Mounting device and mounting method

Abstract

To automatically replace an electric bulb mounted on a high place, without manual intervention.SOLUTION: While a gripping mechanism 102 grips an electric bulb 150, a drone 100 flies to move to a socket provided at a predetermined position. Thereafter, the drone 100 rotates, so that a metal base 151 is screwed with the socket to mount the electric bulb 150 on the socket. After the electric bulb is completely mounted thereon, the gripping mechanism 102 releases the gripping of the electric bulb 150, and the drone 100 leaves the position. This enables the electric bulb 150 to be efficiently mounted thereon, without using a scaffolding, a stepladder, a high-place work vehicle or the like.SELECTED DRAWING: Figure 1B

Description

Technical Field

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[0001] The present invention relates to a bulb mounting device for mounting a bulb, a bulb mounting method, and a bulb mounting program. The present invention also relates to a bulb removal device for removing a bulb, a bulb removal method, and a bulb removal program. The present invention also relates to a bulb inspection device for inspecting whether a bulb is lit normally, a bulb inspection method, and a bulb inspection program. The present invention also relates to a bulb cleaning device for cleaning a bulb, a bulb cleaning method, and a bulb cleaning program. The present invention also relates to a bulb management system including a bulb management support device for controlling these bulb mounting devices, bulb removal devices, bulb inspection devices, and bulb cleaning devices.

Background Art

[0002] Conventionally, for bulb management operations such as mounting, removing, inspecting, and cleaning bulbs of lighting devices mounted on high ceilings of roofs or lighting devices mounted at high outdoor positions, scaffolding is assembled, or manual work is carried out using a working platform vehicle, a stepladder, etc.

[0003] As a related technology, there was a technology related to a bulb replacement device for a high ceiling lamp provided with a telescopic support column, a monitoring device for position confirmation, a holder for supporting a bulb, and a rotation device capable of forward and reverse rotation provided with a torque limiter (for example, refer to Patent Document 1 below).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, conventional technologies such as the one described in Patent Document 1 above have problems, particularly with replacing, inspecting, and cleaning light bulbs installed at high places, which require extensive preparation and a lot of effort and time. Furthermore, when replacing, inspecting, or cleaning light bulbs in public facilities such as office buildings and stores, there are constraints on working hours, such as having to avoid working during business hours, and there are safety issues with the work. As a result, even if a light bulb burns out or becomes dirty, it is not possible to replace, inspect, or clean it immediately, and in the meantime, leaving the burnt-out or dirty state unattended can lead to problems such as a decrease in lighting function and poor appearance.

[0006] Furthermore, the conventional technology described in Patent Document 1 mentioned above had the problem of requiring long support columns that reached the ceiling and a mobile device, which made transportation to the replacement site cumbersome.

[0007] This invention aims to provide a light bulb mounting device, a light bulb mounting method, and a light bulb mounting program that can quickly, efficiently, and safely replace, inspect, and clean light bulbs installed on high ceilings or in high outdoor locations, in order to solve the problems of the prior art described above. It also aims to provide a light bulb removal device, a light bulb removal method, and a light bulb removal program, a light bulb inspection device, a light bulb inspection method, and a light bulb inspection program, and a light bulb cleaning device, a light bulb cleaning method, and a light bulb cleaning program. [Means for solving the problem]

[0008] To solve the above-mentioned problems and achieve the objective, the light bulb mounting device according to this invention is characterized by comprising: a light bulb gripping part for gripping a light bulb; a moving part that moves the device by flying through the air so as to bring the base of the light bulb into contact with the opening of the socket in which the light bulb is to be mounted; and a rotating part that rotates the light bulb gripped by the light bulb gripping part so as to screw the base into the socket while the base is in contact with the opening of the socket.

[0009] Furthermore, the light bulb mounting device according to this invention is characterized in that the rotating part rotates itself while flying through the air.

[0010] Furthermore, the light bulb mounting device according to this invention is characterized in that, in the above invention, the rotating part rotates the light bulb independently of the rotation of the device itself.

[0011] Furthermore, the light bulb mounting device according to this invention is characterized in that, in the above invention, it includes a light bulb mounting completion determination unit that determines whether or not the light bulb has been properly mounted in the socket, the rotating unit stops rotating based on the determination result by the light bulb mounting completion determination unit, and the light bulb gripping unit releases its grip on the light bulb after the rotation by the rotating unit has stopped.

[0012] Furthermore, the light bulb mounting device according to the present invention comprises an imaging unit that captures an image or video of the area around the base of the light bulb, and an analysis unit that analyzes the image or video captured by the imaging unit, wherein the light bulb mounting completion determination unit determines, based on the analysis results of the analysis unit, that the light bulb has been properly mounted in the socket when a predetermined portion of the base is hidden from view by the socket.

[0013] Furthermore, the light bulb mounting device according to the present invention is characterized in that, in the above invention, it includes a torque detection unit that detects the gripping torque applied to the light bulb gripping unit in the direction of rotation of the light bulb by the rotating unit, and the light bulb mounting completion determination unit determines, based on the detection result of the torque detection unit, that the light bulb has been properly mounted in the socket when the gripping torque becomes equal to or greater than a predetermined value or remains equal to or greater than a predetermined value for a predetermined time or longer.

[0014] Furthermore, the light bulb mounting device according to the present invention is characterized in that, in the above invention, it comprises a light intensity detection unit for detecting the light intensity of the light bulb, and the light bulb mounting completion determination unit determines, based on the detection result of the light intensity detection unit, that the light bulb has been properly mounted in the socket when the light intensity of the light bulb becomes equal to or above a predetermined value or remains equal to or above a predetermined value for a predetermined period of time or longer.

[0015] Furthermore, the light bulb mounting device according to the present invention is characterized in that, in the above invention, it comprises a temperature detection unit for detecting the temperature of the light bulb, and the light bulb mounting completion determination unit determines, based on the detection result of the temperature detection unit, that the light bulb has been properly mounted in the socket when the temperature of the light bulb reaches or exceeds a predetermined value or remains at or above a predetermined value for a predetermined period of time or longer.

[0016] Furthermore, the light bulb mounting device according to the present invention is characterized in that it comprises an imaging unit that captures an image or video of at least one of the light bulb and the socket, and a transmitting unit that transmits the image or video captured by the imaging unit.

[0017] Furthermore, the light bulb mounting device according to the present invention comprises an imaging unit that captures an image or video of the area around the base of the light bulb, and an analysis unit that analyzes the image or video captured by the imaging unit, wherein the moving unit moves itself based on the analysis results of the analysis unit.

[0018] Furthermore, the light bulb mounting device according to this invention is characterized in that, in the above invention, it is equipped with a GNSS (Global Navigation Satellite System) receiving unit, and the moving unit moves itself based on the positioning results obtained by the GNSS receiving unit.

[0019] Furthermore, the light bulb mounting device according to this invention is characterized in that, in the above invention, it includes a storage unit that stores location information of the destination to which the device is moved, and the moving unit moves the device based on the location information of the destination stored in the storage unit.

[0020] In addition, the bulb mounting device according to this invention is characterized in that, in the above invention, the position information of the destination includes angle information regarding the inclination of the socket at the destination.

[0021] In addition, the bulb mounting device according to this invention is characterized in that, in the above invention, it includes a receiving unit that receives the information of the destination, and the storage unit stores the information of the destination received by the receiving unit.

[0022] In addition, the bulb mounting method according to this invention is characterized in that an unmanned aircraft holds a bulb, flies and moves in the air so that the base of the bulb abuts against the opening of the socket to which the bulb is to be mounted, and rotates the bulb so that the base is screwed into the socket in a state where the base abuts against the opening of the socket.

[0023] In addition, the bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aircraft executes a process of rotating the bulb by rotating its own device while flying in the air.

[0024] In addition, the bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aircraft executes a process of rotating the bulb independently of the rotation of its own device.

[0025] In addition, the bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aircraft determines whether the bulb can be normally mounted on the socket, stops the rotation of the bulb based on the determination result, and releases the grip of the bulb after the rotation stops.

[0026] Also, in the method for attaching a light bulb according to this invention, in the above invention, the unmanned aircraft captures an image or video near the base of the light bulb, analyzes the captured image or video, and based on the analysis result, when a predetermined portion of the base is hidden and not visible in the socket, it determines that the light bulb has been successfully attached to the socket and executes a process.

[0027] Also, in the method for attaching a light bulb according to this invention, in the above invention, the unmanned aircraft detects the gripping torque in the rotational direction of the light bulb applied to the gripping portion that holds the light bulb, and based on the detection result of the gripping torque, when the gripping torque becomes equal to or greater than a predetermined value or when it continuously becomes equal to or greater than a predetermined value for a predetermined time or more, it determines that the light bulb has been successfully attached to the socket and executes a process.

[0028] Also, in the method for attaching a light bulb according to this invention, in the above invention, the unmanned aircraft detects the luminous intensity of the light bulb, and based on the detection result of the luminous intensity, when the luminous intensity of the light bulb becomes equal to or greater than a predetermined value or when it continuously becomes equal to or greater than a predetermined value for a predetermined time or more, it determines that the light bulb has been successfully attached to the socket and executes a process.

[0029] Also, in the method for attaching a light bulb according to this invention, in the above invention, the unmanned aircraft detects the temperature of the light bulb, and based on the detection result of the temperature, when the temperature of the light bulb becomes equal to or greater than a predetermined value or when it continuously becomes equal to or greater than a predetermined value for a predetermined time or more, it determines that the light bulb has been successfully attached to the socket and executes a process.

[0030] Also, in the method for attaching a light bulb according to this invention, in the above invention, the unmanned aircraft captures an image or video of at least one of the light bulb and the socket and transmits the captured image or video.

[0031] Furthermore, the light bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle captures an image or video of the area around the base of the light bulb, analyzes the captured image or video, and moves its own device based on the analysis results.

[0032] Furthermore, the light bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle performs a process of moving its own device based on the positioning results obtained by GNSS (Global Navigation Satellite System).

[0033] Furthermore, the light bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle stores location information of the destination of its device and performs a process of moving its device based on the stored location information of the destination.

[0034] Furthermore, the light bulb mounting method according to this invention is characterized in that, in the above invention, the position information of the destination includes angle information relating to the inclination of the socket at the destination.

[0035] Furthermore, the light bulb mounting method according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle receives information about the destination and performs a process of storing the received information about the destination.

[0036] Furthermore, the light bulb mounting program according to this invention is characterized by causing an unmanned aerial vehicle to grasp a light bulb, fly through the air to bring the base of the light bulb into contact with the opening of the socket in which the light bulb is to be mounted, and then, while the base is in contact with the opening of the socket, to rotate the light bulb so that the base is screwed into the socket.

[0037] Furthermore, the light bulb mounting program according to this 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 through the air.

[0038] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, it causes the unmanned aerial vehicle to perform a process that rotates the light bulb independently of the rotation of the device itself.

[0039] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is instructed to determine whether or not the light bulb has been properly mounted into the socket, to stop the rotation of the light bulb based on the determination result, and to release the grip on the light bulb after the rotation has stopped.

[0040] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is instructed to capture an image or video of the area around the base of the light bulb, analyze the captured image or video, and, based on the analysis results, determine that the light bulb has been properly mounted in the socket when a predetermined portion of the base is hidden and no longer visible by the socket.

[0041] Furthermore, the light bulb mounting program according to the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is instructed to detect the gripping torque in the rotational direction of the light bulb applied to the gripping part that is holding the light bulb, and based on the detection result of the gripping torque, if the gripping torque becomes equal to or greater than a predetermined value or remains equal to or greater than a predetermined value for a predetermined time or longer, it determines that the light bulb has been properly mounted into the socket.

[0042] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is instructed to perform a process in which it detects the luminous intensity of the light bulb and, based on the detection result of the luminous intensity, determines that the light bulb has been properly mounted in the socket when the luminous intensity of the light bulb exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer.

[0043] Furthermore, the light bulb mounting program according to the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is instructed to perform a process that detects the temperature of the light bulb and, based on the temperature detection result, determines that the light bulb has been properly mounted in the socket when the temperature of the light bulb exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer.

[0044] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, it performs the process of capturing an image or video of at least one of the light bulb and the socket, and transmitting the captured image or video to the unmanned aerial vehicle.

[0045] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle captures an image or video of the area around the base of the light bulb, analyzes the captured image or video, and moves its own device based on the analysis results.

[0046] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, it causes the unmanned aerial vehicle to perform a process of moving its own device based on the positioning results obtained by GNSS (Global Navigation Satellite System).

[0047] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is instructed to store location information of the destination of the device and to execute a process of moving the device based on the stored location information of the destination.

[0048] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, the position information of the destination includes angle information relating to the inclination of the socket at the destination.

[0049] Furthermore, the light bulb mounting program according to this invention is characterized in that, in the above invention, it causes the unmanned aerial vehicle to receive information about the destination and to store the received information about the destination. [Effects of the Invention]

[0050] The light bulb mounting device, light bulb mounting method, and light bulb mounting program according to this 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 drawing]

[0051] [Figure 1A] This is an explanatory diagram (part 1) showing an example of the external appearance of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of this invention. [Figure 1B] This is an explanatory diagram (part 2) showing an example of the external appearance of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of this invention. [Figure 2] This is a block diagram showing an example of the hardware configuration of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of this invention. [Figure 3] This is a block diagram showing an example of the functional configuration of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of this invention. [Figure 4] This flowchart shows an example of the processing procedure for a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of this invention. [Figure 5] This is an explanatory diagram (part 1) showing the process of installing a light bulb using a light bulb mounting device. [Figure 6] This is an explanatory diagram (part 2) showing the process of installing a light bulb using a light bulb mounting device. [Figure 7] This is an explanatory diagram (part 3) showing the process of installing a light bulb using a light bulb mounting device. [Figure 8] This is an explanatory diagram (part 4) showing the process of installing a light bulb using a light bulb mounting device. [Figure 9]This is an explanatory diagram (part 5) showing the process of installing a light bulb using a light bulb mounting device. [Figure 10] This is an explanatory diagram (part 6) showing the process of installing a light bulb using a light bulb mounting device. [Figure 11A] This is an explanatory diagram (part 1) showing an example of the external appearance of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of this invention. [Figure 11B] This is an explanatory diagram (part 2) showing an example of the external appearance of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of this invention. [Figure 12] This is a block diagram showing an example of the hardware configuration of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of this invention. [Figure 13] This is a block diagram showing an example of the functional configuration of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of the present invention. [Figure 14] This is a flowchart showing an example of the processing procedure for a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of this invention. [Figure 15] This is an explanatory diagram (part 1) showing the process of removing a light bulb using a light bulb removal device. [Figure 16] This is an explanatory diagram (part 2) showing the process of removing a light bulb using a light bulb removal device. [Figure 17] This is an explanatory diagram (part 3) showing the process of removing a light bulb using a light bulb removal device. [Figure 18] This is an explanatory diagram (part 4) showing the process of removing a light bulb using a light bulb removal device. [Figure 19] This is an explanatory diagram (part 5) showing the process of removing a light bulb using a light bulb removal device. [Figure 20] This is an explanatory diagram (part 6) showing the process of removing a light bulb using a light bulb removal device. [Figure 21A] This is an explanatory diagram (part 1) showing an example of the external appearance of a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of this invention. [Figure 21B]This is an explanatory diagram (part 2) showing an example of the external appearance of a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of this invention. [Figure 22] This is a block diagram showing an example of the hardware configuration of a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of this invention. [Figure 23] This is a block diagram showing an example of the functional configuration of a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of the present invention. [Figure 24] This flowchart shows an example of the processing procedure for a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of this invention. [Figure 25] This is an explanatory diagram (part 1) showing the process of inspecting light bulbs using a light bulb inspection device. [Figure 26] This is an explanatory diagram (part 2) showing the process of inspecting light bulbs using a light bulb inspection device. [Figure 27] This is an explanatory diagram (part 3) showing the process of inspecting light bulbs using a light bulb inspection device. [Figure 28] This is an explanatory diagram (part 4) showing the process of inspecting light bulbs using a light bulb inspection device. [Figure 29] This is an explanatory diagram (part 5) showing the process of inspecting light bulbs using a light bulb inspection device. [Figure 30] This is an explanatory diagram (part 6) showing the process of inspecting light bulbs using a light bulb inspection device. [Figure 31A] This is an explanatory diagram (part 1) showing an example of the external appearance of a light bulb cleaning device (unmanned aerial vehicle) according to Embodiment 4 of this invention. [Figure 31B] This is an explanatory diagram (part 2) showing an example of the external appearance of a light bulb cleaning device (unmanned aerial vehicle) according to Embodiment 4 of this invention. [Figure 32] This is a block diagram showing an example of the hardware configuration of a light bulb cleaning device (unmanned aerial vehicle) according to Embodiment 4 of the present invention. [Figure 33] This is a block diagram showing an example of the functional configuration of a light bulb cleaning device (unmanned aerial vehicle) according to Embodiment 4 of this invention. [Figure 34]This flowchart shows an example of the processing procedure for a light bulb cleaning device (unmanned aerial vehicle) according to Embodiment 4 of this invention. [Figure 35] This is an explanatory diagram (part 1) showing the process of cleaning a light bulb using a light bulb cleaning device. [Figure 36] This is an explanatory diagram (part 2) showing the process of cleaning light bulbs using a light bulb cleaning device. [Figure 37] This is an explanatory diagram (part 3) showing the process of cleaning light bulbs using a light bulb cleaning device. [Figure 38] This is an explanatory diagram (part 4) showing the process of cleaning light bulbs using a light bulb cleaning device. [Figure 39] This is an explanatory diagram (part 5) showing the process of cleaning light bulbs using a light bulb cleaning device. [Modes for carrying out the invention]

[0052] Preferred embodiments of this invention (Embodiment 1, Embodiment 2, Embodiment 3, and Embodiment 4) will be described in detail below with reference to the attached drawings. Embodiment 1 relates to a light bulb mounting device, a light bulb mounting method, and a light bulb mounting 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.

[0053] <Embodiment 1> (An example of the appearance of a light bulb mounting device) Figures 1A and 1B are explanatory diagrams showing an example of the external appearance of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of the present invention. Figure 1A shows the device without a light bulb being held, and Figure 1B shows the device with a light bulb being held.

[0054] As can be seen from Figures 1A and 1B, the light bulb mounting device 100 is composed of, for example, an unmanned aerial vehicle (drone). Hereafter, the light bulb mounting device 100 will also be referred to as an unmanned aerial vehicle (drone). In Figures 1A and 1B, the unmanned aerial vehicle (drone) which is the light bulb mounting device 100 can specifically be a quadcopter equipped with four propellers 101a to 101d around its periphery.

[0055] The unmanned aerial vehicle (drone) 100 is not limited to quadcopters; it can employ various multicopters, such as hexacopters with six propellers and octocopters with eight propellers. By independently controlling the rotation direction and speed of each of its multiple propellers (four propellers 101a to 101d), the unmanned aerial vehicle (drone) 100 can maintain its attitude and perform actions such as ascending, descending, horizontal movement, and clockwise and counterclockwise rotation (rotation).

[0056] Furthermore, the unmanned aerial vehicle 100 is not limited to those equipped with propellers. It may also be a vehicle that flies through the air using a drive other than a propeller, or a combination of such and a propeller.

[0057] The unmanned aerial vehicle (drone), which is the light bulb mounting device 100, includes a gripping mechanism 102 for gripping the light bulb 150 and a connecting member 103 for connecting the gripping mechanism 102 and the unmanned aerial vehicle (drone). In Figures 1A and 1B, the connecting member 103 is made up of, for example, 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.

[0058] The gripping mechanism 102 consists of multiple (four in Figures 1A and 1B) arms 104 (104a to 104d). The arms 104 are driven by one or more motors, gear trains, wires, etc., built into the gripping mechanism 102 (not shown), and as each arm 104 moves from a direction away from each other towards each other (towards the center), the arms 104 and each joint of the arms 104 are driven along the curved surface of the glass sphere 152, thereby gripping the light bulb by enveloping the glass sphere 152 together with the base portion of the arms 104 (palm portion 601 shown in Figure 6, described later). Conversely, the gripping of the light bulb 150 is released when the arms 104 move away from the center.

[0059] Depending on the size and shape of the glass sphere 152, the drive control of the arm 104 is changed, allowing multiple types (shapes) of glass spheres 152 to be gripped with the optimal gripping force.

[0060] A gripping assist member 105 may be provided at the portion of each arm 104 that contacts the glass bulb 152. The gripping assist member 105 is made of a material that has at least two functions: it functions as a cushioning member to prevent scratching the glass bulb 152 or damaging the light bulb 150, and it functions as an anti-slip member to prevent the light bulb 150 from rotating inside the arm 104 when screwing the light bulb 150 into or out of the socket (receptacle) 160 while gripping the glass bulb 152.

[0061] Alternatively, a gripping assist member 105 made of a material that functions as a cushioning member and a gripping assist member 105 that functions as an anti-slip member may be provided separately (for example, alternately) on multiple arms. The gripping assist member 105 may be provided integrally with the arm 104, or the gripping assist member 105 may be attached separately.

[0062] By providing a gripping assist member 105 on the arm 104, the light bulb 150 will not rotate freely within the arm 104 that grips the glass bulb 152 of the light bulb 150, making it possible to reliably attach (install) the light bulb 150 to the socket 160 or remove it from the socket 160.

