 2150 captured when its own device (light bulb inspection device (unmanned aerial vehicle) 2100) has reached a position where it can grasp the light bulb 2150. That is, by image recognition, it is possible to compare the captured image or video with the image or video of the light bulb when it has reached a position where it can grasp the light bulb, and determine whether they match by pattern recognition between images using AI (artificial intelligence), or the like.

[0602] Furthermore, when a predetermined portion of the light bulb gripping portion 2301 (for example, arms 2104a to 2104d or the palm portions at the bases of the arms 2104a to 2104d (2601 in FIG. 26, which will be described later)) comes into contact with the light bulb, the reach determination portion 2314 can determine that the device has reached a position where it can grip the light bulb 2150. The arms 2104a to 2104d and the palm portions at the bases of the arms 2104a to 2104d may be provided with a contact sensor 2215, as shown in FIG. 22.

[0603] In this way, after the arrival determination unit 2314 has confirmed that the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) has reliably reached a position where the light bulb holding unit 2301 can hold the light bulb 2150, the light bulb holding unit 2301 starts holding the light bulb (operating to close the arms 2104a to 2104d, enveloping the light bulb 2150 with the arms 2104a to 2104d and the palm unit 2601, and holding the light bulb 2150 without moving within the arms 2104a to 2104d). This allows the light bulb holding unit 2301 to hold the light bulb 2150 more reliably.

[0604] The light bulb gripping determination unit 2315 determines whether the light bulb gripping unit 2301 has properly gripped the light bulb 2150. The rotation unit 2303 can then rotate (turn) the light bulb 2150 based on the determination result by the light bulb gripping determination unit 2315. That is, by rotating (turning) the light bulb 2150 after the light bulb gripping unit 2301 has properly gripped the light bulb 2150, the socket 2160 and the base 2151 of the light bulb 2150 can be screwed together or released from this screwing, thereby reliably checking whether the light bulb lights up. Furthermore, if the light bulb 2150 needs to be replaced, the light bulb 2150 can be reliably removed.

[0605] Specifically, the functions of the bulb holding determination unit 2315 can be realized by the control circuit 2201 and the contact sensor 2215 shown in FIG.

[0606] Furthermore, the imaging unit 2305 captures an image or video of the light bulb, and the analysis unit 2306 analyzes the image or video captured by the imaging unit 2305. Then, based on the analysis results of the analysis unit 2306, the light bulb grip determination unit 2315 can determine that the light bulb 2150 has been gripped correctly if the captured image or video matches an image or video of the light bulb being gripped correctly. That is, by image recognition, the captured image or video can be compared with an image or video of the light bulb being gripped correctly, and a match between the two can be determined by pattern recognition between images using AI (Artificial Intelligence), for example.

[0607] Furthermore, the light bulb gripping determiner 2315 can determine that the light bulb 2150 is gripped properly when a predetermined portion of the light bulb gripping portion 2301 comes into contact with the light bulb 2150. The predetermined portion of the light bulb gripping portion 2301 is, for example, the arms 2104a to 2104d. Using the contact sensors 2215 provided on each of these arms 2104a to 2104d, it can be determined that the light bulb 2150 is gripped properly when the light bulb 2150 comes into contact with all of the arms 2104a to 2104d over a predetermined area or more of the arms 2104a to 2104d.

[0608] (Light bulb inspection device processing procedure) Fig. 24 is a flowchart showing an example of a processing procedure of the light bulb inspection device (unmanned aerial vehicle) according to the third embodiment of the present invention. Figs. 25 to 30 are explanatory diagrams showing how the light bulb inspection device performs a light bulb inspection operation.

[0609] In the flowchart of FIG. 24, propellers 2101a to 2101d of light bulb inspection device (unmanned aerial vehicle) 2100 are rotated to cause light bulb inspection device (unmanned aerial vehicle) 2100 to take off (float) (step S2401).

[0610] The light bulb inspection device (unmanned aerial vehicle) 2100 flies through the air and moves to a predetermined destination (step S2402). Since the destination is predetermined, it can fly the shortest distance unless there is an obstacle. Furthermore, if there is an obstacle, it can fly in a way that avoids the obstacle based on information about the obstacle. Figure 25 shows the light bulb inspection device (unmanned aerial vehicle) 2100 flying through the air and moving to a predetermined destination (the position of the light bulb 2150).