[0063] The main body of the unmanned aerial vehicle (drone) 100 is equipped with a rotation mechanism (not shown) that rotates the connected connecting member 103 clockwise and counterclockwise around its longitudinal center. The rotation mechanism can be driven by a motor. As the connecting member 103 rotates, the gripping mechanism 102 also rotates, and the light bulb 150 held by the gripping mechanism 102 rotates in the same way, thereby allowing it to be screwed into or unscrewed from the socket 160.

[0064] The connecting member 103 is detachable from both the gripping mechanism 102 and the unmanned aerial vehicle (drone). Therefore, the gripping mechanism 102 may be directly attached to the unmanned aerial vehicle (drone) body without the connecting member 103. Furthermore, the length of the connecting member 103 can be appropriately changed depending on the position where the light bulb is attached or removed and the surrounding conditions. In other words, connecting members 103 of multiple lengths can be interchanged and used. The connecting member 103 itself may also be equipped with an extendable / retractable mechanism.

[0065] Furthermore, the gripping mechanism 102 may be integrally formed with the unmanned aerial vehicle (drone) body. That is, the unmanned aerial vehicle (drone) body may have a mechanism for gripping the light bulb 150 (similar to the gripping mechanism 102, or one with a different configuration from the gripping mechanism 102) without using the connecting member 103.

[0066] Furthermore, the gripping mechanism 102 does not have to be configured in this way, as long as it can grip the light bulb 150 and automatically detach (release) the gripped light bulb 150. For example, although not shown in the illustration, the light bulb 150 may be gripped by suction.

[0067] Furthermore, although not shown in Figures 1A and 1B, the unmanned aerial vehicle (drone), which is the light bulb mounting device 100, is equipped with a camera 205 (see Figure 2). The camera 205 can be implemented, for example, by a general-purpose digital camera. The light bulb mounting device 100 uses the camera 205 to capture images of the area around the light bulb mounting device 100. Therefore, although not shown in Figures 1A and 1B, it is sufficient to mount the camera in a position that allows it to capture images of the area around the gripping mechanism 102. The position is not limited.

[0068] The camera 205 may be installed on the gripping mechanism 102 or the connecting member 103. More specifically, the camera 205 may be installed near the point where the gripping mechanism 102 makes contact with the light bulb when it is gripped, for example, on the arms 104a to 104d or the base portion of the arms 104a to 104d (palm portion 601).

[0069] The light bulb mounting device 100 may have one camera 205 or multiple cameras. In a light bulb mounting device 100 equipped with multiple cameras 205, it is not limited to one type of camera 205, but may be equipped with multiple different types of cameras 205.

[0070] The camera 205 may be connected to the light bulb mounting device 100 in a manner that allows for adjustment of its orientation. Specifically, the camera 205 can be connected to the bottom surface of the light bulb mounting device 100, for example, via a universal joint such as a ball joint. By connecting the camera 205 to the light bulb mounting device 100 via a universal joint such as a ball joint, a high degree of freedom for adjusting the orientation of the camera 205 can be ensured.

[0071] Furthermore, the light bulb mounting device 100 may be equipped with a drive mechanism that changes the attitude of the camera 205 relative to the device (drone). This allows the attitude of the camera 202 relative to the light bulb mounting device 100 to be adjusted without human intervention. This drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 205 relative to the light bulb mounting device 100 adjustable without human intervention, the shooting direction can be arbitrarily adjusted during the flight of the light bulb mounting device 100, regardless of the attitude of the light bulb mounting device 100. The camera 205 may also be equipped with a zoom function.

[0072] 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 supply) is a technology that receives power to the battery 203 shown in Figure 2 without using charging contacts, and is also called contactless power supply or wireless power supply.

[0073] The power receiving coil is positioned inside the outer surface of the housing of the light bulb mounting device 100. This prevents deterioration and failure of the power receiving coil due to water droplets such as raindrops or oil from hands. The light bulb mounting device 100 may also be equipped with charging contacts for charging the battery 203, either in place of or in addition to the power receiving coil.

[0074] The light bulb mounting device 100 may further include a solar cell (solar cell) 206 that generates electricity from ambient light such as sunlight. The solar cell 206 may be installed, for example, on the upper surface of the housing of the light bulb mounting device 100. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by including the solar cell 206, charging can be performed during flight, thus extending the flight time per charge.

[0075] The light bulb mounting device 100 may also be equipped with a speaker (not shown in the figure). The device may detect the status of the installation of the light bulb 150 and, depending on the detected status, emit warning sounds, confirmation sounds, or voice messages such as "Installation started!", "Installation complete!", or "Installation error detected!" from the speaker. This allows for accurate notification of the installation status to workers on the ground.

[0076] The light bulb mounting device 100 may also be equipped with an LED lamp, which is not shown in the illustration. It can detect the status of the installation of the light bulb 150 and emit red, blue, yellow, or other colors of light depending on the detected status, thereby accurately informing workers on the ground of the installation status.

[0077] (Hardware configuration of the light bulb mounting device) Next, the hardware configuration of the light bulb mounting device 100 will be described. Figure 2 is a block diagram showing an example of the hardware configuration of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of the present invention.

[0078] As shown in Figure 2, the light bulb mounting device (unmanned aerial vehicle) 100 consists of a control circuit 201, a communication interface 202, a battery 203, a motor 204, a camera 205, a solar cell 206, and the like. The light bulb mounting device 100 is also equipped with sensors such as a torque sensor 211, an illuminance sensor 212, a temperature sensor 213, a GPS sensor 214, a contact sensor 215, and various sensors (accelerometer, object sensor, etc.) 216. The various parts 201-206 and 211-216 of the light bulb mounting device 100 are connected by a bus 200.

[0079] The control circuit 201 drives and controls each part of the light bulb mounting device 100. The control circuit 201 can be implemented by a microcontroller consisting of a CPU and memory. The memory stores various types of information, such as the control program for the unmanned aerial vehicle according to this embodiment of the invention, the position information of the socket 160, and information pre-input by the user of the light bulb mounting device 100.

[0080] The control circuit 201 can be implemented, for example, by an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0081] The CPU controls the entire light bulb mounting device 100 by executing programs stored in memory. The memory stores various types of information, such as programs executed by the CPU, information about various conditions related to the operation of the light bulb mounting device 100, and information about images captured by the camera 205.

[0082] The memory can be implemented as, for example, an IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and detached from the light bulb mounting device 100 via a card slot provided in the light bulb mounting device 100.

[0083] The memory card function can be achieved using an IC card, such as an SD (Secure Digital) memory card. Alternatively, the memory function can be achieved using an external USB memory device.

[0084] Specifically, the control circuit 201 includes, for example, a flight controller and an ESC (Electronic Speed ​​Controller). The control circuit 201 may also include circuits such as a BEC (Battery Elimination Circuit) and a UBEC (Universal BEC). Furthermore, if the battery 203 is implemented using a secondary battery, the control circuit 201 may include a charging circuit for charging (storing energy) the battery 203.

[0085] The flight controller performs calculations related to the rotation control of motor 204 and outputs a control signal. The ESC controls the rotation of motor 204 based on the control signal output from the flight controller. While the unmanned aerial vehicle 100 is in flight, the flight controller repeatedly performs calculations based on the tilt of the unmanned aerial vehicle 100 and recursively outputs a control signal for motor 204.

[0086] The flight controller outputs control signals to the ESC that control the rotation direction and speed of propellers 101a to 101d. Specifically, for example, it prevents the unmanned aerial vehicle 100 from rotating by outputting control signals that control adjacent propellers to rotate in opposite directions.

[0087] Furthermore, the light bulb mounting device 100 is moved forward by controlling the propellers 101a to 101d in the direction of travel to rotate slower than the propellers 101a to 101d in the direction of travel. Also, the light bulb mounting device 100 is rotated to the right by controlling the propeller on the right side of the propellers 101a to 101d to rotate slower than the propeller on the left side of the propellers 101a to 101d.

[0088] Furthermore, the control circuit 201 may include circuits such as an IMU (Inertial Measurement Unit: inertial sensor).

[0089] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of motor 204 and outputs control signals to the ESC to control the rotation direction and speed of propellers 101a to 101d (propeller motor 204).

[0090] The IMU is a set of sensors necessary for the unmanned aerial vehicle 100 to acquire external information, and is composed of various sensors 216 (such as an accelerometer, gyroscope, barometric pressure sensor, ultrasonic sensor, and magnetic compass). A GPS sensor 214 may also be included in the IMU.

[0091] Furthermore, the control circuit 201 includes a charging circuit that charges the battery 203 with electricity generated by the solar cell 206, and a remaining charge measurement circuit that measures the remaining charge of the battery 203.

[0092] The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 206. The remaining charge measurement circuit measures the remaining charge of the battery 203 using various known methods, such as the impedance track method, the voltage measurement method, the Coulomb counter method, or the battery cell modeling method.

[0093] Communication I / F 202 is a wireless communication interface that connects the control unit 250 and network N via a communication line. It controls the interface between network N and the inside of the light bulb mounting device 100, and controls the input of data from and output of data to external devices connected via network N. Network N can be implemented by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0094] The communication interface 202 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 202 may be a wireless communication interface such as a mobile phone network (e.g., LTE (Long Term Evolution), PHS (Personal Handy-phone System)).

[0095] Communication via the communication interface 202 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory mentioned above may store information obtained through communication via the communication interface 202.

[0096] The control circuit 201 communicates with an external device (such as a pilot 250 or a management server 260) via the communication interface 202, thereby obtaining various information, including location information, for the light bulb 150 (socket 160) to be replaced from the external device. Furthermore, each time the control circuit 201 obtains various information from the external device, it may store the obtained information in memory or update the contents of the memory based on the obtained information.

[0097] The battery 203 supplies power to operate the various parts of the light bulb mounting device 100. The battery 203 can be implemented as a secondary battery (rechargeable battery, storage battery), such as a lithium battery. The battery 203 implemented as a secondary battery may be detachable from the light bulb mounting device 100.

[0098] Furthermore, the light bulb mounting device (unmanned aerial vehicle) 100 may be equipped with charging contacts for charging the battery 203. The charging contacts may be, for example, in the form of exposed terminals or in the form of a connector.

[0099] The light bulb mounting device (unmanned aerial vehicle) 100 may be equipped with a power receiving coil for wireless power transfer (contactless power transmission) in place of, or in addition to, the charging contacts for charging the battery 203.

[0100] Wireless power transfer is a technology that receives power to the battery 203 without using charging contacts, and is also called contactless power transfer or wireless power transfer. The power receiving coil is located inside the outer surface of the light bulb mounting device (unmanned aerial vehicle) 100. This prevents deterioration and failure of the light bulb mounting device (unmanned aerial vehicle) 100 due to water droplets such as rain and dew. The battery 203 may be implemented using a primary battery that only discharges DC power.

[0101] Motor 204 is controlled by control circuit 201 and rotates to rotate propellers 101a to 101d. Specifically, motor 204 can be a brushless motor in which the rotor is made up of permanent magnets and the stator is made up of coils.

[0102] By providing the same number of motors 204 as the number of propellers 101a to 101d, each propeller 101a to 101d can be rotated independently, allowing the light bulb mounting device 100 to be moved forward, backward, swung left or right, or rotated. In addition, motors for rotating the gripping mechanism 102 and connecting member 103, and motors for driving the arm 104 that opens and closes the grip of the gripping mechanism 102 may also be provided.

[0103] The camera 205, which is not shown in Figures 1A and 1B, is equipped with an image sensor and captures an image by causing the image sensor to receive light that has passed through the photographic lens. The camera 205 also outputs the captured image, i.e., image information (captured data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 201.

[0104] Camera 205 may also be capable of shooting video. Video includes a series of still images taken at predetermined time intervals. Image information may be compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts Group)). Camera 205 may also be capable of shooting still images.

[0105] Camera 205 may be implemented not as a general-purpose digital camera, but as a night vision camera that amplifies sensitivity to light to capture images in dark places, an infrared camera that is sensitive to infrared light, or an infrared color night vision camera that analyzes the grayscale in images captured by an infrared camera to capture color images. By capturing images using a night vision camera, infrared camera, or infrared color night vision camera, users can be accurately recognized even at night or in dimly lit indoor environments.

[0106] Solar cell 206 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In solar cell 206, when light energy from ambient light such as sunlight is applied to the PN junction, 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 both the P-type and N-type silicon semiconductors, and the generated electricity can be extracted via wires connected to these electrodes.

[0107] The torque sensor 211 can measure torque by transmitting the force applied to the input shaft to the measuring shaft within the measuring instrument, thereby distorting the measuring shaft, and measuring that distortion. Specifically, the force applied to the shaft of the connecting member 103 connected to the gripping mechanism 102 that holds the light bulb 150 is transmitted to the measuring shaft, and the gripping torque applied to the gripping mechanism 102 that holds the light bulb 150 can be measured by the distortion of that measuring shaft.

[0108] The illuminance sensor 212 converts light incident on the light-receiving element into an electric current and detects brightness. That is, the current flowing through the phototransistor changes according to the brightness, and as a result, a voltage corresponding to the brightness appears across the resistor installed in the circuit, allowing light to be detected. The illuminance sensor 212 may have a structure in which, for example, a photodiode and a transistor are integrated.

[0109] The temperature sensor 213 may be a contact type that measures the temperature by bringing the sensor into contact with the object to be measured (light bulb 150) and setting the object and the sensor to the same temperature, or it may be a non-contact type that measures the temperature from the intensity of the thermal energy radiated from the object to be measured.

[0110] Examples of contact-type temperature sensors include thermocouples, which measure temperature by connecting the ends of two different metal wires and utilizing the principle that a thermoelectric voltage is generated by the temperature difference between the two ends; resistance thermometers, which measure temperature by utilizing the property that the electrical resistance of metals increases or decreases in proportion to temperature; and thermistors, which measure temperature by utilizing the property that the resistance value changes significantly with temperature changes using an element made by sintering a metal oxide. Other examples include bimetallic strips, which measure temperature from the change in shape due to the difference in thermal expansion coefficients of different metals, and filling-type thermometers, which measure temperature by converting the thermal expansion of the temperature-sensing part into a change in pressure.

[0111] Furthermore, non-contact temperature sensors may also be radiation thermometers that measure temperature by capturing thermal energy radiation emitted from the object being measured. Specifically, these may include total radiation thermometers that measure thermal energy across a wide wavelength band, partial radiation thermometers with a relatively wide wavelength band, monochromatic radiation thermometers with a narrow wavelength band, and two-color radiation thermometers that measure from the ratio of thermal energy in two narrow wavelength bands. They may also be thermal imaging sensors (such as thermographs) that can measure the temperature distribution over a relatively wide area.

[0112] The GPS sensor 214 determines 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, a baseband unit, and so on.

[0113] 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.

[0114] The GPS sensor 214 may also include a filter to remove unwanted components and an amplifier such as an LNA (Low Noise Amplifier) ​​or a power amplifier PA (Power Amplifier).

[0115] The current position of the light bulb mounting device 100 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distance to each of the four GPS satellites and performs positioning by calculating the position where these distances intersect. Instead of GPS, which determines the geometric position between the GPS satellites and the light bulb mounting device 100 based on radio waves received from GPS satellites, the current position of the light bulb mounting device 100 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo.

[0116] Specifically, the contact sensor 215 can be a CMC (Carbon Micro Coil) tactile sensor or the like. The contact state can be detected by detecting the change in the electrical characteristics of the sensor element due to the mechanical deformation of the material (CMC) uniformly dispersed inside the sensor element, and an output signal can be obtained.

[0117] Among the various sensors 216, the object sensor detects the presence or absence of obstacles within a predetermined range from the light bulb mounting device 100. The object sensor also detects the distance to the obstacle. An obstacle is an object that hinders the flight of the light bulb mounting device 100, and specifically includes, for example, walls, ceilings, furniture, and people. When the light bulb mounting device 100 is flown outdoors, for example, vehicles, other light bulb mounting devices 100, trees, buildings, and all other objects that hinder the flight of the light bulb mounting device 100 are considered obstacles.

[0118] Object sensors can be implemented specifically by non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. Object sensors can be implemented by at least one of these non-contact sensors, such as infrared sensors, capacitive sensors, and ultrasonic sensors.

[0119] The unmanned aerial vehicle 100 may be equipped with multiple types of non-contact sensors as object sensors. The light bulb mounting device 100 may also detect the presence or absence of obstacles within a predetermined range from the unmanned aerial vehicle 100 based on images captured by the camera 205.

[0120] Among the various sensors 216, the accelerometer detects gravity, vibrations, and other motions and shocks acting on the unmanned aerial vehicle. For example, a frequency-varying accelerometer such as a quartz accelerometer, which is low-noise and highly stable, can be used. Alternatively, a piezoelectric accelerometer, a capacitive accelerometer, or a piezoresistive accelerometer may also be used.

[0121] The accelerometer detects the change in the speed of the unmanned aerial vehicle 100. The gyroscope and accelerometer allow for the calculation of changes in both the tilt and speed of the unmanned aerial vehicle 100, enabling it to continue flying even while tilted.

[0122] Among the various sensors 216, the gyro sensor detects the change in the angle of the unmanned aerial vehicle 100. The gyro sensor detects the change in the angle of the unmanned aerial vehicle 100 by, for example, measuring the angular velocity using the Coriolis force. The gyro sensor enables the unmanned aerial vehicle 100 to fly stably.

[0123] Among the various sensors 216, the barometric pressure sensor 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 atmospheric pressure. By measuring the altitude of the unmanned aerial vehicle 100 using the barometric pressure sensor, the altitude of the unmanned aerial vehicle 100 can be maintained.

[0124] Among the various sensors 216, the ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the unmanned aerial vehicle 100. The ultrasonic sensor is, for example, installed 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 downwards from the unmanned aerial vehicle 100.

[0125] This enables stable tracking of the unmanned aerial vehicle 100 on the ground (floor, ground, etc.) and stable landing. When using an ultrasonic sensor as an object sensor, ultrasonic waves may be emitted in all directions from the unmanned aerial vehicle 100, and the ultrasonic sensor may function as both an object sensor and as part of the IMU.

[0126] Among the various sensors 216, the magnetic direction sensor detects which direction (east, west, north, or south) the unmanned aerial vehicle 100 is facing. Since the unmanned aerial vehicle 100 is affected by magnetic fields depending on the location where it is flown, it is preferable to perform compass calibration and adjust the magnetic direction sensor when changing the flight location for operational reasons.

[0127] Among the various sensors 216, the motion sensor outputs an electrical signal to the control circuit 201 that corresponds to the temperature change caused by the absorption of infrared rays by the light-receiving element. Specifically, the motion sensor, for example, converts the current signal corresponding to the temperature change into a voltage signal and amplifies it, and when the amplified voltage signal exceeds a predetermined threshold, it outputs a predetermined electrical signal to the control circuit 201. The control circuit 201 detects a user when it receives the predetermined electrical signal output from the motion sensor.

[0128] Furthermore, the speaker, which is not shown in the diagram, generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. The speaker may also have an output terminal that outputs an audio signal, and an external speaker may be connected to this output terminal to generate sound.

[0129] In addition, although not shown in Figure 2, the unmanned aerial vehicle 100 may be equipped with a microphone and an LED lamp.

[0130] The microphone collects sound from the surroundings of the unmanned aerial vehicle 100. The microphone converts the sound input as analog data into an electrical signal. Specifically, the microphone converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format.

[0131] The LED lamp is controlled by the control circuit 201 to turn on, off, or blink. The LED lamp may also indicate the status of the unmanned aerial vehicle 100. Specifically, for example, it may blink in a predetermined pattern when the remaining charge falls below a predetermined threshold. The LED lamp is not limited to one color, but may emit multiple colors.

[0132] The unmanned aerial vehicle 100 may also be equipped with input / output devices such as keys or buttons for giving input instructions to the unmanned aerial vehicle 100, a power switch for switching the power of the unmanned aerial vehicle 100 on and off, and LED lamps located in positions other than the eyes, although these are not shown in the figures. The input / output devices may be implemented by connection terminals to which other information processing devices can be connected.

[0133] Furthermore, the unmanned aerial vehicle 100 may be equipped with a projector for projecting images. Specifically, the control circuit 201 may include, for example, a GPU (Graphics Processing Unit) specialized for image processing of the image projected by the projector. By including a GPU, fast-moving videos and other images can be projected in high quality.

[0134] A projector projects an image onto a location illuminated by light emitted from a projector light source, guided through an optical system to a predetermined path, and projected onto the outside of the projector via a projection lens. The projector may also 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 projection location.

[0135] The distance between the projector and the position on which the image is projected can be determined, for example, using a distance sensor. Various known sensors can be used as distance sensors, such as laser distance sensors, ultrasonic sensors, and infrared sensors.

[0136] The light bulb mounting device 100 can be manually operated using the pilot 250. This allows manual installation, removal, inspection, and cleaning to be performed even when these tasks are difficult to perform automatically. The pilot 250 can be a general-purpose drone controller equipped with a control mechanism for controlling the gripping mechanism 102.

[0137] (Functional configuration of a light bulb mounting device) Figure 3 is a block diagram showing an example of the functional configuration of a light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of the present invention.