[0611] It is then determined whether or not the robot has reached a predetermined destination, a position where it can grasp the target light bulb 2150 (step S2403). As described above, whether or not the robot has reached the destination can be determined based on the analysis of the image from the camera 2205 and the detection results from the contact sensor 2215, etc.

[0612] If the position has not yet been reached (step S2403: No), the process returns to step S2402 and continues flying through the air. On the other hand, if the position has been reached (step S2403: Yes), the angle of the gripping mechanism 2102 for gripping, i.e., the angle of the light bulb inspection device (unmanned aerial vehicle) 2100, relative to the light bulb 2150 is adjusted (step S2404). Figure 26 shows that the gripping mechanism 2102 is ready to grip the light bulb 2150, i.e., the angle is adjusted and the light bulb inspection device (unmanned aerial vehicle) 2100 is positioned so that gripping is possible when the arm 2104 is closed.

[0613] After the angle adjustment is complete, the gripping mechanism 2102 (arms 2104a to 2104d) grips the light bulb 2150 (step S2405). FIG.

[0614] It is then determined whether the gripping mechanism 2102 was able to properly grip the light bulb 2150 (step S2406). If the gripping mechanism 2102 was not able to properly grip the light bulb 2150 (step S2406: No), the process returns to step S2404, and the angle adjustment and gripping operation are repeated. After waiting until the gripping mechanism 2102 is able to properly grip the light bulb 2150, if the gripping mechanism 2102 is able to grip the light bulb 2150 (step S2406: Yes), the process next rotates the light bulb 2150 alternately clockwise and counterclockwise by a predetermined angle (step S2407).

[0615] This causes the socket 2160 and the base 2151 of the light bulb 2150 to repeatedly screw in and out of contact with each other as normal. Figure 28 shows how the tip of the base 2151 and the electrode of the socket 2160 repeatedly come into contact with each other and come out of contact with each other as the light bulb 2150 is rotated alternately clockwise and counterclockwise.

[0616] Thereafter, it is determined whether the target light bulb 2150 needs to be replaced (step S2408). The specific method for determination is as described above. If the light bulb 2150 needs to be replaced, that is, if the light bulb 2150 is burned out (broken) (step S2408: Yes), the light bulb 2150 is rotated counterclockwise to properly remove the light bulb 2150 from the socket 2160, and then the rotation of the light bulb 2150 is stopped (step S2409).

[0617] After stopping the rotation of light bulb 2150, light bulb inspection device (unmanned aerial vehicle) 2100 leaves the location (the position of socket 2160) (step S2410). The state in which light bulb inspection device (unmanned aerial vehicle) 2100 leaves and base 2151 moves away from socket 2160 is as shown in, for example, FIG. 19 of the second embodiment.

[0618] Then, it flies again in the air and moves to a predetermined destination (return destination) (step S2411). The manner in which light bulb inspection device (unmanned aerial vehicle) 2100 leaves the position of socket 2160 and moves while flying in the air while holding the removed light bulb 2150 is as shown in FIG. 20 of the second embodiment. The predetermined destination may usually be the position from which it took off, or may be some other location.

[0619] Thereafter, the robot lands at a predetermined destination (step S2412), and the series of processes ends. Here, instead of landing, the robot may automatically discard the light bulb 2150 that it was holding, and then move to a new destination (inspection location).

[0620] On the other hand, in step S2408, if replacement of the light bulb 2150 is not necessary, that is, if the light bulb 2150 is not burned out (not broken or deteriorated) (step S2408: No), the light bulb 2150 is rotated (turned) clockwise to properly insert the light bulb 2150 into the socket 2160, and then the rotation (turning) of the light bulb 2150 is stopped (step S2413).

[0621] After the rotation of the light bulb 2150 has stopped, the gripping mechanism 2102 releases its grip on the light bulb 2150 (step S2414). Figure 29 shows the state in which the gripping mechanism 2102 has released its grip on the light bulb 2150. Then, the light bulb inspection device (unmanned aerial vehicle) 2100 leaves the location (the position of the socket 2160) (step S2415) and flies again in the air to the predetermined destination (inspection location) (step S2416). This ends the series of processes.