[0138] In Figure 3, the light bulb mounting device (unmanned aerial vehicle) 100 comprises the following components: a light bulb gripping unit 301, a moving unit 302, a rotating unit 303, a light bulb mounting completion determination unit 304, an imaging unit 305, an analysis unit 306, a torque detection unit 307, a light intensity detection unit 308, a temperature detection unit 309, a transmission unit 310, a GNSS receiving unit 311, a storage unit 312, and a receiving unit 313.

[0139] The light bulb gripping section 301 has the function of gripping the light bulb 150 and can grip the light bulb 150. The light bulb gripping section 301 also has the function of releasing the gripped light bulb 150 and can release the gripped light bulb 150. Specifically, the functions of the light bulb gripping section 301 can be realized by, for example, the control circuit 201 and gripping mechanism 102 shown in Figures 1A, 1B, and 2.

[0140] The light bulb gripping section 301 can grip the light bulb 150 by gripping the surface portion of the glass bulb 152 with the gripping mechanism 102 so that the base 151 can be screwed into the socket 160. Furthermore, the light bulb 150 can be gripped by gripping the glass bulb 152 portion with the gripping mechanism 102 so that the screwed-in light bulb 150 can be released from the socket 160.

[0141] The mobile unit 302 flies through the air to move its own device, the light bulb removal device (unmanned aerial vehicle) 100. Specifically, the mobile unit 302 flies through the air to move its own device, the light bulb mounting device (unmanned aerial vehicle) 100, so as to bring the base 151 of the light bulb 150 (for example, near the tip of the base 151) into contact with the opening 161 of the socket 160 into which the light bulb 150 is mounted.

[0142] Specifically, the moving unit 302 can achieve its function through, for example, the propeller 101 shown in Figures 1A and 1B, the motor 204 shown in Figure 2, the control circuit 201, and so on.

[0143] The moving unit 302 can levitate itself in the air by having the control circuit 201 control the motor 204 to rotate the propellers 101a to 101d independently. In this state, the control circuit 201 further controls the motor 204 to move the device to a predetermined position (a position where the nozzle 151 contacts the opening 161 of the socket 160).

[0144] The rotating part 303 rotates the light bulb 150, which is held by the light bulb gripping part 301, so that the base 151 of the light bulb 150 is screwed into the socket 160, while the base 151 of the light bulb 150 is in contact with the opening 161 of the socket 160.

[0145] Specifically, the rotating part 303 can perform its function using, for example, the propeller 101 shown in Figures 1A and 1B, the motor 204 shown in Figure 2, and the control circuit 201.

[0146] The rotating unit 303 rotates the light bulb 150, which is being held by the light bulb gripping unit 301, by rotating the device itself (light bulb mounting device (unmanned aerial vehicle) 100) while flying through the air. The rotating unit 303 hovers in a position with the base 151 of the light bulb 150 in contact with the opening 161 of the socket 160.

[0147] The rotating unit 303 can then adjust 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 drone body, i.e., the position where the connecting member 103 is connected.

[0148] Alternatively, instead of the rotating part 303 rotating itself (the light bulb mounting device (unmanned aerial vehicle) 100) while flying through the air, it may rotate the light bulb 150 independently of the rotation of the device itself. The rotating part 303 hovers in a position with the base 151 of the light bulb 150 in contact with the opening 161 of the socket 160.

[0149] The rotating part 303 then drives the motor 204 to rotate the connecting member 103 clockwise and counterclockwise around its longitudinal center. This causes the gripping mechanism 102 and the light bulb 150 held by the gripping mechanism 102 to rotate as well, thereby enabling the socket 160 to be screwed in or unscrewed.

[0150] The rotating part 303 can rotate the light bulb 150 by rotating the device itself (light bulb mounting device (unmanned aerial vehicle) 100) or by providing a rotating mechanism independent of the rotation of the device itself. These methods may be used in combination. That is, the device itself (light bulb mounting device (unmanned aerial vehicle) 100) may be rotated, and the light bulb 150 may be rotated by rotational drive from a rotating mechanism. Furthermore, these rotation methods may be used interchangeably depending on the situation. For example, one method may be used primarily, and the other as a secondary method.

[0151] The bulb installation completion determination unit 304 determines whether the bulb 150 has been properly installed in the socket 160. Based on the determination result from the bulb installation completion determination unit 304, the rotating unit 303 stops rotating the bulb 150. After the rotation by the rotating unit 303 stops, the bulb gripping unit 301 releases its grip on the bulb 150.

[0152] The light bulb installation completion determination unit 304 can, specifically, be implemented by, for example, the control circuit 201 shown in Figure 2.

[0153] The imaging unit 305 captures an image or video of the area around the base 151 of the light bulb 150 (the area around the base 151). Specifically, the imaging unit 305 can perform its function using, for example, the camera 205 and control circuit 201 shown in Figure 2.

[0154] The analysis unit 306 analyzes the image or video captured by the imaging unit 305. Specifically, the analysis unit 306 can perform its function using, for example, the control circuit 201 shown in Figure 2.

[0155] The light bulb installation completion determination unit 304 can then determine, based on the analysis results from the analysis unit 306, that the light bulb 150 has been successfully installed in the socket 160 when a predetermined portion of the base 151 is hidden and no longer visible in the socket 160.

[0156] The predetermined part refers to a mark or other mark that has been pre-marked on the base 151. Based on the analysis by the analysis unit 306, if the base 151 is screwed into the socket at the predetermined position and the light bulb 150 can no longer rotate, and the mark is completely hidden by the socket, or if part of the mark is hidden, the light bulb installation completion determination unit 304 can determine that the light bulb 150 has been properly installed in the socket 160.

[0157] The torque detection unit 307 detects the gripping torque applied to the bulb gripping unit 301 in the direction of rotation of the bulb 150 by the rotating unit 303. Specifically, the torque detection unit 307 can perform its function using, for example, the torque sensor 211 shown in Figure 2.

[0158] The light bulb installation completion determination unit 304 can then determine, based on the detection result of the torque detection unit 307, that the light bulb 150 has been successfully installed in the socket 160 if the gripping torque exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer.

[0159] The gripping torque detected by the torque detection unit 307, that is, the torque applied to the light bulb gripping unit 301 (each arm 104 of the gripping mechanism 102), is not large while the base 151 is screwed into the threaded groove 162 of the socket 160. After that, the gripping torque increases when screwing is complete and the light bulb can no longer be rotated. The change in this gripping torque is then detected, and if the gripping torque exceeds a predetermined value, it is determined that the light bulb 150 has been properly installed in the socket 160.

[0160] Furthermore, the system may determine that the light bulb 150 has been successfully installed in the socket 160 not immediately after the gripping torque exceeds a predetermined value, but when the gripping torque remains above a predetermined value for a predetermined period of time or longer. This reliably prevents the system from mistakenly determining that the light bulb 150 has been successfully installed in the socket 160 when the gripping torque temporarily increases during the screwing process.

[0161] The light intensity detection unit 308 detects the light intensity of the light bulb. Specifically, the light intensity detection unit 308 can perform its function using, for example, the illuminance sensor 212 shown in Figure 2.

[0162] The light bulb installation completion determination unit 304 then determines, based on the detection result of the light intensity detection unit 308, that the light bulb 150 has been successfully installed in the socket 160 if the light intensity of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer.

[0163] In other words, when the light bulb 150 is properly installed in the socket 160, the tip of the base 151 and the electrodes of the socket 160 come into contact, power is supplied to the light bulb 150, and the light bulb 150 lights up. The light intensity detection unit 308 detects the change in light intensity caused by the lighting of the light bulb 150, and if the light intensity exceeds a predetermined value, it determines that the light bulb 150 has been properly installed in the socket 160.

[0164] Alternatively, the system may determine that the light bulb 150 has been properly installed in the socket 160 only when the light intensity remains above a predetermined value for a predetermined period of time, rather than immediately after it reaches that value. This prevents situations where the light bulb 150 is not yet fully installed in the socket 160 even after it has been temporarily lit and its light intensity has reached a predetermined value. To avoid this, the system requires that the light intensity remain above a predetermined value for a predetermined period of time. This ensures that misjudgments are reliably avoided.

[0165] The light intensity detection unit 308 detects the change (increase) in light intensity caused by the lighting of the light bulb 150, and if the light intensity remains above a predetermined value for a predetermined period of time while the light bulb 150 is installed, it can determine that the light bulb 150 is properly installed in the socket 160.

[0166] In this way, it is possible to confirm that the installed light bulb 150 lights up while the power is on, allowing for more reliable installation of the light bulb. Furthermore, since it does not require manual labor by workers (workers do not need to directly touch the light bulb 150 with their hands), the risk of electric shock to workers is reliably avoided even while the power is on, ensuring safe work practices.

[0167] The temperature detection unit 309 detects the temperature of the light bulb 150. 。 Specifically, the temperature detection unit 309 can perform its function using, for example, the temperature sensor 212 shown in Figure 2.

[0168] The light bulb installation completion determination unit 304 then determines, based on the detection result of the temperature detection unit 309, that the light bulb 150 has been successfully installed in the socket 160 if the temperature of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. In other words, when the light bulb 150 is successfully installed in the socket 160, power is supplied to the light bulb 150, causing it to light up and generate heat. The temperature detection unit 309 detects the change (rise) in temperature caused by the lighting of the light bulb 150, and determines that the light bulb 150 has been successfully installed in the socket 160 if the temperature exceeds a predetermined value.

[0169] Alternatively, the system may determine that the light bulb 150 has been properly installed in the socket 160 only when the temperature remains above a predetermined value for a predetermined period of time, rather than immediately after the temperature exceeds the predetermined value. This is because even if the light bulb 150 temporarily lights up and generates heat, causing the temperature to exceed the predetermined value, it may not yet be fully installed in the socket 160. In such cases, the system may mistakenly determine that the light bulb has been properly installed, so the condition is that the temperature must remain above the predetermined value for a predetermined period of time. This ensures that misjudgments are reliably avoided.

[0170] In this way, it is possible to confirm that the installed light bulb 150 lights up while the power is on, and since the light bulb 150 becomes hot when it lights up, a more secure installation of the light bulb can be performed. In addition, since it does not require manual labor by workers (workers do not have to directly touch the light bulb 150 with their hands), the risk of workers being burned by the heat of the light bulb is reliably avoided even when the power is on.

[0171] The light bulb installation completion determination unit 304 may determine that the light bulb installation is complete based on any one of the four results: the analysis result from the analysis unit 306, the detection result from the torque detection unit 307, the detection result from the luminous intensity detection unit 308, and the detection result from the temperature detection unit 309. Alternatively, it may determine that the light bulb installation is complete by combining two or more of the four results. Depending on the conditions such as the situation and environment in which the light bulb 150 is installed, the unit may change which result is used, and if multiple results are used, the unit may freely select a combination of them. Furthermore, the unit may determine that the light bulb installation is complete based on information other than the four results.

[0172] Furthermore, the light bulb installation completion determination unit 304 may determine that the installation of the light bulb 150 is complete when the light bulb 150 has rotated a predetermined number of times or more, separately from or in conjunction with those results. Also, since the rotation speed of the light bulb 150 is predetermined, the unit may determine that the installation of the light bulb 150 is complete when the light bulb 150 has rotated continuously for a predetermined time or longer.

[0173] The transmitting unit 310 transmits an image or video of at least one of the light bulb 150 and the socket 160 captured by the imaging unit 305. The destination of the image or video may be, for example, the control unit 250 or the management server 260. Specifically, the transmitting unit 310 can implement its function by, for example, the communication I / F 202 shown in Figure 2.

[0174] The imaging unit 305 captures images or videos of the light bulb 150 before, during, and after installation. In this way, the transmitting unit 310 transmits the images or videos, allowing the user to know the status of the light bulb 150 installation. Furthermore, the status of the light bulb installation can be managed.

[0175] Furthermore, the imaging unit 305 captures an image or video of the area around the base 151 of the light bulb 150, and the analysis unit 306 analyzes the image or video captured by the imaging unit 305. The moving unit 302 may then move its own device (light bulb mounting device (unmanned aerial vehicle) 100) based on the analysis results of the analysis unit 306.

[0176] The imaging unit 305 may also read a two-dimensional code (not shown) provided on or around the base 151. This two-dimensional code is associated with information about the socket 160 and information about the types of usable light bulbs 150. The analysis unit 306 may analyze the information in the two-dimensional code.

[0177] In this way, the analysis unit 306 can determine the destination position based on the analysis results of the image or video of the area around the socket 151, so the moving unit 302 can move itself to more reliably bring the socket 151 into contact with the opening 161 of the socket 160.

[0178] The GNSS (Global Navigation Satellite System) receiver 311 determines the current position of the device. Specifically, the GNSS receiver 311 can perform its function using a GPS sensor 214 as shown in Figure 2. The mobile unit 302 may then move the device (light bulb mounting device (unmanned aerial vehicle) 100) based on the positioning result from the GNSS receiver 311.

[0179] In this way, since the destination can be determined based on the positioning results from the GNSS receiver 311, the moving unit 302 can move itself so that the base 151 comes into contact with the opening 161 of the socket 160 more reliably.

[0180] The moving unit 302 may also move its own device (light bulb mounting device (unmanned aerial vehicle) 100) based on the destination location information stored in the memory unit 312. Specifically, the memory unit 312 can be implemented by, for example, the control circuit 201 (and its memory) shown in Figure 2.

[0181] Here, the destination location information may be more detailed latitude and longitude information. Furthermore, it is not limited to latitude and longitude information as long as it can identify the location of the socket 160 at the destination. In addition, the destination location information may include angle information regarding the inclination of the socket 160 at the destination. For example, except when the socket 160 is mounted vertically, the moving unit 302 can adjust the mounting direction of the light bulb 150 by tilting its own device (light bulb mounting device (unmanned aerial vehicle) 100) to the angle based on the angle information regarding the inclination, and move it to the opening 161 of the socket 160.

[0182] The memory unit 312 may also store information about the destination location, as well as information about the destination socket 160 (type of socket 160, characteristics, etc.), information about the types of light bulbs that can be used, and information about the replacement work (previous replacement date, cleaning date, work history, etc.). This information allows for more efficient and reliable (preventing accidents and incorrect work) light bulb replacement work.

[0183] The receiving unit 313 receives information about the destination of its own device (light bulb mounting device (unmanned aerial vehicle) 100). The source of the destination information may be, for example, the pilot 250 or the management server 260. Specifically, the receiving unit 313 can implement its function by, for example, the communication I / F 202 shown in Figure 2. The storage unit 312 then stores the destination information received by the receiving unit 313.

[0184] In this way, the positional information of the socket 160 into which the light bulb 150 is installed can be easily and reliably obtained.

[0185] (Processing procedure for light bulb mounting devices) Figure 4 is a flowchart showing an example of the processing procedure of the light bulb mounting device (unmanned aerial vehicle) according to Embodiment 1 of this invention. Figures 5 to 10 are explanatory diagrams showing the process of mounting a light bulb using the light bulb mounting device.

[0186] In the flowchart of Figure 4, the first step is to attach the light bulb 150 to the gripping mechanism 102 of the light bulb mounting device (unmanned aerial vehicle) 100 (the arm 104 grips the glass bulb 152) (step S401). The light bulb 150 may be attached manually by an operator, or it may be automatically gripped by the arm 104.

[0187] After the light bulb has been attached (gripped), the propellers 101a to 101d are rotated to take off (float) the light bulb mounting device (unmanned aerial vehicle) 100 (step S402).

[0188] The light bulb mounting device (unmanned aerial vehicle) 100 flies through the air to a predetermined destination (step S403). Since the destination is predetermined, it flies the shortest distance unless there are obstacles. If there are obstacles, it flies in a way that avoids them based on information about those obstacles. Figure 5 shows the light bulb mounting device (unmanned aerial vehicle) 100 moving through the air while carrying (grabbing) the light bulb 150.

[0189] Then, it is determined whether the base 151 of the light bulb 150 has made 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 the analysis of the image from the camera 205, the contact sensor 215, and the detection results of various sensors 216 (object sensors).

[0190] If contact has not yet been made (Step S404: No), the process returns to Step S403, and the device continues to fly through the air. On the other hand, if contact has been made (Step S404: Yes), the entry angle (screw angle) of the jaw 151 is adjusted (Step S405). Figure 6 shows the jaw 151 in contact with the opening 161 of the socket 160.

[0191] After the angle adjustment is complete, rotate the light bulb 150 clockwise (step S406). This starts the screwing process. Figure 7 shows the process of rotating the light bulb 150 clockwise (in the direction of the arrow in the figure) to screw the light bulb 150 into the screw groove 162 of the socket 160.

[0192] Next, it is determined whether the light bulb 150 has been properly installed in the socket 160 (step S407). If it has not yet been properly installed (step S407: No), the process returns to step S406 and the light bulb 150 is continued to be rotated clockwise.

[0193] Then, if the light bulb 150 is successfully installed in the socket 160 (step S407: Yes), the rotation of the light bulb 150 is stopped (step S408). Figure 8 shows the state after the light bulb 150 has been installed in the socket 160 and the rotation of the light bulb 150 has stopped.

[0194] After stopping the rotation of the light bulb 150, the gripping mechanism 102 releases its grip on the light bulb 150 (step S409). Figure 9 shows the light bulb 150 after it has been released from its grip. Even after the light bulb 150 is released from its grip, it will not fall because it is already properly installed in the socket 160.

[0195] After releasing its grip on the light bulb 150, the light bulb mounting device (unmanned aerial vehicle) 100 leaves the location (step S410). Then, it flies through the air again to a predetermined destination (return destination) (step S411). Figure 10 shows the light bulb mounting device (unmanned aerial vehicle) 100 leaving the position of the socket 160 and moving through the air while flying. The predetermined destination may usually be the takeoff position, or it may be any other position.

[0196] Afterward, the vehicle lands at a predetermined destination (step S412), and the series of processes ends. Alternatively, instead of landing, the vehicle may be configured to automatically install a new light bulb 150 and move to a new destination.

[0197] As described above, the light bulb mounting device 100 of Embodiment 1 according to this invention may include a light bulb gripping part 301 for gripping a light bulb 150, a moving part 302 that moves the device (light bulb mounting device 100) by flying through the air so that the base 151 of the light bulb 150 comes into contact with the opening 161 of the socket 160 to which the light bulb 150 is to be mounted, and a rotating part 303 that rotates the light bulb 150, which is gripped by the light bulb gripping part 301, so that the base 151 is screwed into the socket 160 while the base 151 is in contact with the opening 161 of the socket 160. This makes it possible to automatically mount the light bulb 150 into the desired socket 160 without human intervention.

[0198] Furthermore, in the first embodiment of this invention, the light bulb mounting device 100 is further capable of the rotating part 303 rotating itself while flying through the air. This eliminates the need to provide a separate drive source for screwing the light bulb 150 into the socket 160.

[0199] Furthermore, in the first embodiment of this invention, the light bulb mounting device 100 has a rotating part 303 that can rotate the light bulb 150 independently of the rotation of the device (light bulb mounting device 100) itself. As a result, the light bulb 150 can be screwed into the socket 160 without the device (light bulb mounting device 100) itself rotating (rotating).

[0200] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention further includes a light bulb mounting completion determination unit 304 that determines whether or not the light bulb 150 has been properly mounted in the socket 160. The rotating unit 303 stops rotating based on the determination result of the light bulb mounting completion determination unit 304, and the light bulb gripping unit 301 releases its grip on the light bulb 150 after the rotation by the rotating unit 303 has stopped. This reliably prevents the light bulb 150 from being damaged by excessive rotation.

[0201] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this 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. The light bulb mounting completion determination unit 304 can determine, based on the analysis results of the analysis unit 306, that the light bulb 150 has been properly mounted in the socket 160 when a predetermined portion of the base 151 is hidden and no longer visible in the socket 160. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0202] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention further includes a torque detection unit 307 that detects the gripping torque applied to the light bulb gripping unit 301 in the rotational direction of the light bulb 150 by the rotating unit 303. The light bulb mounting completion determination unit 304 can determine, based on the detection result of the torque detection unit 307, that the light bulb 150 has been properly mounted in the socket 160 when the gripping torque exceeds a predetermined value or remains above a predetermined value for a predetermined time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0203] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention further includes a light intensity detection unit 308 for detecting the light intensity of the light bulb 150, and the light bulb mounting completion determination unit 304 can determine that the light bulb 150 has been properly mounted in the socket 160 when the light intensity of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer, based on the detection result of the light intensity detection unit 308. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0204] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention further includes a temperature detection unit 309 for detecting the temperature of the light bulb 150. The light bulb mounting completion determination unit 304 can determine, based on the detection result of the temperature detection unit 309, that the light bulb 150 has been properly mounted in the socket 160 when the temperature of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0205] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention may further include an imaging unit 305 that captures an image or video of at least one of the light bulb 150 and the socket 160, and a transmitting unit 310 that transmits the image or video captured by the imaging unit 305. This makes it possible to know from a distance how the installation work of the light bulb 150 is being carried out.

[0206] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this 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. The moving unit 302 can move the device (light bulb mounting device 100) based on the analysis results of the analysis unit 306. This makes it possible to more reliably move the device (light bulb mounting device 100) to the position where the destination socket 160 is located.

[0207] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention is further equipped with a GNSS (Global Navigation Satellite System) receiving unit 311, and the moving unit 302 can move itself (the light bulb mounting device 100) based on the positioning results from the GNSS receiving unit 311. This makes it possible to more reliably move itself (the light bulb mounting device 100) to the location where the destination socket 160 is located.

[0208] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention is further equipped with a storage unit 312 that stores location information of the destination of the device (light bulb mounting device 100), and a moving unit 302 that can move the device (light bulb mounting device 100) based on the destination location information stored in the storage unit 312. This makes it possible to move the device (light bulb mounting device 100) to the location where the destination socket 160 is located more reliably.

[0209] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention can also include angle information regarding the inclination of the socket 160 at the destination in the destination position information. This ensures that it can be reliably screwed into a socket 160 that is mounted at an angle.

[0210] Furthermore, the light bulb mounting device 100 of Embodiment 1 according to this invention further includes a receiving unit 313 that receives information about the destination, and a storage unit 312 can store the destination information received by the receiving unit 313. This makes it possible to more reliably know the location of the destination socket 160 of the device (light bulb mounting device 100).

[0211] Furthermore, in the first embodiment of this invention, the light bulb mounting method can be performed by an unmanned aerial vehicle (light bulb mounting device 100) which grasps a light bulb, flies through the air to bring the base 151 of the light bulb into contact with the opening 161 of the socket 160 to which the light bulb 150 will be mounted, and then rotates the light bulb 150 so that the base 151 is screwed 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 automatically mounted into the desired socket 160 without human intervention.

[0212] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform the process of rotating the light bulb 150 by having the unmanned aerial vehicle (light bulb mounting device 100) rotate itself while flying through the air. This eliminates the need to provide a separate drive source for screwing the light bulb 150 into the socket 160.

[0213] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform a process in which the unmanned aerial vehicle (light bulb mounting device 100) rotates the light bulb 150 independently of the rotation of the device (light bulb mounting device 100) itself. As a result, the light bulb 150 can be screwed into the socket 160 without the device (light bulb mounting device 100) itself rotating (rotating).

[0214] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform the following processes: the unmanned aerial vehicle (light bulb mounting device 100) determines whether the light bulb 150 has been properly mounted in the socket 160, stops the rotation of the light bulb 150 based on the determination result, and then releases the grip on the light bulb 150 after the rotation has stopped. This reliably prevents the light bulb 150 from being damaged due to excessive rotation.

[0215] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform a process in which an unmanned aerial vehicle (light bulb mounting 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 mounted in the socket 160 when a predetermined portion of the base 151 is hidden and no longer visible in the socket 160. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0216] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention further includes a process in which the unmanned aerial vehicle (light bulb mounting device 100) detects the gripping torque of the light bulb 150 in the rotational direction applied to the gripping part that holds the light bulb 150, and, based on the detection result of the gripping torque, determines that the light bulb 150 has been properly mounted in the socket 160 if the gripping torque exceeds a predetermined value or remains above a predetermined value for a predetermined time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0217] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform a process in which the unmanned aerial vehicle (light bulb mounting device 100) detects the luminous intensity of the light bulb 150, and, based on the detection result of the luminous intensity, determines that the light bulb 150 has been properly mounted in the socket 160 when the luminous intensity of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0218] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform a process in which the unmanned aerial vehicle (light bulb mounting 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 mounted in the socket 160 when the temperature of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0219] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform a process in which an unmanned aerial vehicle (light bulb mounting device 100) captures an image or video of at least one of the light bulb 150 and the socket 160, and transmits the captured image or video. This makes it possible to know from a distance how the light bulb 150 mounting work is being carried out.

[0220] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform the following processes: the unmanned aerial vehicle (light bulb mounting 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 its own device (light bulb mounting device 100) based on the analysis results. This makes it possible to more reliably move the device (light bulb mounting device 100) to the location where the destination socket 160 is located.

[0221] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also enable the unmanned aerial vehicle (light bulb mounting device 100) to perform a process of moving itself (light bulb mounting device 100) based on positioning results from GNSS (Global Navigation Satellite System). This makes it possible to more reliably move itself (light bulb mounting device 100) to the location where the destination socket 160 is located.

[0222] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention allows the unmanned aerial vehicle (light bulb mounting device 100) to store location information of its destination and to perform a process of moving its device (light bulb mounting device 100) based on the stored destination location information. This makes it possible to more reliably move the device (light bulb mounting device 100) to the location where the destination socket 160 is located.

[0223] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also include angle information relating to the inclination of the socket 160 at the destination in the destination position information. This allows for reliable screwing even into a socket 160 that is mounted at an angle.

[0224] Furthermore, the light bulb mounting method of Embodiment 1 according to this invention can also perform a process in which the unmanned aerial vehicle (light bulb mounting device 100) receives information about the destination and stores the received information about the destination. This makes it possible to more reliably determine the location of the socket 160 at the destination of the device (light bulb mounting device 100).

[0225] Furthermore, the light bulb mounting program of Embodiment 1 according to this invention can be used to perform the following operations: a light bulb mounting device 100 can grasp a light bulb, fly through the air to bring the base 151 of the light bulb into contact with the opening 161 of the socket 160 to which the light bulb 150 will be mounted, and then rotate the light bulb 150 so that the base 151 is screwed 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 automatically mounted into the desired socket 160 without human intervention.

[0226] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also perform a process in which an unmanned aerial vehicle (light bulb mounting device 100) rotates itself while flying through 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.

[0227] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also cause the unmanned aerial vehicle (light bulb mounting device 100) to perform a process that rotates the light bulb 150 independently of the rotation of the device (light bulb mounting device 100) itself. This makes it possible to screw the light bulb 150 into the socket 160 without the device (light bulb mounting device 100) itself rotating (rotating).

[0228] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also cause the unmanned aerial vehicle (light bulb mounting device 100) to determine whether the light bulb 150 has been properly mounted into the socket 160, and based on the determination result, to stop the rotation of the light bulb 150, and after the rotation has stopped, to release the grip on the light bulb 150. This reliably prevents the light bulb 150 from being damaged due to excessive rotation.

[0229] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can be made to execute a process in which an unmanned aerial vehicle (light bulb mounting 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 mounted in the socket 160 when a predetermined portion of the base 151 is hidden and no longer visible in the socket 160. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0230] Furthermore, the light bulb mounting program of Embodiment 1 of this invention further causes the unmanned aerial vehicle (light bulb mounting device 100) to detect the gripping torque of the light bulb 150 in the rotational direction applied to the gripping part that holds the light bulb 150, and based on the detection result of the gripping torque, to execute a process that determines that the light bulb 150 has been properly mounted in the socket 160 if the gripping torque exceeds a predetermined value or remains above a predetermined value for a predetermined time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0231] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also be instructed to perform a process in which the unmanned aerial vehicle (light bulb mounting device 100) detects the luminous intensity of the light bulb 150, and, based on the detection result of the luminous intensity, determines that the light bulb 150 has been properly mounted in the socket 160 if the luminous intensity of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0232] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also be instructed to have an unmanned aerial vehicle (light bulb mounting device 100) detect the temperature of the light bulb 150, and, based on the temperature detection result, determine that the light bulb 150 has been properly mounted in the socket 160 if the temperature of the light bulb 150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 150 has been properly mounted.

[0233] Furthermore, the light bulb installation program of Embodiment 1 according to this invention can also perform the process of capturing an image or video of at least one of the light bulb 150 and the socket 160 to an unmanned aerial vehicle (light bulb installation device 100) and transmitting the captured image or video. This makes it possible to know from a distance how the installation work of the light bulb 150 is being carried out.

[0234] Furthermore, the light bulb mounting program of Embodiment 1 according to this invention can also perform the following processes: capture an image or video of the area around the base 151 of the light bulb 150 using an unmanned aerial vehicle (light bulb mounting device 100), analyze the captured image or video, and move the device (light bulb mounting device 100) based on the analysis results. This makes it possible to more reliably move the device (light bulb mounting device 100) to the location where the destination socket 160 is located.

[0235] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also cause the unmanned aerial vehicle (light bulb mounting device 100) to execute a process to move itself (light bulb mounting device 100) based on positioning results from GNSS (Global Navigation Satellite System). This makes it possible to more reliably move itself (light bulb mounting device 100) to the location where the destination socket 160 is located.

[0236] Furthermore, the light bulb mounting program of Embodiment 1 according to this invention can also cause the unmanned aerial vehicle (light bulb mounting device 100) to store location information of its destination and to execute a process to move its own device (light bulb mounting device 100) based on the stored destination location information. This makes it possible to move the own device (light bulb mounting device 100) to the location where the destination socket 160 is located more reliably.

[0237] Furthermore, the light bulb mounting program of Embodiment 1 according to this invention can also include angle information relating to the inclination of the socket 160 at the destination in the destination position information. This ensures that the light bulb can be reliably screwed into a socket 160 that is mounted at an angle.

[0238] Furthermore, the light bulb mounting program of Embodiment 1 of this invention can also cause the unmanned aerial vehicle (light bulb mounting device 100) to perform a process of receiving information about the destination and storing the received information about the destination. This makes it possible to more reliably determine the location of the socket 160 at the destination of the device (light bulb mounting device 100).

[0239] The light bulb mounting method described in this embodiment can also be implemented by executing a pre-prepared program on a computer such as a personal computer or workstation, in addition to the unmanned aerial vehicle 100. 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 when read from the recording medium by the computer. This program may also be transmitted via a network such as the Internet.

[0240] The details of Embodiment 1 are described below in appendices (Appendices 101 to 142).

[0241] (Note 101) A bulb gripping part that holds the light bulb, A moving unit that moves itself by flying through the air so as to bring the base of the light bulb into contact with the opening of the socket in which the light bulb is to be installed, With the base in contact with the opening of the socket, a rotating part rotates the light bulb held by the light bulb gripping part so that the base is screwed into the socket, A light bulb mounting device characterized by having the following features.

[0242] (Note 102) The light bulb mounting device according to Appendix 101, characterized in that the rotating part rotates itself while flying through the air.

[0243] (Note 103) The light bulb mounting device according to Appendix 101, characterized in that the rotating part rotates the light bulb independently of the rotation of the device itself.

[0244] (Note 104) The system includes a bulb installation completion determination unit that determines whether the bulb has been properly installed in the socket. The rotating part stops rotating based on the determination result by the light bulb installation completion determination unit. The light bulb mounting device according to any one of the appendices 101 to 103, characterized in that the light bulb gripping portion releases its grip on the light bulb after the rotation by the rotating portion stops.

[0245] (Note 105) An imaging unit that captures an image or video of the area around the base of the light bulb, An analysis unit that analyzes images or videos captured by the imaging unit, Equipped with, The light bulb mounting device according to Appendix 104, characterized in that the light bulb mounting completion determination unit determines, based on the analysis results of the analysis unit, that the light bulb has been properly mounted in the socket when a predetermined portion of the base is hidden and no longer visible in the socket.

[0246] (Note 106) The system includes a torque detection unit that detects the gripping torque applied to the light bulb gripping portion in the direction of rotation of the light bulb by the rotating portion, The light bulb mounting device according to Appendix 104 or 105, characterized in that the light bulb mounting completion determination unit determines, based on the detection result of the torque detection unit, that the light bulb has been successfully mounted in the socket when the gripping torque exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer.

[0247] (Note 107) The light intensity detection unit is provided to detect the light intensity of the light bulb, The light bulb mounting device according to any one of appendices 104 to 106, characterized in that the light bulb mounting completion determination unit determines, based on the detection result of the light intensity detection unit, that the light bulb has been properly mounted in the socket when the light intensity of the light bulb becomes equal to or equal to a predetermined value or remains equal to or equal to a predetermined value for a predetermined period of time or longer.

[0248] (Note 108) The system includes a temperature detection unit that detects the temperature of the light bulb, The light bulb mounting device according to any one of appendices 104 to 107, characterized in that the light bulb mounting completion determination unit determines, based on the detection result of the temperature detection unit, that the light bulb has been properly mounted in the socket when the temperature of the light bulb reaches or exceeds a predetermined value or remains at or above a predetermined value for a predetermined period of time or longer.

[0249] (Note 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 an image or video captured by the imaging unit, A light bulb mounting device as described in any one of appendices 101 to 108, characterized by having the following features.

[0250] (Note 110) An imaging unit that captures an image or video of the area around the base of the light bulb, An analysis unit that analyzes images or videos captured by the imaging unit, Equipped with, The moving part moves the device itself based on the analysis result of the analysis part, and is the electric bulb mounting device according to any one of Appendices 101 to 109.

[0251] (Appendix 111) Equipped with a GNSS (Global Navigation Satellite System) receiver, The moving part moves the device itself based on the positioning result by the GNSS receiver, and is the electric bulb mounting device according to any one of Appendices 101 to 110.

[0252] (Appendix 112) A storage part that stores the position information of the destination of the device's movement, The moving part moves the device itself based on the position information of the destination stored in the storage part, and is the electric bulb mounting device according to Appendix 110 or Appendix 111.

[0253] (Appendix 113) The position information of the destination includes angle information regarding the inclination of the socket at the destination, and is the electric bulb mounting device according to Appendix 112.

[0254] (Appendix 114) Equipped with a receiving part that receives the information of the destination, The storage part stores the information of the destination received by the receiving part, and is the electric bulb mounting device according to Appendix 112 or Appendix 113.

[0255] (Appendix 115) The unmanned aircraft holds the electric bulb, flies and moves in the air so that the base of the electric bulb abuts against the opening of the socket for attaching the electric bulb, rotates the electric bulb so that the base is screwed into the socket in a state where the base abuts against the opening of the socket, executes the process, and is the electric bulb mounting method.

[0256] (Note 116) The aforementioned unmanned aerial vehicle By rotating the device itself while flying through the air, the light bulb is rotated. A method for installing a light bulb as described in Appendix 115, characterized by performing a process.

[0257] (Note 117) The aforementioned unmanned aerial vehicle The light bulb is rotated independently of the rotation of the device itself. A method for installing a light bulb as described in Appendix 115, characterized by performing a process.

[0258] (Note 118) The aforementioned unmanned aerial vehicle Determine whether the light bulb was properly installed in the socket. Based on the above determination result, the rotation of the light bulb is stopped. After the rotation stops, release the grip on the light bulb. A method for installing a light bulb as described in any one of the appendices 115 to 117, characterized by performing a process.

[0259] (Note 119) The aforementioned unmanned aerial vehicle An image or video of the area around the base of the light bulb is captured, The captured images or videos are analyzed, Based on the analysis results, if a predetermined portion of the base is hidden from view by the socket, it is determined that the light bulb has been properly installed in the socket. A method for installing a light bulb as described in Appendix 118, characterized by performing a process.

[0260] (Note 120) The aforementioned unmanned aerial vehicle The gripping torque applied to the gripping portion that holds the light bulb is detected in the rotational direction of the light bulb. Based on the detection result of the gripping torque, when the gripping torque becomes equal to or greater than a predetermined value or when it continuously becomes equal to or greater than the predetermined value for a predetermined time or longer, it is determined that the light bulb can be normally attached to the socket. The method for attaching a light bulb according to appended note 118 or 119 that executes the process.

[0261] (Appended note 121) The unmanned aircraft detects the luminous intensity of the light bulb, Based on the detection result of the luminous intensity, when the luminous intensity of the light bulb becomes equal to or greater than a predetermined value or when it continuously becomes equal to or greater than the predetermined value for a predetermined time or longer, it is determined that the light bulb can be normally attached to the socket. The method for attaching a light bulb according to any one of appended notes 118 to 120, characterized by executing the process.

[0262] (Appended note 122) The unmanned aircraft detects the temperature of the light bulb, Based on the detection result of the temperature, when the temperature of the light bulb becomes equal to or greater than a predetermined value or when it continuously becomes equal to or greater than the predetermined value for a predetermined time or longer, it is determined that the light bulb can be normally attached to the socket. The method for attaching a light bulb according to any one of appended notes 118 to 121, characterized by executing the process.

[0263] (Appended note 123) The unmanned aircraft captures at least one of an image or video of the light bulb and the socket, transmits the captured image or video, The method for attaching a light bulb according to any one of appended notes 115 to 122, characterized by executing the process.

[0264] (Appended note 124) The unmanned aircraft captures an image or video near the base of the light bulb, analyzes the captured image or video, moves the own device based on the analysis result. A method for installing a light bulb as described in any one of the appendices 115 to 123, characterized by performing a process.

[0265] (Note 125) The aforementioned unmanned aerial vehicle Based on positioning results from GNSS (Global Navigation Satellite System), the device moves. A method for installing a light bulb as described in any one of the appendices 115 to 124, characterized by performing a process.

[0266] (Note 126) The aforementioned unmanned aerial vehicle The device stores location information of its destination, Based on the stored location information of the destination, the device moves itself. A method for installing a light bulb as described in Appendix 124 or 125, characterized by performing a process.

[0267] (Note 127) The light bulb mounting method according to Appendix 126, characterized in that the location information of the destination includes angle information relating to the inclination of the socket at the destination.

[0268] (Note 128) The aforementioned unmanned aerial vehicle Upon receiving the information of the destination, It stores the information of the destination that was received. A method for installing a light bulb as described in Appendix 126 or 127, characterized by performing a process.

[0269] (Note 129) For unmanned aerial vehicles, Grasp the light bulb, The device moves through the air so as to bring the base of the light bulb into contact with the opening of the socket in which the light bulb is to be installed. With the base in contact with the opening of the socket, rotate the light bulb so that the base is screwed into the socket. A light bulb installation program characterized by executing a process.

[0270] (Note 130) The aforementioned unmanned aerial vehicle, By rotating the device itself while flying through the air, the light bulb is rotated. A light bulb installation program as described in Appendix 129, characterized by performing a process.

[0271] (Note 131) The aforementioned unmanned aerial vehicle, The light bulb is rotated independently of the rotation of the device itself. A light bulb installation program as described in Appendix 129, characterized by causing a process to be executed.

[0272] (Note 132) The aforementioned unmanned aerial vehicle, Determine whether the light bulb was properly installed in the socket. Based on the above determination result, the rotation of the light bulb is stopped. After the rotation stops, release the grip on the light bulb. A light bulb installation program as described in any one of the appendices 129 to 131, characterized by causing a process to be executed.

[0273] (Note 133) The aforementioned unmanned aerial vehicle, An image or video of the area around the base of the light bulb is captured, The captured images or videos are analyzed, Based on the analysis results, if a predetermined portion of the base is hidden from view by the socket, it is determined that the light bulb has been properly installed in the socket. A light bulb installation program as described in Appendix 132, characterized by causing a process to be executed.

[0274] (Note 134) The aforementioned unmanned aerial vehicle, The gripping torque applied to the gripping portion that holds the light bulb is detected in the rotational direction of the light bulb. Based on the detection result of the gripping torque, if the gripping torque exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been properly installed in the socket. A light bulb installation program described in Appendix 132 or 133 that executes the process.

[0275] (Note 135) The aforementioned unmanned aerial vehicle, The light intensity of the aforementioned light bulb is detected, Based on the detection result of the luminous intensity, if the luminous intensity of the light bulb exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been properly installed in the socket. A light bulb installation program as described in any one of appendices 132 to 134, characterized by causing a process to be executed.

[0276] (Note 136) The aforementioned unmanned aerial vehicle, The temperature of the light bulb is detected, Based on the temperature detection results, if the temperature of the light bulb exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been properly installed in the socket. A light bulb installation program as described in any one of the appendices 132 to 135, characterized by causing a process to be executed.

[0277] (Note 137) The aforementioned unmanned aerial vehicle, Capture an image or video of at least one of the light bulb and the socket, Transmit the captured image or video. A light bulb installation program as described in any one of the appendices 129 to 136, characterized by performing a process.

[0278] (Note 138) The aforementioned unmanned aerial vehicle, An image or video of the area around the base of the light bulb is captured, The captured images or videos are analyzed, Based on the analysis results, the device is moved. A light bulb installation program as described in any one of the appendices 129 to 137, characterized by performing a process.

[0279] (Note 139) The aforementioned unmanned aerial vehicle, Based on positioning results from GNSS (Global Navigation Satellite System), the device moves. A light bulb installation program as described in any one of the appendices 129 to 138, characterized by causing a process to be executed.

[0280] (Note 140) The aforementioned unmanned aerial vehicle, The device stores location information of its destination, Based on the stored location information of the destination, the device moves itself. A light bulb installation program as described in Appendix 138 or 139, characterized by causing a process to be executed.

[0281] (Note 141) The light bulb mounting program according to Appendix 140, characterized in that the location information of the destination includes angle information relating to the inclination of the socket at the destination.

[0282] (Note 142) The aforementioned unmanned aerial vehicle, Upon receiving the information of the destination, It stores the information of the destination that was received. A light bulb installation program as described in Appendix 140 or 141, characterized by causing a process to be executed.

[0283] <Embodiment 2> (An example of the appearance of a light bulb removal device) Figures 11A and 11B are explanatory diagrams showing an example of the external appearance of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of the present invention. Figure 11A shows the state when the light bulb is not being held, and Figure 11B shows the state when the light bulb is being held and removed from the socket.