[0622] Figure 30 shows that light bulb inspection device (unmanned aerial vehicle) 2100 has left the location of socket 2160 and is flying through the air to its next destination. As can be seen from Figure 30, light bulb 2150 that did not need to be replaced remains attached to socket 2160. This marks the end of the inspection of that light bulb 2150.

[0623] As described above, light bulb inspection device 2100 of embodiment 3 according to the present invention can include moving unit 2302 that flies through the air to move itself to a position where it can grip light bulb 2150, whose base 2151 is screwed into socket 2160, light bulb gripping unit 2301 that grips light bulb 2150, and rotating unit 2303 that, while light bulb gripping unit 2301 is gripping light bulb 2150, rotates light bulb 2150 in the rotation direction that screws base 2151 into socket 2160. This makes it possible to automatically retighten any loose light bulb 2150 in socket 2160 without manual intervention.

[0624] Furthermore, in the light bulb inspection device 2100 of the third embodiment of the present invention, the rotating unit 2303 stops rotating after the light bulb 2150 has been properly attached to the socket 2160, and the light bulb gripping / moving unit 2302 releases its grip on the light bulb 2150 after the rotating unit 2303 has stopped rotating. This makes it possible to more reliably retighten any loose light bulb 2150.

[0625] Furthermore, in the light bulb inspection device 2100 of the third embodiment according to the present invention, after the light bulb gripping unit 2301 releases the grip of the light bulb 2150, the moving unit 2302 can move the device to a position where it can grip a different light bulb 2150 from the light bulb 2150. This allows the inspection to automatically end and move on to inspecting another light bulb.

[0626] Furthermore, light bulb inspection device 2100 of embodiment 3 of the present invention can include: moving unit 2302 that flies through the air to move itself to a position where it can grasp light bulb 2150, whose base 2151 is screwed into socket 2160; light bulb holding unit 2301 that holds light bulb 2150; and rotating unit 2303 that, while light bulb holding unit 2301 is holding light bulb 2150, rotates light bulb 2150 alternately in a rotation direction that screws base 2151 into socket 2160 and a rotation direction that releases this screwing. This makes it possible to reliably inspect whether light bulb 2150 lights up normally.

[0627] Furthermore, in light bulb inspection device 2100 of the third embodiment according to the present invention, rotating unit 2303 rotates itself while flying in the air, thereby rotating light bulb 2150. This eliminates the need to provide a separate drive source for screwing and unscrewing light bulb 2150 and socket 2160.

[0628] Furthermore, in the light bulb inspection device 2100 of the third embodiment according to the present invention, the rotation unit 2303 can rotate the light bulb 2150 independently of the rotation of the device itself. This allows the light bulb 2150 and the socket 2160 to be screwed or unscrewed without rotating (spinning) the device itself (light bulb inspection device 2100).

[0629] Furthermore, light bulb inspection device 2100 of the third embodiment of the present invention further includes replacement necessity determination unit 2304 that determines whether light bulb 2150 needs to be replaced, and if light bulb 2150 does not need to be replaced based on the determination result of replacement necessity determination unit 2304, rotating unit 2303 rotates light bulb 2150 in the rotation direction that screws base 2151 into socket 2160, thereby properly attaching light bulb 2150 to socket 2160. This makes it possible to complete inspection of light bulb 2150 reliably and quickly without human intervention.

[0630] Furthermore, in the light bulb inspection device 2100 of the third embodiment of the present invention, the rotating unit 2303 stops rotating after the light bulb 2150 has been properly attached to the socket 2160, and the light bulb gripping / moving unit 2302 releases its grip on the light bulb 2150 after the rotating unit 2303 has stopped rotating. This makes it possible to more reliably retighten any loose light bulb 2150.

[0631] Furthermore, light bulb inspection device 2100 of the third embodiment of the present invention further includes replacement necessity determination unit 2304 that determines whether light bulb 2150 needs to be replaced, and if it is determined that light bulb 2150 needs to be replaced based on the determination result of replacement necessity determination unit 2304, rotating unit 2303 can rotate light bulb 2150 in a rotation direction that releases the screw engagement between base 2151 and socket 2160, thereby removing light bulb 2150 from socket 2160. This allows light bulb 2150 to be removed reliably and the task of replacing it with a new light bulb to be carried out efficiently.

[0632] Furthermore, light bulb inspection device 2100 of the third embodiment according to the present invention further includes imaging unit 2305 that captures an image or video of light bulb 2150, and analysis unit 2306 that analyzes the image or video captured by imaging unit 2305, and replacement necessity determination unit 2302 can determine that light bulb 2150 does not need to be replaced if light bulb 2150 is lit, based on the analysis result of analysis unit 2306. This makes it possible to reliably determine that light bulb 2150 does not need to be replaced.

[0633] Furthermore, light bulb inspection device 2100 of the third embodiment of the present invention further includes luminous intensity detection unit 2308 that detects the luminous intensity of light bulb 2150, and replacement necessity determination unit 2302 can determine that light bulb 2150 does not need to be replaced if the luminous intensity of light bulb 2150 is equal to or greater than a predetermined value or if the luminous intensity has remained equal to or greater than the predetermined value for a predetermined period of time based on the detection result of luminous intensity detection unit 2308. This makes it possible to reliably determine that light bulb 2150 does not need to be replaced.

[0634] Furthermore, light bulb inspection device 2100 of the third embodiment of the present invention further includes temperature detection unit 2309 that detects the temperature of light bulb 2150, and replacement necessity determination unit 2302 can determine that light bulb 2150 does not need to be replaced if the temperature of light bulb 2150 exceeds a predetermined value or remains above the predetermined value for a predetermined period of time based on the detection result of temperature detection unit 2309. This makes it possible to reliably determine that light bulb 2150 does not need to be replaced.

[0635] Furthermore, the light bulb inspection device 2100 according to the third embodiment of the present invention further includes a GNSS (Global Navigation Satellite System) receiving unit 2311 and a storage unit 2312 that stores location information of the destination of the device itself, and the moving unit 2302 can move the device itself (light bulb inspection device 2100) based on the positioning results obtained by the GNSS receiving unit 2311 and the location information of the destination stored in the storage unit 2312. This makes it possible to more reliably move the device itself (light bulb inspection device 2100) to the location of the destination socket 2160 (light bulb 2150).

[0636] Furthermore, the light bulb inspection device 2100 according to the third embodiment of the present invention can further include, in the position information of the destination, angle information relating to the tilt of the socket 2160 at the destination. This allows reliable inspection even for sockets 2160 that are installed at an angle.

[0637] Furthermore, light bulb inspection device 2100 according to the third embodiment of the present invention further includes receiving unit 2313 that receives information about the destination, and memory unit 2312 can store the information about the destination received by receiving unit 2313. This makes it possible to more reliably know the location of socket 2160 (light bulb 2150) at the destination of the device (unmanned aerial vehicle 2100) itself.

[0638] Furthermore, light bulb inspection device 2100 of the third embodiment according to the present invention further includes imaging unit 2305 that captures an image or video of at least one of light bulb 2150 and socket 2160, and analysis unit 2306 that analyzes the image or video captured by imaging unit 2305, and movement unit 2302 can move its own device (light bulb inspection device 2100) based on the analysis results of analysis unit 2306. This makes it possible to more reliably move its own device (light bulb inspection device 2100) to a destination position.

[0639] Furthermore, the light bulb inspection device 2100 of the third embodiment according to the present invention further includes an arrival determination unit 2314 that determines whether the light bulb gripping unit 2301 has reached a position where it can grip the light bulb 2150, and the light bulb gripping unit 2301 can grip the light bulb 2150 when it has reached the position based on the determination result of the arrival determination unit 2314. This allows the light bulb 2150 to be gripped more reliably.

[0640] Furthermore, light bulb inspection device 2100 of the third embodiment according to the present invention further includes imaging unit 2305 that captures an image or video of light bulb 2150, and analysis unit 2306 that analyzes the image or video captured by imaging unit 2305, and reach determination unit 2314 can determine, based on the analysis result of analysis unit 2306, that the device has reached a position where it can grip light bulb 2150. This allows light bulb 2150 to be gripped more reliably based on image analysis.