[0284] As can be seen from Figures 11A and 11B, the light bulb removal device 1100 is composed of, for example, an unmanned aerial vehicle (drone). Hereinafter, the 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) which is the light bulb removal device 1100 can specifically be a quadcopter equipped with four propellers 1101a to 1101d around its periphery.

[0285] The 1100 unmanned aerial vehicle (drone) is not limited to quadcopters; it can employ various multirotors, such as hexacopters with six propellers and octocopters with eight propellers. By independently controlling the rotation direction and speed of each of its multiple propellers (four propellers 1101a to 1101d), the 1100 can maintain its attitude and perform actions such as ascending, descending, horizontal movement, and clockwise and counterclockwise rotation (rotation).

[0286] Furthermore, the unmanned aerial vehicle 1100 is not limited to those equipped with propellers. It may also be a vehicle that flies through the air using a drive other than a propeller, or a combination of such and a propeller.

[0287] The unmanned aerial vehicle (drone), which is a light bulb removal device 1100, includes a gripping mechanism 1102 for gripping the light bulb 1150 and a connecting member 1103 for connecting the gripping mechanism 1102 and the unmanned aerial vehicle (drone). In Figures 11A and 11B, the connecting member 1103 is made up of, for example, a rod-shaped member. However, it is not limited to a rod-shaped member. For example, one end of the connecting member 1103 is connected to the center of the housing, i.e., near the center of the four propellers 1101a to 1101d, and the gripping mechanism 1102 is provided at the other end.

[0288] The gripping mechanism 1102 consists of multiple (four in Figures 11A and 11B) arms 1104 (1104a to 1104d). The arms 1104 are driven by one or more motors, gear trains, wires, etc., built into the gripping mechanism 1102 (not shown), and as each arm 1104 moves from a direction away from each other towards each other (towards the center), the arms 1104 and each joint of the arms 1104 are driven along the curved surface of the glass sphere 1152, thereby gripping the light bulb by enveloping the glass sphere 1152 together with the base portion of the arms 1104 (the palm portion 1601 shown in Figure 16, described later). Conversely, the gripping of the light bulb 1150 is released when the arms 1104 move away from the center.

[0289] Depending on the size and shape of the glass sphere 1152, the drive control of the arm 1104 is changed, allowing multiple types (shapes) of glass spheres 1152 to be gripped with the optimal gripping force.

[0290] A gripping assist member 1105 may be provided at the portion of each arm 1104 that contacts the glass bulb 1152. The gripping assist member 1105 is made of a material that has at least two functions: it functions as a cushioning member to prevent scratching the glass bulb 1152 or damaging the light bulb 1150, and it functions as an anti-slip member to prevent the light bulb 1150 from rotating inside the arm 1104 when screwing the light bulb 1150 into or out of the socket (receptacle) 1160 while gripping the glass bulb 1152.

[0291] Alternatively, a gripping assist member 1105 made of a material that functions as a cushioning member and a gripping assist member 1105 that functions as an anti-slip member may be provided separately (for example, alternately) on multiple arms. The gripping assist member 1105 may be provided integrally with the arm 1104, or the gripping assist member 1105 may be attached separately.

[0292] By providing a gripping assist member 1105 on the arm 1104, the light bulb 1150 will not rotate freely within the arm 1104 that grips the glass bulb 1152 of the light bulb 1150, and the light bulb 1150 can be securely attached to (installed) the socket 1160 or removed from the socket 1160.

[0293] The main body of the unmanned aerial vehicle (drone) 1100 is equipped with a rotation mechanism (not shown) that rotates the connected connecting member 1103 clockwise and counterclockwise around its longitudinal center. The rotation mechanism can be driven by a motor. As the connecting member 1103 rotates, the gripping mechanism 102 also rotates, and the light bulb 1150 held by the gripping mechanism 1102 also rotates, thereby enabling screwing into or unscrewing out of the socket 1160.

[0294] The connecting member 1103 is detachable from both the gripping mechanism 1102 and the unmanned aerial vehicle (drone). Therefore, the gripping mechanism 1102 may be directly attached to the unmanned aerial vehicle (drone) body without the connecting member 1103. Furthermore, the length of the connecting member 1103 can be appropriately changed depending on the position where the light bulb is attached or removed and the surrounding conditions. In other words, connecting members 1103 of multiple lengths can be interchanged and used. The connecting member 1103 itself may also be equipped with an extendable / retractable mechanism.

[0295] Furthermore, the gripping mechanism 1102 may be integrally formed with the unmanned aerial vehicle (drone) body. That is, the unmanned aerial vehicle (drone) body may have a mechanism for gripping the light bulb 1150 (similar to the gripping mechanism 1102, or one with a different configuration from the gripping mechanism 1102) without using the connecting member 1103.

[0296] Furthermore, the gripping mechanism 1102 does not have to be configured in this way, as long as it can grip the light bulb 1150 and automatically detach (release) the gripped light bulb 1150. For example, although not shown in the illustration, it may grip the light bulb 1150 by suction.

[0297] Furthermore, although not shown in Figures 11A and 11B, the unmanned aerial vehicle (drone), which is the light bulb removal device 1100, is equipped with a camera 1205. The camera 1205 can be implemented, for example, by a general-purpose digital camera. The light bulb removal device 1100 uses the camera 1205 to capture images of the area around the light bulb removal device 1100. Therefore, although not shown in Figures 11A and 11B, it is sufficient to mount the camera in a position that allows it to capture images of the area around the gripping mechanism 1102. The position is not limited.

[0298] The camera 1205 may be installed on the gripping mechanism 1102 or the connecting member 1103. More specifically, the camera 1205 may be installed near the point where the gripping mechanism 1102 makes contact with the light bulb when it is gripped, for example, on the arms 1104a to 1104d or the base portion of the arms 1104a to 1104d (palm portion 1601).

[0299] The light bulb removal device 1100 may have one camera 1205 or multiple cameras 1205. In a light bulb removal device 1100 equipped with multiple cameras 1205, it is not limited to one type of camera 1205, but may be equipped with multiple different types of cameras 1205.

[0300] The camera 1205 may be connected to the light bulb removal device 1100 in a manner that allows for adjustment of its orientation. Specifically, the camera 1205 can be connected to the bottom surface of the light bulb removal device 1100, for example, via a universal joint such as a ball joint. By connecting the camera 1205 to the light bulb removal device 1100 via a universal joint such as a ball joint, a high degree of freedom for adjusting the orientation of the camera 1205 can be ensured.

[0301] Furthermore, the light bulb removal device 1100 may be equipped with a drive mechanism to change the attitude of the camera 1205 relative to the device (drone). This allows the attitude of the camera 1202 relative to the light bulb removal device 1100 to be adjusted without human intervention. This drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 1205 relative to the light bulb removal device 1100 adjustable without human intervention, the shooting direction can be arbitrarily adjusted while the light bulb removal device 1100 is in flight, regardless of the attitude of the light bulb removal device 1100. The camera 1205 may also be equipped with a zoom function.

[0302] 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 supply) is a technology that receives power to the battery 1203 shown in Figure 12 without using charging contacts, and is also called contactless power supply or wireless power supply.

[0303] The power receiving coil is located inside the outer surface of the housing of the light bulb removal device 1100. This prevents deterioration and failure of the power receiving coil due to water droplets such as raindrops and dew, or oil from hands. The light bulb removal device 1100 may also be equipped with charging contacts for charging the battery 1203, either in place of or in addition to the power receiving coil.

[0304] The light bulb removal device 1100 may further include a solar cell (solar cell) 1206 that generates electricity from ambient light such as sunlight. The solar cell 1206 may be installed, for example, on the upper surface of the housing of the light bulb removal device 1100. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by including the solar cell 1206, charging can be performed during flight, thus extending the flight time per charge.

[0305] The light bulb removal device 1100 may also be equipped with a speaker (not shown in the figure). The device may detect the status of the removal of the light bulb 1150 and, depending on the detected status, emit a warning sound, a confirmation sound, or voice messages such as "Removal started!", "Removal complete!", or "Removal error detected!" from the speaker. This allows the worker on the ground to be accurately informed of the removal status.

[0306] The light bulb removal device 1100 may also be equipped with an LED lamp, which is not shown in the illustration. It can detect the status of the removal of the light bulb 1150 and emit light in red, blue, yellow, etc., depending on the detected status, to accurately inform workers on the ground of the removal status.

[0307] (Hardware configuration of a light bulb removal device) Next, the hardware configuration of the light bulb removal device 1100 will be described. Figure 12 is a block diagram showing an example of the hardware configuration of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of the present invention.

[0308] As shown in Figure 12, the light bulb removal device (unmanned aerial vehicle) 1100 consists of a control circuit 1201, a communication interface 1202, a battery 1203, a motor 1204, a camera 1205, a solar cell 1206, and the like. The light bulb removal device 1100 is also equipped with sensors such as a torque sensor 1211, an illuminance sensor 1212, a temperature sensor 1213, a GPS sensor 1214, a contact sensor 1215, and various sensors (accelerometer, object sensor, etc.) 1216. The various parts 1201-1206 and 1211-1216 of the light bulb removal device 1100 are connected by a bus 1200.

[0309] Since the components 1201-1206 and 1211-1216 are the same as the components 201-206 and 211-216 shown in the light bulb mounting device 100 of Embodiment 1, a detailed explanation of them will be omitted.

[0310] (Functional configuration of a light bulb removal device) Figure 13 is a block diagram showing an example of the functional configuration of a light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of the present invention.

[0311] In Figure 13, the light bulb removal device (unmanned aerial vehicle) 1100 comprises 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 analysis unit 1306, a torque detection unit 1307, a light intensity detection unit 1308, a temperature detection unit 1309, a transmission unit 1310, a GNSS receiving unit 1311, a storage unit 1312, an arrival determination unit 1314, and a light bulb gripping determination unit 1315.

[0312] The light bulb gripping section 1301 has the function of gripping the light bulb 1150 and can grip the light bulb 1150. The light bulb gripping section 1301 also has the function of releasing the gripped light bulb 1150 and can release the gripped light bulb 1150. Specifically, the functions of the light bulb gripping section 1301 can be realized by, for example, the gripping mechanism 1102 shown in Figures 11A and 11B, the control circuit 1201 shown in Figure 12, etc.

[0313] The light bulb gripping portion 1301 can grip 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. Furthermore, the light bulb 1150 can be gripped by gripping the glass bulb 1152 portion with the gripping mechanism 1102 so that the light bulb 1150 can be released from being screwed into the socket 1160.

[0314] The mobile unit 1302 flies through the air to move its own device, the light bulb removal device (unmanned aerial vehicle) 1100. Specifically, the mobile unit 1302 moves the light bulb removal device (unmanned aerial vehicle) 1100 to a position where it can grasp the light bulb 1150 installed in the socket 1160. When installing a light bulb, the mobile unit 1302 flies through the air to move its own device, the light bulb removal device (unmanned aerial vehicle) 1100, so that the base 1151 of the light bulb 1150 (for example, near the tip of the base 1151) comes into contact with the opening 1161 of the socket 1160 in which the light bulb is to be installed.

[0315] Specifically, the moving unit 1302 can realize its function through, for example, the propeller 1101 shown in Figures 11A and 11B, the motor 1204 shown in Figure 12, the control circuit 1201, and so on.

[0316] The moving unit 1302 can levitate itself in the air by having the control circuit 1201 control the motor 1204 to rotate the propellers 1101a to 1101d independently. In this state, the control circuit 1201 further controls the motor 1204 to change the rotation speed of each propeller 1101a to 1101d, thereby moving the device to a predetermined position (a position in which the light bulb 1150, with its base 1151 screwed into the socket 1160, can be grasped).

[0317] The rotating part 1303 rotates the light bulb 1150 so as to release the screw connection between the base 1151 and the socket 1600 while the light bulb gripping part 1301 is gripping the light bulb 1150.

[0318] Specifically, the rotating part 1303 can perform its function using, for example, the propeller 1101 shown in Figures 11A and 11B, the motor 1204 shown in Figure 12, and the control circuit 1201.

[0319] The rotating part 1303 rotates itself (the light bulb removal device (unmanned aerial vehicle) 1100) while flying through the air, thereby rotating the light bulb 1150 that is being held by the light bulb gripping part 1301.

[0320] Specifically, the rotating unit 1303 hovers in the position where the base 1151 of the light bulb 1150 is in contact with 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 make the drone rotate clockwise or counterclockwise around the center of the unmanned aerial vehicle (drone) body, i.e., the position where the connecting member 1103 is connected.

[0321] Alternatively, instead of the rotating part 1303 rotating itself (the light bulb removal device (unmanned aerial vehicle) 1100) while flying through the air, it may rotate the light bulb 1150 independently of the rotation of the device itself.

[0322] Specifically, the rotating part 1303 hovers in a position where the base 1151 of the light bulb 1150 is in contact with the opening 1161 of the socket 1160. The rotating part 1303 then drives the motor 1204 to rotate the connecting member 1103 clockwise and counterclockwise around its longitudinal center. As a result, the gripping mechanism 1102 and the light bulb 1150 held by the gripping mechanism 1102 also rotate, thereby enabling the screwing or unscrewing of the light bulb 1150 and the socket 1160.

[0323] The rotating part 1303 can rotate the light bulb 1150 around the center of the insertion direction of the base 1151 by rotating the device itself (light bulb removal device (unmanned aerial vehicle) 1100) or by providing a rotation mechanism independent of the rotation of the device itself. These rotation methods may be used in combination. That is, the device itself (light bulb removal device (unmanned aerial vehicle) 1100) may be rotated, and the light bulb 1150 may be rotated by rotational drive by a rotation mechanism. Furthermore, these rotation methods may be used interchangeably depending on the situation. For example, one method may be used primarily, and the other as a secondary method.

[0324] The light bulb removal completion determination unit 1304 determines whether the light bulb 1150 has been successfully removed from the socket 1160. The rotating unit 1303 then stops the rotation of the light bulb 1150 based on the determination result from the light bulb removal completion determination unit 1304. After the rotation by the rotating unit 1303 has stopped, the moving unit 1302 moves the device (light bulb removal device (unmanned aerial vehicle) 1100) to a predetermined position with the light bulb gripping unit 1301 gripping the light bulb 1150.

[0325] The light bulb removal completion determination unit 1304 can specifically implement its function using, for example, the control circuit 1201 shown in Figure 12.

[0326] The imaging unit 1305 captures an image or video of at least one of the light bulb 1150 and the socket 1160. Specifically, the imaging unit 1305 can perform its function using, for example, the camera 1205 and control circuit 1201 shown in Figure 12.

[0327] The analysis unit 1306 analyzes the image or video captured by the imaging unit 1305. Specifically, the analysis unit 1306 can perform its function using, for example, the control circuit 1201 shown in Figure 12.

[0328] The light bulb removal completion determination unit 1304 can then determine, based on the analysis results from the analysis unit 1306, that the light bulb 1150 has been successfully removed from the socket 1160 when a predetermined portion of the base 1151, which was previously hidden by the socket 1160, becomes visible.

[0329] The designated part refers to marks that have been pre-marked on the base 1151. Then, as a result of the analysis by the analysis unit 1306, if the base 1151 is screwed into the socket, and the marks that were hidden by the socket become visible, the light bulb removal completion determination unit 1304 can determine that the light bulb 1150 has been successfully removed from the socket 1160.

[0330] 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 torque detection unit 1307 can perform its function using, for example, the torque sensor 1211 shown in Figure 12.

[0331] The light bulb removal completion determination unit 1304 can then determine, based on the detection result of the torque detection unit 1307, that the light bulb 1150 has been successfully removed from the socket 1160 if the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined period of time or longer.

[0332] The gripping torque detected by the torque detection unit 1307, that is, 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 screw groove 1162 of the socket 1160 compared to when the base 1151 is screwed into the screw groove 1162 of the socket 1160. Therefore, by detecting this change in gripping torque, it can be determined that the light bulb 1150 has been successfully removed from the socket 1160 if the gripping torque falls below a predetermined value.

[0333] Furthermore, the system may determine that the light bulb 1150 has been successfully removed from the socket 1160 not immediately after the gripping torque falls below a predetermined value, but after the rotation continues and the gripping torque remains below the predetermined value for a predetermined period of time or longer. This reliably prevents the system from mistakenly determining that the light bulb 1150 has been successfully removed from the socket 1160 when the gripping torque temporarily decreases during the unscrewing process.

[0334] The light intensity detection unit 1308 detects the light intensity of the light bulb. Specifically, the light intensity detection unit 1308 can perform its function using, for example, the illuminance sensor 1212 shown in Figure 12.

[0335] The light bulb removal completion determination unit 1304 can then determine, based on the detection result of the light intensity detection unit 1308, that the light intensity of the light bulb 1150 remains below a predetermined value for a predetermined period of time or longer, and that the light bulb 1150 has been successfully removed from the socket 1160.

[0336] In other words, when the light bulb 1150 is properly installed in the socket 1160, the tip of the base 1151 contacts the electrodes of the socket 1160, energizing the light bulb 1150 and causing it to light up. When removal is initiated, the contact between the tip of the base 1151 and the electrodes of the socket 1160 is released, causing the light bulb 1150 to turn off. After that, the bulb is rotated for a predetermined time, releasing the screw connection between the screw groove 1162 and the base 1151, and the light bulb is removed.

[0337] The light intensity detection unit 1308 detects a change (decrease) in light intensity caused by the light bulb 1150 being turned off. If the light intensity remains below a predetermined value for a predetermined period of time while the light bulb 1150 continues to rotate, it can determine that the light bulb 1150 has been properly removed from the socket 1160.

[0338] In this way, it is possible to confirm that the installed light bulb 1150 turns off while the power is on, thus allowing for more reliable confirmation of the light bulb's removal. Furthermore, since this does not require manual labor by the worker (they do not need to directly touch the light bulb 1150 with their hands), the risk of electric shock to the worker is reliably avoided even while the power is on, ensuring safe work practices.

[0339] The temperature detection unit 1309 detects the temperature of the light bulb 1150. Specifically, the temperature detection unit 1309 can perform its function using, for example, the temperature sensor 213 shown in Figure 12.

[0340] The light bulb removal completion determination unit 1304 can determine, based on the detection result of the temperature detection unit 1309, that the temperature of the light bulb 1150 has remained below a predetermined value for a predetermined period of time or longer, and that the light bulb 1150 has been successfully removed from the socket 1160. In other words, when the light bulb 1150 is properly installed in the socket 1160, power is supplied 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. Subsequently, the light bulb 1150 is rotated for a predetermined period of time, releasing the screw connection between the screw groove 1162 and the base 1151, allowing the light bulb 1150 to be removed. During this time, heat is dissipated, i.e., it is cooled by the atmosphere, and its temperature drops below a predetermined value.

[0341] The temperature detection unit 1309 detects the change (decrease) in temperature caused by the light bulb 1150 being turned off, and if the temperature falls below a predetermined value, it can determine that the light bulb 1150 has been properly removed from the socket 1160.

[0342] In this way, it is possible to confirm that the installed light bulb 1150 turns off while the power is on, and by utilizing the fact that the light bulb 1150 dissipates heat and cools down after a predetermined time once it turns off, it is possible to confirm that the light bulb has been removed more reliably. In addition, since it does not require manual labor by workers (workers do not have to directly touch the light bulb 1150 with their hands), the risk of workers being burned by the heat of the light bulb is reliably avoided even while the power is on, and safe work can be performed.

[0343] The light bulb removal completion determination unit 1304 may determine that the light bulb removal is complete based on any one of the four results: the analysis result from the analysis unit 1306, the detection result from the torque detection unit 1307, the detection result from the luminous intensity detection unit 1308, and the detection result from the temperature detection unit 1309. Alternatively, it may determine that the light bulb removal is complete by combining two or more of the four results. Depending on conditions such as the situation and environment in which the light bulb 1150 is installed, the unit may change which result is used, and if multiple results are used, the unit may freely select a combination of them. Furthermore, the unit may determine that the light bulb removal is complete based on information other than the four results.

[0344] Furthermore, the light bulb removal completion determination unit 1304 may determine, separately from or in conjunction with those results, that the removal of the light bulb 1150 is complete when the light bulb 1150 has rotated a predetermined number of times or more. Also, since the rotation speed of the light bulb 1150 is predetermined, the unit may determine that the removal of the light bulb 1150 is complete when the light bulb 1150 has rotated continuously for a predetermined time or longer.

[0345] The transmitting unit 1310 transmits an image or video of at least one of the light bulb 1150 and the socket 1160 captured by the imaging unit 1305. The destination of the image or video may be, for example, the control unit 250 or the management server 260. Specifically, the transmitting unit 1310 can implement its function by, for example, the communication I / F 1202 shown in Figure 12.

[0346] The imaging unit 1305 captures images or videos of the light bulb 1150 before installation, during removal, and after removal. In this way, the transmitting unit 1310 transmits the images or videos, allowing the user to know the status of the light bulb 1150 removal process. Furthermore, the status of the light bulb removal process can be managed.

[0347] Furthermore, the imaging unit 1305 captures an image or video of the area around the base 1151 of the light bulb 1150, and the analysis unit 1306 analyzes the image or video captured by the imaging unit 1305. The moving unit 1302 may then move its own device (light bulb removal device (unmanned aerial vehicle) 1100) based on the analysis results of the analysis unit 1306.