[0641] Furthermore, in light bulb inspection device 2100 of the third embodiment according to the present invention, reach determination unit 2314 can determine that its own device has reached a position where it can grasp light bulb 2150 if the image or video of light bulb 2150 captured by imaging unit 2305 matches the image or video of light bulb 2150 captured when its own device has reached a position where it can grasp light bulb 2150. This allows light bulb inspection device 2100 to more reliably grasp light bulb 2150 based on image analysis using pattern matching.

[0642] Furthermore, in the light bulb inspection device 2100 according to the third embodiment of the present invention, the arrival determination unit 2314 can determine that the device has reached a position where it can grip the light bulb 2150 when a predetermined location of the light bulb gripping unit 2301 comes into contact with the light bulb 2150. This allows the light bulb 2150 to be gripped more reliably based on the detection result of the contact sensor 2215.

[0643] Furthermore, the light bulb inspection device 2100 of the third embodiment of the present invention further includes a light bulb gripping determination unit that determines whether the light bulb gripping unit 2301 has successfully gripped the light bulb 2150, and the rotator 2303 can rotate (turn) the light bulb 2150 based on the determination result of the light bulb gripping determination unit 2315. This allows the light bulb 2150 to be gripped more reliably based on the detection result of the contact sensor 2215.

[0644] Furthermore, light bulb inspection device 2100 of the third embodiment according to the present invention further includes imaging unit 2305 that captures an image or video of light bulb 2150, and analysis unit 2306 that analyzes the image or video captured by imaging unit 2305. Light bulb grip determination unit 2315 can determine that light bulb 2150 is gripped correctly if the captured image or video is an image or video of light bulb 2150 that can be gripped correctly, based on the analysis result of analysis unit 2306. This allows for more reliable confirmation of light bulb grip based on image analysis.

[0645] Furthermore, the light bulb inspection device 2100 of the third embodiment of the present invention can determine that the light bulb 2150 is properly gripped when the light bulb gripping determiner 2315 has come into contact with the light bulb 2150 at a predetermined location of the light bulb gripping unit 2301. This allows for more reliable confirmation of light bulb gripping based on the detection result of the contact sensor 2315.

[0646] Furthermore, light bulb inspection device 2100 according to the third embodiment of the present invention can further include imaging unit 2305 that captures an image or video of light bulb 2150, and transmission unit 2310 that transmits the image or video captured by imaging unit 2305. This allows the user to remotely see how inspection work on light bulb 2150 is being carried out.

[0647] Furthermore, the light bulb inspection method of the third embodiment of the present invention can execute a process in which unmanned aerial vehicle 2100 flies through the air to a position where it can grasp light bulb 2150, whose base 2151 is screwed into socket 2160, grasps light bulb 2150, and, while grasping light bulb 2150, rotates light bulb 2150 in the direction that will screw together base 2151 and socket 2160. This allows light bulb 2150 to be automatically retightened in socket 1160 without manual intervention.

[0648] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further perform a process in which unmanned aerial vehicle 2100 stops rotating after properly inserting light bulb 2150 into socket 2160, and then releases its grip on light bulb 2150 after the rotation has stopped. This makes it possible to more reliably retighten any loose light bulb 2150.

[0649] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which, after unmanned aerial vehicle 2100 releases its grip on light bulb 2150, it moves itself to a position where it can grip a different light bulb 2150. This allows the inspection to automatically end and move on to inspecting another light bulb.

[0650] Furthermore, the light bulb inspection method of the third embodiment of the present invention can execute a process in which unmanned aerial vehicle 2100 flies through the air to a position where it can grasp light bulb 2150, whose base 2151 is screwed into socket 2160, grasps light bulb 2150, and, while grasping light bulb 2150, rotates light bulb 2150 alternately in a rotation direction that screws base 2151 into socket 2160 and a rotation direction that releases the screwing. This makes it possible to reliably inspect whether light bulb 2150 lights up normally.

[0651] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can execute a process in which unmanned aerial vehicle 2100 rotates itself while flying in the air, thereby rotating light bulb 2150. This eliminates the need to provide a separate drive source for screwing and unscrewing light bulb 2150 and socket 2160 together.

[0652] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further perform a process in which unmanned aerial vehicle 2100 rotates light bulb 2150 independently of the rotation of the device itself. This allows light bulb 2150 and socket 2160 to be screwed or unscrewed without rotating (spinning) the device itself (light bulb inspection device 2100).

[0653] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further include a process in which unmanned aerial vehicle 2100 determines whether light bulb 2150 needs to be replaced, and, if light bulb 2150 does not need to be replaced based on the determination result, rotates light bulb 2150 in the rotation direction that screws together base 2151 and socket 2160, thereby properly attaching light bulb 2150 to socket 2160. This allows inspection of light bulb 2150 to be completed reliably and quickly without human intervention.

[0654] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further perform a process in which unmanned aerial vehicle 2100 stops rotating after properly inserting light bulb 2150 into socket 2160, and then releases its grip on light bulb 2150 after the rotation has stopped. This makes it possible to more reliably retighten any loose light bulb 2150.

[0655] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further perform a process in which unmanned aerial vehicle 2100 determines whether light bulb 2150 needs to be replaced, and if light bulb 2150 needs to be replaced based on the determination result, rotates light bulb 2150 in a rotation direction that releases the screw engagement between base 2151 and socket 2160, and removes light bulb 2150 from socket 2160. This allows light bulb 2150 to be replaced to be reliably removed, and the work of replacing it with a new light bulb can be carried out efficiently.

[0656] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 captures an image or video of light bulb 2150, analyzes the captured image or video, and, based on the analysis result, determines that light bulb 2150 does not need to be replaced if light bulb 2150 is lit. This makes it possible to reliably determine that light bulb 2150 does not need to be replaced.

[0657] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 detects the luminous intensity of light bulb 2150 and, based on the detection result, determines that light bulb 2150 does not need to be replaced if the luminous intensity of light bulb 2150 is equal to or greater than a predetermined value or if the luminous intensity has remained equal to or greater than the predetermined value for a predetermined period of time. This makes it possible to reliably determine that light bulb 2150 does not need to be replaced.

[0658] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 detects the temperature of light bulb 2150 and, based on the detection result, determines that light bulb 2150 does not need to be replaced if the temperature of light bulb 2150 is equal to or higher than a predetermined value or if the temperature remains equal to or higher than the predetermined value for a predetermined period of time. This makes it possible to reliably determine that light bulb 2150 does not need to be replaced.

[0659] Furthermore, in the light bulb inspection method of the third embodiment of the present invention, unmanned aerial vehicle 2100 can store location information of its own destination and execute processing to move its own device based on the results of positioning by GNSS (Global Navigation Satellite System) and the stored location information of its destination. This makes it possible to more reliably move its own device (light bulb inspection device 2100) to the location of its destination socket 2160 (light bulb 2150).

[0660] Furthermore, the light bulb inspection method of the third embodiment of the present invention can further include, in the destination position information, angle information relating to the tilt of socket 2160 at the destination. This allows reliable inspection even for sockets 2160 that are installed at an angle.

[0661] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further perform a process in which unmanned aerial vehicle 2100 receives information about the destination and stores the received information about the destination. This allows unmanned aerial vehicle 2100 to more reliably know the location of socket 2160 (light bulb 2150) at the destination of its own device (unmanned aerial vehicle 2100).

[0662] Furthermore, in the light bulb inspection method of the third embodiment according to the present invention, unmanned aerial vehicle 2100 can execute processing to capture an image or video of at least one of light bulb 2150 and socket 2160, analyze the captured image or video, and move its own device based on the analysis results. This makes it possible to more reliably move its own device (light bulb inspection device 2100) to its destination position.

[0663] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 determines whether it has reached a position where it can grasp light bulb 2150, and, based on the determination result, grasps light bulb 2150 when it has reached the position. This allows light bulb 2150 to be grasped more reliably.

[0664] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further perform processing in which unmanned aerial vehicle 2100 captures an image or video of light bulb 2150, analyzes the captured image or video, and determines, based on the analysis results, that unmanned aerial vehicle 2100 has reached a position where it can grasp light bulb 2150. This allows light bulb 2150 to be grasped more reliably based on the image analysis.