[0348] The imaging unit 1305 may also read a two-dimensional code (not shown) provided on or around the base 1151. This two-dimensional code is associated with information about the socket 1160 and information about the types of usable light bulbs 1150. The analysis unit 1306 may also analyze the information in the two-dimensional code.

[0349] In this way, the destination position can be determined based on the analysis results of the image or video of the area around the base 1151 of the analysis unit 1306, so the moving unit 1302 can more reliably move itself to a position where it can grasp the light bulb 1150 to be removed.

[0350] The GNSS (Global Navigation Satellite System) receiver 1311 determines the current position of the device. Specifically, the GNSS receiver 1311 can perform this function using a GPS sensor 1214, as shown in Figure 12.

[0351] The mobile unit 1302 may also move its own device (light bulb removal device (unmanned aerial vehicle) 1100) based on the positioning results from the GNSS (Global Navigation Satellite System) receiving unit 1311.

[0352] In this way, the destination can be determined based on the positioning results from the GNSS receiver 1311, allowing the mobile unit 1302 to move itself to a position where it can grasp the light bulb 1150.

[0353] The moving unit 1302 may also move its own device (light bulb removal device (unmanned aerial vehicle) 1100) based on the destination location information stored in the memory unit 1312. Specifically, the memory unit 1312 can realize its function by, for example, the control circuit 1201 (and its memory) shown in Figure 12.

[0354] Here, the destination location information may be more detailed latitude and longitude information. Furthermore, it is not limited to latitude and longitude information, as long as it is information that can identify the location of the socket 1160 (or the light bulb 1150 mounted in the socket 1160) at the destination. In addition, the destination location information may include angle information regarding the inclination of the socket 1160 at the destination. For example, except when the socket 1160 is mounted vertically, the moving unit 1302 can adjust the gripping direction of the light bulb 1150 and move it by tilting its own device (light bulb removal device (unmanned aerial vehicle) 1100) to that angle based on the angle information regarding the inclination.

[0355] The memory unit 1312 may also store information about the destination socket 1160 (type and characteristics of the socket 1160, etc.), information about the type of light bulb being used, and information about the replacement work (previous replacement date, cleaning date, work history, etc.). This information allows for more efficient and reliable (preventing accidents and incorrect work) light bulb replacement work.

[0356] The receiving unit 1313 receives information about the destination of its own device (light bulb removal device (unmanned aerial vehicle) 1100). Specifically, the receiving unit 1313 can perform its function by means of, for example, the communication I / F 1202 shown in Figure 12.

[0357] The memory unit 1312 then stores the destination information received by the receiving unit 1313. The source of the destination information may be, for example, the control unit 250 or the management server 260. In this way, the location information of the socket 1160 from which the light bulb 1150 is removed can be easily and reliably obtained.

[0358] The arrival determination unit 1314 determines whether the device has reached a position where the light bulb gripping unit 1301 can grip the light bulb 1150. Based on the determination result by the arrival determination unit 1314, the light bulb gripping unit 1301 can grip the light bulb 1150 if it has reached such a position.

[0359] The arrival determination unit 1314 can specifically implement its function using, for example, the control circuit 1201 shown in Figure 12.

[0360] 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. Based on the analysis results from the analysis unit 1306, the arrival determination unit 1314 can determine that its own device (light bulb removal device (unmanned aerial vehicle) 1100) has reached a position where it can grasp the light bulb 1150.

[0361] More specifically, the arrival determination unit 1314 can determine that the device (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 when the device reaches a position where it can grasp the light bulb 1150. In other words, by image recognition, the captured image or video is compared with the image or video of the light bulb when it reaches a position where it can grasp the light bulb, and the consistency between the two can be determined by pattern recognition of images using AI (Artificial Intelligence).

[0362] Furthermore, the reach determination unit 1314 can determine that the device has reached a position where it can grasp the light bulb 1150 when a predetermined part of the light bulb gripping part 1301 (for example, the arms 1104a to 1104d or the palm portion at the base of the arms 1104a to 1104d (1601 in Figure 16, described later)) comes into contact with the light bulb. The arms 1104a to 1104d or the palm portion at the base of the arms 1104a to 1104d may be provided with the contact sensor 1215 shown in Figure 12.

[0363] In this way, after the arrival determination unit 1314 ensures that the device (light bulb removal device (unmanned aerial vehicle) 1100) has reached a position where the light bulb gripping unit 1301 can grip the light bulb 1150, the light bulb gripping unit 1301 begins to grip the light bulb (by operating the arms 1104a to 1104d to close, enveloping the light bulb 1150 with the arms 1104a to 1104d and the palm unit 1601, so that the light bulb 1150 does not move within the arms 1104a to 1104d and is gripped), the light bulb gripping unit 1301 can grip the light bulb 1150 more reliably.

[0364] The bulb gripping determination unit 1315 determines whether the bulb gripping unit 1301 has successfully gripped the bulb 1150. Based on the determination result by the bulb gripping determination unit 1315, the rotating unit 1303 can rotate the bulb 1150. In other words, by rotating the bulb 1150 after the bulb gripping unit 1301 has successfully gripped the bulb 1150, the screw connection between the socket 1160 and the base 1151 of the bulb 1150 can be reliably released.

[0365] Specifically, the light bulb gripping determination unit 1315 can implement its function using, for example, the control circuit 1201 and contact sensor 1215 shown in Figure 12.

[0366] 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. Based on the analysis results of the analysis unit 1306, the light bulb gripping determination unit 1315 can determine that the light bulb 1150 has been gripped correctly if the captured image or video matches the image or video of the light bulb being gripped correctly. In other words, by image recognition, the captured image or video is compared with the image or video of the light bulb being gripped correctly, and the consistency between the two can be determined by pattern recognition between images using AI (Artificial Intelligence).

[0367] Furthermore, the light bulb gripping determination unit 1315 can determine that the light bulb 1150 has been properly gripped if a predetermined part of the light bulb gripping part 1301 comes into contact with the light bulb 1150. The predetermined part of the light bulb gripping part 1301 is, for example, the arms 1104a to 1104d. Using the contact sensors 1215 provided on each of these arms 1104a to 1104d, if the light bulb 1150 is in contact with all of the arms 1104a to 1104d in an area greater than a predetermined area of ​​the arms 1104a to 1104d, it can be determined that the light bulb 1150 has been properly gripped.

[0368] (Procedure for handling a light bulb removal device) Figure 14 is a flowchart showing an example of the processing procedure of the light bulb removal device (unmanned aerial vehicle) according to Embodiment 2 of this invention. Figures 15 to 20 are explanatory diagrams showing the process of removing a light bulb using the light bulb removal device.

[0369] In the flowchart of Figure 14, the propellers 1101a to 1101d of the light bulb removal device (unmanned aerial vehicle) 1100 are rotated to cause the light bulb removal device (unmanned aerial vehicle) 1100 to take off (float) (step S1401).

[0370] The light bulb removal device (unmanned aerial vehicle) 1100 flies through the air to a predetermined destination (step S1402). Since the destination is predetermined, it can fly the shortest distance unless there are obstacles. If there are obstacles, it can fly in a way that avoids them based on information about those obstacles. Figure 15 shows the light bulb removal device (unmanned aerial vehicle) 1100 moving while flying through the air.

[0371] Then, it is determined whether or not the target light bulb 1150, which is the predetermined destination, has reached a position where it can be grasped (step S1403). Whether or not it has reached this position can be determined based on the analysis of the image from the camera 1205 or the detection results from the contact sensor 1215, as described above.

[0372] If the position has not yet been reached (step S1403: No), the process returns to step S1402 and continues to fly through the air. On the other hand, if the position has been reached (step S1403: Yes), the angle of the gripping mechanism 1102 for gripping the light bulb 1150, i.e., the angle of the light bulb removal device (unmanned aerial vehicle) 1100, is adjusted (step S1404). Figure 16 shows the gripping mechanism 1102 in a state where it can grip the light bulb 1150, that is, including the angle adjustment, it is positioned so that gripping becomes possible when the arm 1104 is closed.

[0373] After the angle adjustment is complete, the gripping mechanism 1102 (arms 1104a to 1104d) grips the light bulb 1150 (step S1405). Figure 17 shows the state in which the gripping mechanism 1102 is gripping the light bulb 1150.

[0374] Next, it is determined whether the gripping mechanism 1102 has successfully gripped the light bulb 1150 (step S1406). If it has not successfully gripped the light bulb (step S1406: No), the process returns to step S1404, and the angle adjustment and gripping operation are repeated. The process then waits for the gripping mechanism 1102 to successfully grip the light bulb 1150, and if it has successfully gripped it (step S1406: Yes), the light bulb 1150 is rotated counterclockwise (step S1407). This initiates the unscrewing of the socket 1160 and the base 1151 of the light bulb 1150. Figure 18 shows the process of unscrewing the light bulb 1150 from the socket 1160 by rotating the light bulb 1150 counterclockwise.

[0375] Next, determine whether the light bulb 1150 has been successfully removed from the socket 1160 (step S1408). If it has not yet been successfully removed (step S1408: No), return to step S1407 and continue rotating the light bulb 1150 counterclockwise.

[0376] Subsequently, if the light bulb 1150 is successfully removed from the socket 1160 (step S1408: Yes), the rotation of the light bulb 1150 is stopped (step S1409). After the rotation of the light bulb 1150 is stopped, the light bulb removal device (unmanned aerial vehicle) 1100 detaches itself from its position (the position of the socket 1160) (step S1410). Figure 19 shows the light bulb removal device (unmanned aerial vehicle) 1100 detached and the base 1151 separated from the socket 1160.

[0377] Then, it flies through the air again and moves to a predetermined destination (return destination) (step S1411). Figure 20 shows the light bulb removal device (unmanned aerial vehicle) 1100 detaching itself from the socket 1160 and moving through the air while holding the removed light bulb 1150. The predetermined destination may usually be the takeoff position, or it may be any other position.

[0378] Subsequently, the system lands at a predetermined destination (step S1412), and the series of processes is completed. At this point, instead of landing, the system may automatically discard the held light bulb 1150 and move to a new destination.

[0379] As described above, the light bulb removal device 1100 of Embodiment 2 of this invention may include a moving part 1302 that flies through the air to move the device (light bulb removal device 1100) to a position where it can grip a light bulb 1150 whose base 1151 is screwed into a socket 1160, a light bulb gripping part 1301 that grips the light bulb 1150, and a rotating part 1303 that rotates the light bulb 1150 so as to release the screw connection between the base 1151 and the socket 1160 while the light bulb gripping part 1301 is gripping the light bulb 1150. This makes it possible to automatically remove the light bulb 1150 from the socket 1160 without human intervention.

[0380] Furthermore, in the second embodiment of this invention, the light bulb removal device 1100 can also rotate the light bulb 1150 by having the rotating part 1303 rotate the device itself (light bulb removal device 1100). This eliminates the need to provide a separate drive source for releasing the screw connection between the light bulb 1150 and the socket 1160.

[0381] Furthermore, in the second embodiment of the present invention, the light bulb removal device 1100 is further configured such that the rotating part 1303 can rotate the light bulb 1150 independently of the rotation of the device (light bulb removal device 1100) itself. This allows the screw connection between the light bulb 1150 and the socket 1160 to be released without rotating (rotating) the device (light bulb removal device 1100) itself.

[0382] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes a GNSS (Global Navigation Satellite System) receiving unit 1311 and a storage unit 1312 that stores location information of the destination of the device (light bulb removal device 1100). The moving unit 1302 can move the device (light bulb removal device 1100) based on the positioning results from the GNSS receiving unit 1311 and the destination location information stored in the storage unit 1312. This makes it possible to more reliably move the device (light bulb removal device 1100) to the location where the destination socket 1160 (light bulb 1150) is located.

[0383] Furthermore, the light bulb removal device 1100 of Embodiment 2 according to this invention can also include angle information relating to the inclination of the socket 1160 at the destination in the destination position information. This ensures that the screw can be reliably released even from a socket 1160 that is mounted at an angle.

[0384] Furthermore, the light bulb removal device 1100 of Embodiment 2 according to this invention further includes a receiving unit 1311 that receives information about the destination, and a storage unit 1312 can store the destination information received by the receiving unit 1311. This makes it possible to more reliably know the location of the socket 1160 (light bulb 1150) at the destination of the device (light bulb removal device 1100).

[0385] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes an imaging unit 1305 that captures an image or video of at least one of the light bulb 1150 and the socket 1160, and an analysis unit 1306 that analyzes the image or video captured by the imaging unit 1305. The moving unit 1302 can move the device (light bulb removal device 1100) based on the analysis results of the analysis unit 1306. This makes it possible to move the device (light bulb removal device 1100) to the destination position more reliably.

[0386] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes a reach determination unit 1314 that determines whether the device (light bulb removal device 1100) has reached a position where the light bulb gripping portion 1301 can grip the light bulb 1150. The light bulb gripping portion 1301 can grip the light bulb 1150 if the device (light bulb removal device 1100) has reached that position based on the determination result of the reach determination unit 1314. This makes it possible to grip the light bulb 1150 more reliably.

[0387] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes an imaging unit 1305 that captures an image or video of the light bulb 1150, and an analysis unit 1306 that analyzes the image or video captured by the imaging unit 1305. The arrival determination unit 1314 can determine, based on the analysis results of the analysis unit 1306, that the device (light bulb removal device 1100) has reached a position where it can grasp the light bulb 1150. This allows for more reliable grasping of the light bulb 1150 based on image analysis.

[0388] Furthermore, in the second embodiment of the present invention, the light bulb removal device 1100 can determine that the device (light bulb removal device 1100) has reached a position where it can grasp the light bulb 1150 if the arrival determination unit 1314 matches the image or video of the light bulb 1150 captured by the imaging unit 1305 when the device (light bulb removal device 1100) reaches a position where it can grasp the light bulb 1150. This allows the light bulb 1150 to be grasped more reliably based on image analysis using pattern matching.

[0389] Furthermore, in the second embodiment of the present invention, the light bulb removal device 1100 can determine when the reach determination unit 1314 has reached a position where it can grasp the light bulb 1150 when a predetermined part of the light bulb gripping part 1301 comes into contact with the light bulb 1150. This allows the light bulb 1150 to be grasped more reliably based on the detection result of the contact sensor 1215.

[0390] Furthermore, the light bulb removal device 1100 of Embodiment 2 according to this invention is further equipped with 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 rotating unit 1303 can rotate the light bulb 1150 based on the determination result by the light bulb gripping determination unit 1315. This makes it possible to remove the light bulb 1150 and transport the removed light bulb 1150 more reliable.

[0391] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes an imaging unit 1305 that captures an image or video of the light bulb 1150, and an analysis unit 1306 that analyzes the image or video captured by the imaging unit 1305. The light bulb gripping determination unit 1315 can determine that the light bulb 1150 has been properly gripped if, based on the analysis results of the analysis unit 1306, the captured image or video shows the light bulb 1150 in a state where it can be properly gripped. This allows for more reliable confirmation of light bulb gripping based on image analysis.

[0392] Furthermore, in the second embodiment of this invention, the light bulb removal device 1100 can determine that the light bulb 1150 has been properly gripped when a predetermined part of the light bulb gripping part 1301 comes into contact with the light bulb 1150, as determined by the light bulb gripping determination unit 1315. This allows for more reliable confirmation of light bulb gripping based on the detection result of the contact sensor 1315.

[0393] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention is further equipped with a light bulb removal completion determination unit 1304 that determines whether or not the light bulb 1150 has been successfully removed from the socket 1160. The rotating unit 1303 stops the rotation of the light bulb 1150 based on the determination result by the light bulb removal completion determination unit 1304, and the moving unit 1302 moves the device (light bulb removal device 1100) to a predetermined position after the rotation by the rotating unit 1303 has stopped, with the light bulb gripping unit 1301 gripping the light bulb 1150. This makes it possible to remove the light bulb and transport the removed light bulb more reliably and quickly.

[0394] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes an imaging unit 1305 that captures an image or video of at least one of the light bulb 1150 and the socket 1160, and an analysis unit 1306 that analyzes the image or video captured by the imaging unit 1305. 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 portion of the base 1151, which was hidden and not visible by the socket 1160, becomes visible based on the analysis results of the analysis unit 1306. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0395] Furthermore, the light bulb removal device 1100 of Embodiment 2 according to this invention further includes a torque detection unit 1307 that detects the gripping torque applied to the light bulb gripping unit 1301 in the rotational direction of the light bulb 1150 by the rotating unit 1303. The light bulb removal completion determination unit 1304 can determine, based on the detection result of the torque detection unit 1307, that the light bulb 1150 has been successfully removed from the socket 1160 when the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0396] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes a light intensity detection unit 1308 for detecting the light intensity of the light bulb 1150. The light bulb removal completion determination unit 1304 can determine, based on the detection result of the light intensity detection unit 1308, that the light bulb 1150 has been successfully removed from the socket 1160 if the light intensity of the light bulb 1150 remains below a predetermined value for a predetermined period of time or longer. This ensures that it is reliably determined that the light bulb 1150 has been removed.

[0397] Furthermore, the light bulb removal device 1100 of Embodiment 2 of this invention further includes a temperature detection unit 1309 for detecting the temperature of the light bulb 1150. The light bulb removal completion determination unit 1304 can determine, based on the detection result of the temperature detection unit 1309, 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 longer. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0398] Furthermore, the light bulb removal device 1100 of Embodiment 2 according to this invention may further include an imaging unit 1305 that captures an image or video of at least one of the light bulb 1150 and the socket 1160, and a transmitting unit 1310 that transmits the image or video captured by the imaging unit 1305. This makes it possible to know from a distance that the removal of the light bulb 1150 is being carried out.

[0399] Furthermore, in the second embodiment of this invention, the light bulb removal method allows the unmanned aerial vehicle (UAV) 1100 to fly through the air to a position where it can grasp the light bulb 1150, whose base 1151 is screwed into the socket 1160, then grasp the light bulb 1150, and while holding the light bulb 1150, rotate the light bulb 1150 to release the screw connection between the base 1151 and the socket 1160. This allows the light bulb 1150 to be automatically removed from the socket 1160 without human intervention.

[0400] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 rotates the light bulb 1150 by rotating the device (unmanned aerial vehicle 1100) itself. This eliminates the need to provide a separate drive source for unscrewing the light bulb 1150 and the socket 1160.

[0401] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 rotates the light bulb 1150 independently of the rotation of the device (unmanned aerial vehicle 1100) itself. This makes it possible to release the screw connection between the light bulb 1150 and the socket 1160 without rotating (rotating) the device (light bulb removal device 1100) itself.

[0402] Furthermore, the light bulb removal method of Embodiment 2 according to this invention allows the unmanned aerial vehicle (UAV) 1100 to store location information of its destination and execute a process to move its device (UAV 1100) based on the positioning results from GNSS (Global Navigation Satellite System) and the stored location information of its destination. This makes it possible to more reliably move the device (light bulb removal device 1100) to the location where the destination socket 1160 (light bulb 1150) is located.

[0403] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also include angle information relating to the inclination of the socket 1160 at the destination in the destination location information. This ensures that the screw can be reliably released even from a socket 1160 that is mounted at an angle.

[0404] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also enable the unmanned aerial vehicle 1100 to receive information about its destination and store the received information about its destination. This makes it possible to more reliably determine the location of the socket 1160 (light bulb 1150) at the destination of the device (unmanned aerial vehicle 1100).

[0405] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also be further configured so that the unmanned aerial vehicle 1100 captures an image or video of at least one of the light bulb 1150 and the socket 1160, analyzes the captured image or video, and moves its own device (unmanned aerial vehicle 1100) based on the analysis results. This makes it possible to move the own device (light bulb removal device 1100) to the destination position more reliably.

[0406] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also determine whether the unmanned aerial vehicle 1100 has reached a position where it can grasp the light bulb 1150, and based on the determination result, if the device (unmanned aerial vehicle 1100) has reached that position, it can perform a process of grasping the light bulb 1150. This makes it possible to grasp the light bulb 1150 more reliably.

[0407] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also be configured so that the unmanned aerial vehicle 1100 captures an image or video of the light bulb 1150, analyzes the captured image or video, and, based on the analysis results, determines that the device (unmanned aerial vehicle 1100) has reached a position where it can grasp the light bulb 1150. This allows for a more reliable grasping of the light bulb 1150 based on image analysis.

[0408] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 determines that it has reached a position in which it can grasp the light bulb 1150 when the captured image or video of the light bulb 1150 matches the image or video of the light bulb 1150 at the time the device (unmanned aerial vehicle 1100) reaches a position in which it can grasp the light bulb 1150. This makes it possible to grasp the light bulb 1150 more reliably based on image analysis by pattern matching.

[0409] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 determines that it has reached a position where it can grasp the light bulb 1150 when a predetermined part of the gripping mechanism for the light bulb 1150 comes into contact with the light bulb 1150. This allows the light bulb 1150 to be grasped more reliably based on the detection result of the contact sensor 1215.

[0410] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 determines whether or not it has successfully grasped the light bulb 1150, and rotates the light bulb 1150 based on the determination result. This makes it possible to remove the light bulb 1150 and transport the removed light bulb 1150 more reliably.

[0411] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 captures an image or video of the light bulb 1150, analyzes the captured image or video by the imaging unit 1305, and, based on the analysis results, determines that the light bulb 1150 has been properly grasped if the captured image or video shows the light bulb 1150 in a state where it can be properly grasped. This allows for more reliable confirmation of light bulb grasping based on image analysis.

[0412] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 determines that it has successfully grasped the light bulb 1150 when a predetermined part of the gripping mechanism for the light bulb 1150 comes into contact with the light bulb 1150. This allows for more reliable confirmation of the light bulb's grip based on the detection result of the contact sensor 1215.

[0413] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform the following process: the unmanned aerial vehicle 1100 determines whether the light bulb 1150 has been successfully removed from the socket 1160, stops the rotation of the light bulb 1150 based on the determination result, and after the rotation stops, moves its own device (unmanned aerial vehicle 1100) to a predetermined position while gripping the light bulb 1150. This makes it possible to remove the light bulb and transport the removed light bulb more reliably and quickly.

[0414] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also be further configured so that the unmanned aerial vehicle 1100 captures an image or video of at least one of the light bulb 1150 and the socket 1160, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb 1150 has been successfully removed from the socket 1160 when a predetermined portion of the base 1151 that was hidden and not visible by the socket 1160 becomes visible. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0415] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 detects the gripping torque of the light bulb 1150 in the rotational direction applied to the gripping part that is holding the light bulb 1150, and, based on the detection result of the gripping torque, determines that the light bulb 1150 has been successfully removed from the socket 1160 when the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined time or longer. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0416] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also be configured so that the unmanned aerial vehicle 1100 detects the luminous intensity of the light bulb 1150, and based on the detection result, if the luminous intensity of the light bulb 1150 remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb 1150 has been successfully removed from the socket 1160. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0417] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also be configured so that the unmanned aerial vehicle 1100 detects the temperature of the light bulb 1150, and based on the temperature detection result, determines that the light bulb 1150 has been properly installed in the socket 1160 if the temperature of the light bulb 1150 remains below a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0418] Furthermore, the light bulb removal method of Embodiment 2 according to this invention can also perform a process in which the unmanned aerial vehicle 1100 captures an image or video of at least one of the light bulb 1150 and the socket 1160, and transmits the captured image or video. This makes it possible to know from a distance that the removal of the light bulb 1150 has been carried out.

[0419] Furthermore, the light bulb removal program of Embodiment 2 of this invention can cause the unmanned aerial vehicle 1100 to fly through the air and move itself (the unmanned aerial vehicle 1100) to a position where it can grasp the light bulb 1150, whose base 1151 is screwed into the socket 1160, grasp the light bulb 1150, and while holding the light bulb 1150, rotate the light bulb 1150 to release the screw connection between the base 1151 and the socket 1160. This allows the light bulb 150 to be automatically removed from the socket 1160 without human intervention.

[0420] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also cause the unmanned aerial vehicle 1100 to rotate the light bulb 1150 by rotating the device (unmanned aerial vehicle 1100) itself. This eliminates the need to provide a separate drive source for unscrewing the light bulb 1150 and the socket 1160.

[0421] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also cause the unmanned aerial vehicle 1100 to perform a process that rotates the light bulb 1150 independently of the rotation of the device (unmanned aerial vehicle 1100) itself. This makes it possible to release the screw connection between the light bulb 1150 and the socket 1160 without rotating (rotating) the device (light bulb removal device 1100) itself.

[0422] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also be configured to allow the unmanned aerial vehicle (UAV) 1100 to store location information of its destination and to execute a process to move its device (UAV 1100) based on the positioning results from GNSS (Global Navigation Satellite System) and the stored location information of its destination. This makes it possible to more reliably move the device (light bulb removal device 1100) to the location where the destination socket 1160 (light bulb 1150) is located.

[0423] Furthermore, the light bulb removal program of Embodiment 2 according to this invention can also include angle information relating to the inclination of the socket 1160 at the destination in the destination location information. This ensures that the screw can be reliably released even from a socket 1160 that is mounted at an angle.

[0424] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also cause the unmanned aerial vehicle 1100 to perform a process of receiving information about the destination and storing the received information about the destination. This makes it possible to more reliably determine the location of the socket 1160 (light bulb 1150) at the destination of the device (unmanned aerial vehicle 1100).

[0425] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also cause the unmanned aerial vehicle 1100 to capture an image or video of at least one of the light bulb 1150 and the socket 1160, analyze the captured image or video, and, based on the analysis results, execute a process to move its own device (unmanned aerial vehicle 1100). This makes it possible to move its own device (light bulb removal device 1100) to the destination location more reliably.

[0426] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also be configured to determine whether the unmanned aerial vehicle (UAV 1100) has reached a position where it can grasp the light bulb 1150, and based on the determination result, execute a process to grasp the light bulb 1150 if the UAV 1100 has reached that position. This makes it possible to grasp the light bulb 1150 more reliably.

[0427] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also cause the unmanned aerial vehicle 1100 to capture an image or video of the light bulb 1150, analyze the captured image or video, and, based on the analysis results, determine that the device (unmanned aerial vehicle 1100) has reached a position where it can grasp the light bulb 1150. This allows for a more reliable grasping of the light bulb 1150 based on image analysis.

[0428] Furthermore, the light bulb removal program of Embodiment 2 of this invention can be made to execute a process in which the unmanned aerial vehicle 1100 determines that it has reached a position where it can grasp the light bulb 1150 when the captured image or video of the light bulb 1150 matches the image or video of the light bulb 1150 at the time the device (unmanned aerial vehicle 1100) reaches a position where it can grasp the light bulb 1150. This makes it possible to grasp the light bulb 1150 more reliably based on image analysis by pattern matching.

[0429] Furthermore, the light bulb removal program of Embodiment 2 of this invention can be made to execute a process in which the unmanned aerial vehicle 1100 determines that it has reached a position where it can grasp the light bulb 1150 when a predetermined part of the gripping mechanism for the light bulb 1150 comes into contact with the light bulb 1150. This makes it possible to grasp the light bulb 1150 more reliably based on the detection result of the contact sensor 1215.

[0430] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also cause the unmanned aerial vehicle 1100 to determine whether or not it has successfully grasped the light bulb 1150, and to execute a process to rotate the light bulb 1150 based on the determination result. This makes it possible to remove the light bulb 1150 and transport the removed light bulb 1150 more reliable.

[0431] Furthermore, the light bulb removal program of Embodiment 2 of this invention can be made to execute a process in which the unmanned aerial vehicle 1100 captures an image or video of the light bulb 1150, analyzes the image or video captured by the imaging unit 1305, and, based on the analysis results, determines that the light bulb 1150 has been successfully grasped if the captured image or video shows the light bulb 1150 in a state where it can be properly grasped. This allows for more reliable confirmation of light bulb grasping based on image analysis.

[0432] Furthermore, the light bulb removal program of Embodiment 2 according to this invention can be made to execute a process in which the unmanned aerial vehicle 1100 determines that the light bulb 1150 has been properly gripped when a predetermined part of the gripping mechanism for the light bulb 1150 comes into contact with the light bulb 1150. This allows for more reliable confirmation of the light bulb gripping based on the detection result of the contact sensor 1215.

[0433] Furthermore, the light bulb removal program of Embodiment 2 of this invention can also be configured to cause the unmanned aerial vehicle 1100 to determine whether the light bulb 1150 has been successfully removed from the socket 1160, to stop the rotation of the light bulb 1150 based on the determination result, and then, after the rotation has stopped, to move its own device (unmanned aerial vehicle 1100) to a predetermined position while gripping the light bulb 1150. This makes it possible to remove the light bulb and transport the removed light bulb more reliably and quickly.

[0434] Furthermore, the light bulb removal program of Embodiment 2 of this invention can be made to execute a process in which the unmanned aerial vehicle 1100 captures an image or video of at least one of the light bulb 1150 and the socket 1160, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb 1150 has been successfully removed from the socket 1160 when a predetermined portion of the base 1151 that was hidden from view by the socket 1160 becomes visible. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0435] Furthermore, the light bulb removal program of Embodiment 2 of this invention can be made to execute a process in which the unmanned aerial vehicle 1100 detects the gripping torque of the light bulb 1150 in the rotational direction of the light bulb 1150 applied to the gripping part that is holding the light bulb 1150, and determines that the light bulb 1150 has been successfully removed from the socket 1160 when the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined time or longer based on the detection result of the gripping torque. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0436] Furthermore, the light bulb removal program of Embodiment 2 according to this invention can be made to execute a process in which the unmanned aerial vehicle 1100 detects the luminous intensity of the light bulb 1150, and, based on the luminous intensity detection result, determines that the light bulb 1150 has been successfully removed from the socket 1160 if the luminous intensity of the light bulb 1150 remains below a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0437] Furthermore, the light bulb removal program of Embodiment 2 of this invention can be made to execute a process in which the unmanned aerial vehicle 1100 detects the temperature of the light bulb 1150, and, based on the temperature detection result, determines that the light bulb 1150 has been properly installed in the socket 1160 if the temperature of the light bulb 1150 remains below a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 1150 has been removed.

[0438] Furthermore, the light bulb removal program of Embodiment 2 according to this invention can also cause the unmanned aerial vehicle 1100 to capture an image or video of at least one of the light bulb 1150 and the socket 1160, and to transmit the captured image or video. This makes it possible to know from a distance that the removal of the light bulb 1150 has been carried out.

[0439] The light bulb removal method described in this embodiment can also be implemented by executing a pre-prepared program on a computer such as a personal computer or workstation, in addition to the unmanned aerial vehicle 1100. 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 when read from the recording medium by the computer. This program may also be transmitted via a network such as the Internet.

[0440] The details of Embodiment 2 are described below in appendices (Appendices 201 to 260).

[0441] (Note 201) A mobile unit that moves itself through the air to a position where it can grasp a light bulb with a base screwed into a socket, A light bulb gripping portion for gripping the light bulb, With the aforementioned bulb gripping portion gripping the bulb, a rotating portion rotates the bulb to release the screw connection between the base and the socket, A light bulb removal device characterized by being equipped with [a specific feature].

[0442] (Note 202) The light bulb removal device according to Appendix 201, characterized in that the rotating part rotates the device itself to rotate the light bulb.

[0443] (Note 203) The light bulb removal device according to Appendix 201, characterized in that the rotating part rotates the light bulb independently of the rotation of the device itself.

[0444] (Note 204) GNSS (Global Navigation Satellite System) receiver unit, A storage unit that stores location information of the device's destination, Equipped with, The light bulb removal device according to any one of the appendices 201 to 203, characterized in that the moving unit moves itself based on the positioning result from the GNSS receiving unit and the destination location information stored in the storage unit.

[0445] (Note 205) The light bulb removal device according to Appendix 204, characterized in that the location information of the destination includes angle information relating to the inclination of the socket at the destination.

[0446] (Note 206) The system includes a receiving unit that receives information about the destination, The light bulb removal device according to Appendix 204 or 205, characterized in that the storage unit stores information about the destination received by the receiving unit.

[0447] (Note 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 images or videos captured by the imaging unit, Equipped with, The light bulb removal device according to any one of the appendices 201 to 206, characterized in that the moving unit moves itself based on the analysis results of the analysis unit.

[0448] (Note 208) The light bulb gripping portion includes a reach determination unit that determines whether the device has reached a position where it can grip the light bulb. The light bulb gripping portion is characterized in that, based on the determination result by the arrival determination portion, the device grips the light bulb when it reaches the position, as described in any one of the appendices 201 to 207.

[0449] (Note 209) An imaging unit for capturing an image or video of the light bulb, An analysis unit that analyzes images or videos captured by the imaging unit, Equipped with, The light bulb removal device according to Appendix 208, characterized in that the arrival determination unit determines, based on the analysis results of the analysis unit, that the device has reached a position in which it can grasp the light bulb.

[0450] (Note 210) The light bulb removal device according to Appendix 209, characterized in that the arrival determination unit determines that the device has reached a position in which it can grasp 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 at the time the device reaches a position in which it can grasp the light bulb.

[0451] (Note 211) The light bulb removal device according to any one of the 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 part of the light bulb gripping unit comes into contact with the light bulb.

[0452] (Note 212) The light bulb gripping unit includes a light bulb gripping determination unit that determines whether or not the light bulb was gripped properly. The light bulb removal device according to any one of the appendices 201 to 211, characterized in that the rotating part rotates the light bulb based on the determination result by the light bulb gripping determination part.

[0453] (Note 213) An imaging unit for capturing an image or video of the light bulb, An analysis unit that analyzes images or videos captured by the imaging unit, Equipped with, The light bulb gripping determination unit determines, based on the analysis results of the analysis unit, that the light bulb has been gripped normally when the captured image or video shows the light bulb being gripped normally. This is the light bulb removal device according to Appendix 212.

[0454] (Note 214) The light bulb removal device according to Appendix 212 or 213, characterized in that the light bulb gripping determination unit determines that the light bulb has been properly gripped when a predetermined part of the light bulb gripping unit comes into contact with the light bulb.

[0455] (Note 215) The system includes a light bulb removal completion determination unit that determines whether the light bulb has been successfully removed from the socket. The rotating part stops the rotation of the light bulb based on the determination result by the light bulb removal completion determination unit. The light bulb removal device according to any one of the appendices 201 to 214, characterized in that the moving part moves itself to a predetermined position after the rotation by the rotating part has stopped, with the light bulb gripping part gripping the light bulb.

[0456] (Note 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 images or videos captured by the imaging unit, Equipped with, The light bulb removal device according to Appendix 215, characterized in that the light bulb removal completion determination unit determines, based on the analysis results of the analysis unit, that the light bulb has been successfully removed from the socket when a predetermined portion of the base that was hidden and not visible in the socket becomes visible.

[0457] (Note 217) The system includes a torque detection unit that detects the gripping torque applied to the light bulb gripping portion in the direction of rotation of the light bulb by the rotating portion, The light bulb removal device according to Appendix 215 or 216, characterized in that the light bulb removal completion determination unit determines, based on the detection result of the torque detection unit, that the light bulb has been successfully removed from the socket when the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined period of time or longer.

[0458] (Note 218) The light intensity detection unit is provided to detect the light intensity of the light bulb, The light bulb removal completion determination unit determines, based on the detection result of the light intensity detection unit, that the light bulb has been successfully removed from the socket when the light intensity of the light bulb remains below a predetermined value for a predetermined period of time or longer, thus defining the light bulb removal completion unit as described in any one of appendices 215 to 217.

[0459] (Note 219) The system includes a temperature detection unit that detects the temperature of the light bulb, The light bulb removal completion determination unit determines, based on the detection result of the temperature detection unit, that the light bulb has been successfully installed in the socket when the temperature of the light bulb remains below a predetermined value for a predetermined period of time or longer, as described in any one of the appendices 215 to 218.

[0460] (Note 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 an image or video captured by the imaging unit, A light bulb removal device according to any one of the appendices 201 to 219, characterized by being equipped with the following:

[0461] (Note 221) Unmanned aerial vehicles The device flies through the air to a position where it can grasp a light bulb with its base screwed into a socket. Grasp the aforementioned light bulb, While holding the light bulb, rotate the light bulb to release the screw connection between the base and the socket. A method for removing a light bulb, characterized by performing a process.

[0462] (Note 222) The aforementioned unmanned aerial vehicle By rotating the device itself, the light bulb is rotated. A method for removing a light bulb as described in Appendix 221, characterized by performing a process.

[0463] (Note 223) The aforementioned unmanned aerial vehicle The light bulb is rotated independently of the rotation of the device itself. A method for removing a light bulb as described in Appendix 221, characterized by performing a process.

[0464] (Note 224) The aforementioned unmanned aerial vehicle The device stores location information of its destination, Based on positioning results from GNSS (Global Navigation Satellite System) and stored location information of the device's destination, the device moves. A method for removing a light bulb as described in any one of the appendices 221 to 223, characterized by performing a process.

[0465] (Note 225) The method for removing a light bulb according to Appendix 224, characterized in that the location information of the destination includes angle information relating to the inclination of the socket at the destination.

[0466] (Note 226) The aforementioned unmanned aerial vehicle Upon receiving the information of the destination, It stores the information of the destination that was received. A method for removing a light bulb as described in Appendix 224 or 225, characterized by performing a process.

[0467] (Note 227) The aforementioned unmanned aerial vehicle Capture an image or video of at least one of the light bulb and the socket, The captured images or videos are analyzed, Based on the analysis results, move the device. A method for removing a light bulb as described in any one of the appendices 221 to 226, characterized by performing a process.

[0468] (Note 228) The aforementioned unmanned aerial vehicle The device determines whether it has reached a position where it can grasp the light bulb. A method for removing a light bulb according to any one of the appendices 221 to 227, characterized in that, based on the judgment result, when the device reaches the position, it performs the process of grasping the light bulb.

[0469] (Note 229) The aforementioned unmanned aerial vehicle Capture an image or video of the aforementioned light bulb, The captured images or videos are analyzed, The method for removing a light bulb according to Appendix 228, characterized in that, based on the analysis results, the device determines that it has reached a position in which it can grasp the light bulb and performs a process to that effect.

[0470] (Note 230) The aforementioned unmanned aerial vehicle The device determines that it has reached a position where it can grasp the light bulb when the captured image or video of the light bulb matches the image or video of the light bulb at the time the device reaches a position where it can grasp the light bulb. A method for removing a light bulb as described in Appendix 229, characterized by performing a process.

[0471] (Note 231) The aforementioned unmanned aerial vehicle When a predetermined part of the light bulb gripping mechanism comes into contact with the light bulb, the device determines that it has reached a position where it can grip the light bulb. A method for removing a light bulb as described in any one of the appendices 228 to 230, characterized by performing a process.

[0472] (Note 232) The aforementioned unmanned aerial vehicle Determine whether the light bulb was properly grasped. Based on the above determination result, rotate the light bulb. A method for removing a light bulb as described in any one of the appendices 221 to 231, characterized by performing a process.

[0473] (Note 233) The aforementioned unmanned aerial vehicle Capture an image or video of the aforementioned light bulb, The image or video captured by the aforementioned imaging unit is analyzed, Based on the analysis results, if the captured image or video shows the light bulb being held normally, it is determined that the light bulb has been held normally. A method for removing a light bulb as described in Appendix 232, characterized by performing a process.

[0474] (Note 234) The aforementioned unmanned aerial vehicle When a predetermined part of the light bulb gripping mechanism comes into contact with the light bulb, it is determined that the light bulb has been gripped properly. A method for removing a light bulb according to appendix 232 or 233, characterized by performing a process.

[0475] (Note 235) The aforementioned unmanned aerial vehicle Determine whether the light bulb was successfully removed from the socket. Based on the above determination result, the rotation of the light bulb is stopped. After the rotation stops, the device is moved to a predetermined position while holding the light bulb. A method for removing a light bulb as described in any one of the appendices 221 to 234, characterized by performing a process.

[0476] (Note 236) The aforementioned unmanned aerial vehicle Capture an image or video of at least one of the light bulb and the socket, The captured images or videos are analyzed, Based on the analysis results, if a predetermined portion of the base that was hidden by the socket becomes visible, it is determined that the light bulb has been successfully removed from the socket. A method for removing a light bulb as described in Appendix 235, characterized by performing a process.

[0477] (Note 237) The aforementioned unmanned aerial vehicle The gripping torque applied to the gripping portion that holds the light bulb is detected in the rotational direction of the light bulb. Based on the detection result of the gripping torque, if the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been successfully removed from the socket. A method for removing a light bulb according to appendix 235 or 236, characterized by performing a process.

[0478] (Note 238) The aforementioned unmanned aerial vehicle The light intensity of the aforementioned light bulb is detected, Based on the detection result of the luminous intensity, if the luminous intensity of the light bulb remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been successfully removed from the socket. A method for removing a light bulb as described in any one of the appendices 235 to 237, characterized by performing a process.

[0479] (Note 239) The aforementioned unmanned aerial vehicle The temperature of the light bulb is detected, Based on the temperature detection results, if the temperature of the light bulb remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been properly installed in the socket. A method for removing a light bulb as described in any one of the appendices 235 to 238, characterized by performing a process.

[0480] (Note 240) The aforementioned unmanned aerial vehicle Capture an image or video of at least one of the light bulb and the socket, Transmit the captured image or video. A method for removing a light bulb as described in any one of the appendices 221 to 239, characterized by performing a process.

[0481] (Note 241) For unmanned aerial vehicles, The device flies through the air to a position where it can grasp a light bulb with its base screwed into a socket. Grasp the aforementioned light bulb, While holding the light bulb, rotate the light bulb to release the screw connection between the base and the socket. A light bulb removal program characterized by executing a process.

[0482] (Note 242) The aforementioned unmanned aerial vehicle, By rotating the device itself, the light bulb is rotated. A light bulb removal program as described in Appendix 241, characterized by causing a process to be executed.

[0483] (Note 243) The aforementioned unmanned aerial vehicle, The light bulb is rotated independently of the rotation of the device itself. A light bulb removal program as described in Appendix 241, characterized by causing a process to be executed.

[0484] (Note 244) The aforementioned unmanned aerial vehicle, The device stores location information of its destination, Based on positioning results from GNSS (Global Navigation Satellite System) and stored location information of the device's destination, the device moves. A light bulb removal program as described in any one of the appendices 241 to 243, characterized by causing a process to be executed.

[0485] (Note 245) The light bulb removal program according to Appendix 244, characterized in that the location information of the destination includes angle information relating to the inclination of the socket at the destination.