[0665] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 determines that its own device has reached a position where it can grasp light bulb 2150 if the captured image or video of light bulb 2150 matches the image or video of light bulb 2150 captured when unmanned aerial vehicle 2100 has reached a position where it can grasp light bulb 2150. This allows light bulb 2150 to be grasped more reliably based on image analysis using pattern matching.

[0666] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 determines that it has reached a position where it can grip light bulb 2150 when a predetermined portion of the gripping mechanism of light bulb 2150 comes into contact with light bulb 2150. This allows light bulb 2150 to be gripped more reliably based on the detection result of contact sensor 2215.

[0667] Furthermore, the light bulb inspection method according to the third embodiment of the present invention can further determine whether unmanned aerial vehicle 2100 has successfully grasped light bulb 2150, and, based on the result of this determination, can execute processing to rotate light bulb 2150. This allows light bulb 2150 to be grasped more reliably based on the detection result of contact sensor 2215.

[0668] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 captures an image or video of light bulb 2150, analyzes the captured image or video, and, based on the analysis results, determines that light bulb 2150 is being held correctly if the captured image or video is an image or video of light bulb 2150 being held correctly. This allows for more reliable confirmation of light bulb holding based on image analysis.

[0669] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 determines that light bulb 2150 has been properly gripped when a predetermined portion of the gripping mechanism of light bulb 2150 comes into contact with light bulb 2150. This makes it possible to more reliably confirm that light bulb 2150 is being gripped based on the detection result of contact sensor 2315.

[0670] Furthermore, the light bulb inspection method of the third embodiment according to the present invention can further execute a process in which unmanned aerial vehicle 2100 captures an image or video of light bulb 2150 and transmits the captured image or video. This allows the user to remotely know how the inspection of light bulb 2150 has been carried out.

[0671] Furthermore, the light bulb inspection program of the third embodiment of the present invention can cause unmanned aerial vehicle 2100 to execute the following process: fly through the air to a position where it can grasp light bulb 2150, whose base 2151 is screwed into socket 2160; grasp light bulb 2150; and, while grasping light bulb 2150, rotate light bulb 2150 in the direction that will screw together base 2151 and socket 2160. This allows light bulb 2150 to be automatically retightened in socket 2160 without manual intervention.

[0672] Furthermore, the light bulb inspection program according to the third embodiment of the present invention can further cause unmanned aerial vehicle 2100 to execute a process of stopping the rotation of light bulb 2150 after properly inserting light bulb 2150 into socket 2160, and releasing the grip of light bulb 2150 after the rotation has stopped. This makes it possible to more reliably retighten any loose light bulb 2150.

[0673] Furthermore, the light bulb inspection program according to the third embodiment of the present invention can further cause unmanned aerial vehicle 2100 to execute a process of moving itself to a position where it can grip a different light bulb 2150 after releasing the grip of light bulb 2150. This allows inspection to automatically end and move on to inspection of another light bulb.

[0674] Furthermore, the light bulb inspection program of the third embodiment of the present invention can cause unmanned aerial vehicle 2100 to fly through the air to a position where it can grasp light bulb 2150, whose base 2151 is screwed into socket 2160, and then execute a process of rotating light bulb 2150 while grasping light bulb 2150, alternately i...

Claims

1. a moving unit that flies through the air and moves the device to a position where the device can grasp a light bulb having a base screwed into a socket; A light bulb holder that holds the light bulb; a rotation unit that rotates the light bulb in a rotation direction that screws the base and the socket together while the light bulb gripping unit grips the light bulb, or that alternately rotates the light bulb in a rotation direction that screws the base and the socket together and a rotation direction that releases the screwing; An inspection device comprising:

2. For unmanned aerial vehicles, The robot flies through the air and moves a light bulb, the base of which is screwed into the socket, to a position where it can grasp it. Grasping the light bulb; While holding the light bulb, rotate the light bulb in a rotation direction in which the base and the socket are screwed together, or rotate the light bulb alternately in a rotation direction in which the base and the socket are screwed together and in a rotation direction in which the screwed together is released. An inspection method comprising:

Images