[0486] (Note 246) The aforementioned unmanned aerial vehicle, Upon receiving the information of the destination, It stores the information of the destination that was received. A light bulb removal program as described in Appendix 244 or 245, characterized by causing a process to be executed.

[0487] (Note 247) The aforementioned unmanned aerial vehicle, Capture an image or video of at least one of the light bulb and the socket, The captured images or videos are analyzed, Based on the analysis results, move the device. A light bulb removal program as described in any one of the appendices 241 to 246, characterized by causing a process to be executed.

[0488] (Note 248) The aforementioned unmanned aerial vehicle, The device determines whether it has reached a position where it can grasp the light bulb. A light bulb removal program according to any one of the appendices 241 to 247, characterized in that, based on the aforementioned determination result, when the device reaches the aforementioned position, it performs a process of grasping the light bulb.

[0489] (Note 249) The aforementioned unmanned aerial vehicle, Capture an image or video of the aforementioned light bulb, The captured images or videos are analyzed, The light bulb removal program according to Appendix 248, characterized in that it causes the device to perform a process that determines, based on the analysis results, that the device has reached a position in which it can grasp the light bulb.

[0490] (Note 250) The aforementioned unmanned aerial vehicle, The device determines that it has reached a position where it can grasp the light bulb when the captured image or video of the light bulb matches the image or video of the light bulb at the time the device reaches a position where it can grasp the light bulb. A light bulb removal program as described in Appendix 249, characterized by causing a process to be executed.

[0491] (Note 251) The aforementioned unmanned aerial vehicle, When a predetermined part of the light bulb gripping mechanism comes into contact with the light bulb, the device determines that it has reached a position where it can grip the light bulb. A light bulb removal program as described in any one of the appendices 248 to 250, characterized by causing a process to be executed.

[0492] (Note 252) The aforementioned unmanned aerial vehicle, Determine whether the light bulb was properly grasped. Based on the above determination result, rotate the light bulb. A light bulb removal program as described in any one of the appendices 241 to 251, characterized by causing a process to be executed.

[0493] (Note 253) The aforementioned unmanned aerial vehicle, Capture an image or video of the aforementioned light bulb, The image or video captured by the aforementioned imaging unit is analyzed, Based on the analysis results, if the captured image or video shows the light bulb being held normally, it is determined that the light bulb has been held normally. A light bulb removal program as described in Appendix 252, characterized by causing a process to be executed.

[0494] (Note 254) The aforementioned unmanned aerial vehicle, When a predetermined part of the light bulb gripping mechanism comes into contact with the light bulb, it is determined that the light bulb has been gripped properly. A light bulb removal program according to appendix 252 or 253, characterized by causing a process to be executed.

[0495] (Note 255) The aforementioned unmanned aerial vehicle, Determine whether the light bulb was successfully removed from the socket. Based on the above determination result, the rotation of the light bulb is stopped. After the rotation stops, the device is moved to a predetermined position while holding the light bulb. A light bulb removal program as described in any one of the appendices 241 to 254, characterized by causing a process to be executed.

[0496] (Note 256) The aforementioned unmanned aerial vehicle, Capture an image or video of at least one of the light bulb and the socket, The captured images or videos are analyzed, Based on the analysis results, if a predetermined portion of the base that was hidden by the socket becomes visible, 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 causing a process to be executed.

[0497] (Note 257) The aforementioned unmanned aerial vehicle, The gripping torque applied to the gripping portion that holds the light bulb is detected in the rotational direction of the light bulb. Based on the detection result of the gripping torque, if the gripping torque falls below a predetermined value or remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been successfully removed from the socket. A light bulb removal program as described in Appendix 255 or 256, characterized by causing a process to be executed.

[0498] (Note 258) The aforementioned unmanned aerial vehicle, The light intensity of the aforementioned light bulb is detected, Based on the detection result of the luminous intensity, if the luminous intensity of the light bulb remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been successfully removed from the socket. A light bulb removal program as described in any one of the appendices 255 to 257, characterized by causing a process to be executed.

[0499] (Note 259) The aforementioned unmanned aerial vehicle, The temperature of the light bulb is detected, Based on the temperature detection results, if the temperature of the light bulb remains below a predetermined value for a predetermined period of time or longer, it is determined that the light bulb has been properly installed in the socket. A light bulb removal program as described in any one of the appendices 255 to 258, characterized by causing a process to be executed.

[0500] (Note 260) The aforementioned unmanned aerial vehicle, Capture an image or video of at least one of the light bulb and the socket, Transmit the captured image or video. A light bulb removal program as described in any one of the appendices 241 to 259, characterized by causing a process to be executed.

[0501] <Embodiment 3> (An example of the appearance of a light bulb inspection device) Figures 21A and 21B are explanatory diagrams showing an example of the external appearance of a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of the present invention. Figure 21A shows the device without a light bulb being held, and Figure 21B shows the device with a light bulb being held and in the process of being removed from the socket.

[0502] As can be seen from Figures 21A and 21B, the light bulb inspection device 2100 is composed of, for example, an unmanned aerial vehicle (drone). Hereafter, the light bulb inspection device 2100 will also be referred to as the unmanned aerial vehicle (drone). In Figures 21A and 21B, the unmanned aerial vehicle (drone) that is the light bulb inspection device 2100 can specifically be a quadcopter equipped with four propellers 2101a to 2101d around its periphery.

[0503] The 2100 unmanned aerial vehicle (drone) is not limited to quadcopters; it can employ various multirotors, such as hexacopters with six propellers and octocopters with eight propellers. The 2100 unmanned aerial vehicle (drone) can maintain its attitude and perform actions such as ascending, descending, horizontal movement, and clockwise and counterclockwise rotation (rotation) by independently controlling the rotation direction and speed of each of its multiple propellers (four propellers 2101a to 2101d).

[0504] Furthermore, the Unmanned Aerial Vehicle 2100 is not limited to those equipped with propellers. It may also be an aircraft that flies through the air using a drive other than a propeller, or a combination of such and a propeller.

[0505] The unmanned aerial vehicle (drone), which is the light bulb inspection device 2100, includes a gripping mechanism 2102 for gripping the light bulb 2150 and a connecting member 2103 for connecting the gripping mechanism 2102 and the unmanned aerial vehicle (drone). In Figures 21A and 21B, the connecting member 2103 is made up of, for example, a rod-shaped member. However, it 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 center of the four propellers 2101a to 2101d, and the gripping mechanism 2102 is provided at the other end.

[0506] The gripping mechanism 2102 consists of multiple (four in Figures 21A and 21B) arms 2104 (2104a to 2104d). The arms 2104 are driven by one or more motors, gear trains, wires, etc., built into the gripping mechanism 2102 (not shown), and as each arm 2104 moves from a direction away from each other towards each other (towards the center), the arms 2104 and each joint of the arms 2104 are driven along the curved surface of the glass sphere 2152, thereby gripping the light bulb by enveloping the glass sphere 2152 together with the base portion of the arms 2104 (the palm portion 2601 shown in Figure 26, described later). Conversely, the gripping of the light bulb 2150 is released when the arms 2104 move away from the center.

[0507] Depending on the size and shape of the glass sphere 2152, the drive control of the arm 2104 is changed, allowing multiple types (shapes) of glass spheres 2152 to be gripped with the optimal gripping force.

[0508] A gripping assist member 2105 may be provided at the portion of each arm 2104 that contacts the glass bulb 2152. The gripping assist member 2105 is made of a material that has at least two functions: it functions as a cushioning member to prevent scratching the glass bulb 2152 or damaging the light bulb 2150, and it functions as an anti-slip member to prevent the light bulb 2150 from rotating inside the arm 2104 when screwing the light bulb 2150 into or out of the socket (receptacle) 2160 while gripping the glass bulb 2152.

[0509] Alternatively, a gripping assist member 2105 made of a material that functions as a cushioning member and a gripping assist member 2105 that functions as an anti-slip member may be provided separately (for example, alternately) on multiple arms. The gripping assist member 2105 may be provided integrally with the arm 2104, or the gripping assist member 2105 may be attached separately.

[0510] By providing a gripping assist member 2105 on the arm 2104, the light bulb 2150 will not rotate freely within the arm 2104 that grips the glass bulb 2152 of the light bulb 2150, allowing the light bulb 2150 to be securely attached to (installed) the socket 2160 or removed from the socket 2160.

[0511] The main body of the unmanned aerial vehicle (drone) 2100 is equipped with a rotation mechanism (not shown) that rotates the connected connecting member 2103 clockwise and counterclockwise around its longitudinal center. The rotation mechanism can be driven by a motor. As the connecting member 2103 rotates, the gripping mechanism 2102 also rotates, and the light bulb 2150 held by the gripping mechanism 2102 also rotates, thereby enabling screwing into or unscrewing out of the socket 2160.

[0512] The connecting member 2103 is detachable from both the gripping mechanism 2102 and the unmanned aerial vehicle (drone). Therefore, the gripping mechanism 2102 may be directly attached to the unmanned aerial vehicle (drone) body without the connecting member 2103. Furthermore, the length of the connecting member 2103 can be appropriately changed depending on the position where the light bulb is attached or removed and the surrounding conditions. In other words, connecting members 2103 of multiple lengths can be interchanged and used. The connecting member 2103 itself may also be equipped with an extendable / retractable mechanism.

[0513] Furthermore, the gripping mechanism 2102 may be integrally formed with the unmanned aerial vehicle (drone) body. That is, the unmanned aerial vehicle (drone) body may have a mechanism for gripping the light bulb 2150 (similar to the gripping mechanism 2102, or one with a different configuration from the gripping mechanism 2102) without using the connecting member 2103.

[0514] Furthermore, the gripping mechanism 2102 does not have to be configured in this way, as long as it can grip the light bulb 2150 and automatically detach (release) the gripped light bulb 2150. For example, although not shown in the illustration, it may grip the light bulb 2150 by suction.

[0515] Furthermore, although not shown in Figures 21A and 21B, the unmanned aerial vehicle (drone), which is the light bulb inspection device 2100, is equipped with a camera 2205. The camera 2205 can be implemented, for example, by a general-purpose digital camera. The light bulb inspection device 2100 uses the camera 2205 to capture images of the area around the device. Therefore, although not shown in Figures 21A and 21B, the camera should be mounted in a position that allows it to capture images of the area around the gripping mechanism 2102. The position is not limited.

[0516] The camera 2205 may be installed on the gripping mechanism 2102 or the connecting member 2103. More specifically, the camera 2205 may be installed near where the gripping mechanism 2102 makes contact with the light bulb when it is gripped, for example, on the arms 2104a to 2104d or the base of the arms 2104a to 2104d (palm portion 2601).

[0517] The light bulb inspection device 2100 may have one camera 2205 or multiple cameras 2205. In a light bulb inspection device 2100 equipped with multiple cameras 2205, it is not limited to one type of camera 2205, but may be equipped with multiple different types of cameras 2205.

[0518] The camera 2205 may be connected to the light bulb inspection device 2100 in a manner that allows for adjustment of its orientation. Specifically, the camera 2205 can be connected to the bottom surface of the light bulb inspection device 2100, for example, via a universal joint such as a ball joint. By connecting the camera 2205 to the light bulb inspection device 2100 via a universal joint such as a ball joint, a high degree of freedom for adjusting the orientation of the camera 2205 can be ensured.

[0519] Furthermore, the light bulb inspection device 2100 may be equipped with a drive mechanism that changes the attitude of the camera 2205 relative to the device (drone). This allows the attitude of the camera 2205 relative to the light bulb inspection device 2100 to be adjusted without human intervention. This drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 2205 relative to the light bulb inspection device 2100 adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the light bulb inspection device 2100, regardless of the attitude of the light bulb inspection device 2100. The camera 2205 may also be equipped with a zoom function.

[0520] 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 supply) is a technology that receives power to the battery 2203 shown in Figure 22 without using charging contacts, and is also called contactless power supply or wireless power supply.

[0521] The power receiving coil is positioned inside the outer surface of the housing of the light bulb inspection device 2100. This prevents deterioration and failure of the power receiving coil due to water droplets such as rain and dew, or oil from hands. The light bulb inspection device 2100 may also be equipped with charging contacts for charging the battery 2203, either in place of or in addition to the power receiving coil.

[0522] The light bulb inspection device 2100 may further include a solar cell (solar cell) 2206 that generates electricity from ambient light such as sunlight. The solar cell 2206 may be installed, for example, on the upper surface of the housing of the light bulb inspection device 2100. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by including the solar cell 2206, charging can be performed during flight, thus extending the flight time per charge.

[0523] The light bulb inspection device 2100 may also be equipped with a speaker (not shown in the figure). It may detect the installation status of the light bulb 2150 and, depending on the detected status, emit warning sounds, confirmation sounds, or voice messages such as "Inspection started!", "Inspection complete!", or "Inspection abnormality detected!" from the speaker. This allows for accurate notification of the inspection status to workers on the ground.

[0524] The light bulb inspection device 2100 may also be equipped with an LED lamp, which is not shown in the illustration. It can detect the installation status of the light bulb 2150 and emit red, blue, yellow, or other colors of light depending on the detected status, thereby accurately informing workers on the ground of the installation status.

[0525] (Hardware configuration of the light bulb inspection device) Next, the hardware configuration of the light bulb inspection device 2100 will be described. Figure 22 is a block diagram showing an example of the hardware configuration of the light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of the present invention.

[0526] As shown in Figure 22, the light bulb inspection device (unmanned aerial vehicle) 2100 consists of a control circuit 2201, a communication interface 2202, a battery 2203, a motor 2204, a camera 2205, a solar cell 2206, and the like. The light bulb inspection device 2100 is also equipped with sensors such as a torque sensor 2211, an illuminance sensor 2212, a temperature sensor 2213, a GPS sensor 2214, a contact sensor 2215, and various sensors (accelerometer, object sensor, etc.) 2216. The various parts 2201-2206 and 2211-2216 of the light bulb inspection device 2100 are connected by a bus 2200.

[0527] Since the components 2201-2206 and 2211-2216 are the same as the components 201-206 and 211-216 shown in the light bulb mounting device 100 of Embodiment 1, a detailed explanation of them will be omitted.

[0528] (Functional configuration of a light bulb inspection device) Figure 23 is a block diagram showing an example of the functional configuration of a light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of the present invention.

[0529] In Figure 23, the light bulb inspection device (unmanned aerial vehicle) 2100 comprises the following components: a light bulb gripping unit 2301, a moving unit 2302, a rotating unit 2303, a replacement necessity determination unit 2304, an imaging unit 2305, an analysis unit 2306, a torque detection unit 2307, a light intensity detection unit 2308, a temperature detection unit 2309, a transmission unit 2310, a GNSS receiving unit 2311, a storage unit 2312, a receiving unit 2313, a arrival determination unit 2314, and a light bulb gripping determination unit 2315.

[0530] The light bulb gripping section 2301 has the function of gripping the light bulb 2150 and can grip the light bulb 2150. The light bulb gripping section 2301 also has the function of releasing the gripped light bulb 2150 and can release the gripped light bulb 2150. Specifically, the functions of the light bulb gripping section 2301 can be realized by, for example, the gripping mechanism 2102 shown in Figures 21A and 21B, the control circuit 2201 shown in Figure 22, etc.

[0531] The light bulb gripping portion 2301 can grip the light bulb 2150 by gripping the surface portion of the glass bulb 2152 of the light bulb 2150 with the gripping mechanism 2102, for example, so that the base 2151 can be screwed into the socket 2160. Furthermore, the light bulb 2150 can be gripped by gripping the glass bulb 2152 portion with the gripping mechanism 2102 so that the light bulb 2150 can be released from being screwed into the socket 2160.

[0532] The mobile unit 2302 flies through the air to move its own device, the light bulb inspection device (unmanned aerial vehicle) 2100. Specifically, the mobile unit 2302 moves the light bulb inspection device (unmanned aerial vehicle) 2100 to a position where it can grasp the light bulb 2150 that is installed in the socket 2160. When installing a light bulb, the mobile unit 2302 flies through the air to move its own device, the light bulb inspection device (unmanned aerial vehicle) 2100, so that the base 2151 of the light bulb 2150 (for example, near the tip of the base 2151) comes into contact with the opening 2161 of the socket 2160 in which the light bulb is to be installed.

[0533] Specifically, the moving unit 2302 can realize its function through, for example, the propeller 2101 shown in Figures 21A and 21B, the motor 2204 shown in Figure 22, the control circuit 2201, and so on.

[0534] The moving unit 2302 can levitate itself in the air by having the control circuit 2201 control the motor 2204 to rotate the propellers 2101a to 2101d independently. In this state, the control circuit 2201 further controls the motor 2204 to change the rotation speed of each propeller 2101a to 2101d, thereby moving the device to a predetermined position (a position in which the light bulb 2150, with its base 2151 screwed into the socket 2160, can be grasped).

[0535] The rotating part 2303 rotates the light bulb 2150 in a direction that causes the base 2151 and the socket 2600 to screw together or to release the screw, while the light bulb gripping part 2301 is gripping the light bulb 2150.

[0536] Specifically, the rotating section 2303 can realize its function through components such as the propeller 2101 shown in Figures 21A and 21B, the motor 2204 shown in Figure 22, and the control circuit 2201.

[0537] The rotating unit 2303 rotates itself (turns) while flying through the air, thereby rotating the light bulb 2150 that is being held by the light bulb gripping unit 2301.

[0538] Specifically, the rotating unit 2303 hovers in a position where the base 2151 of the light bulb 2150 is in contact with the opening 2161 of the socket 2160. Then, by adjusting the rotation speed of each of the four propellers 2101a to 2101d, the rotating unit 2303 can make the drone rotate clockwise or counterclockwise around the center of the unmanned aerial vehicle (drone) body, i.e., the position where the connecting member 2103 is connected.

[0539] Alternatively, instead of the rotating unit 2303 rotating itself (turning) while flying through the air, it may rotate the light bulb 2150 independently of the rotation of the unit itself.

[0540] Specifically, the rotating part 2303 hovers in a position where the base 2151 of the light bulb 2150 is in contact with the opening 2161 of the socket 2160. The rotating part 2303 then drives the motor 2204 to rotate the connecting member 2103 clockwise and counterclockwise around its longitudinal center. As a result, the gripping mechanism 2102 and the light bulb 2150 held by the gripping mechanism 2102 also rotate, thereby enabling the screwing or unscrewing of the light bulb 2150 and the socket 2160.

[0541] The rotating part 2303 can rotate the light bulb 2150 around the center of the insertion direction of the base 2151 by rotating the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) or by providing a rotating mechanism independent of the rotation of the device itself. These rotation methods may be used in combination. That is, the device itself (light bulb inspection device (unmanned aerial vehicle) 2100) may be rotated, and the light bulb 2150 may be rotated by a rotating mechanism. Furthermore, these rotation methods may be used interchangeably depending on the situation. For example, one method may be used primarily, and the other secondary.

[0542] The replacement necessity determination unit 2304 determines whether the light bulb 2150 needs to be replaced. Specifically, the replacement necessity determination unit 2304 can be implemented by, for example, the control circuit 2201 shown in Figure 22.

[0543] Based on the determination result by the replacement necessity determination unit 2304, if the bulb 2150 does not need to be replaced, the rotating unit 2303 rotates the bulb 2150 in the direction that screws the base 2151 and the socket 2160, thereby properly mounting the bulb 2150 into the socket 2160. After the bulb 2150 is properly mounted into the socket 2160, the rotating unit 2303 stops rotating. After the rotation by the rotating unit 2303 stops, the bulb gripping unit 2301 releases its grip on the bulb 2150. In this way, the inspection work is completed by re-mounting the bulb 2150 to correct any looseness and then releasing its grip.

[0544] Furthermore, based on the determination result by the replacement necessity determination unit 2304, if the light bulb 2150 needs to be replaced, the rotating unit 2303 rotates the light bulb 2150 in a rotational direction that releases the screw connection between the base 2151 and the socket 2160, thereby removing the light bulb 2150 from the socket. The process of removing the light bulb was explained in Embodiment 2, so a detailed explanation is omitted here.

[0545] The imaging unit 2305 captures an image or video of the light bulb 2150. Specifically, the imaging unit 2305 can perform its function using, for example, the camera 2205 and control circuit 2201 shown in Figure 22.

[0546] The analysis unit 2306 analyzes the image or video captured by the imaging unit 2305. Specifically, the analysis unit 2306 can perform its function using, for example, the control circuit 2201 shown in Figure 22.

[0547] The replacement necessity determination unit 2304 can then determine, based on the analysis results from the analysis unit 2306, that if the light bulb 2150 lights up, it does not need to be replaced. Conversely, it may be configured to determine that the light bulb 2150 needs to be replaced if it does not light up.

[0548] The torque detection unit 2307 detects the gripping torque applied to the bulb gripping unit 2301 in the direction of rotation of the bulb 2150 by the rotating unit 2303. Specifically, the torque detection unit 2307 can perform its function using, for example, the torque sensor 2211 shown in Figure 22.

[0549] The replacement necessity determination unit 2304 can then determine, based on the detection result of the torque detection unit 2307, that the light bulb 2150 needs to be replaced if there is an abnormality in the gripping torque. Specifically, it can determine that there is an abnormality in the base 2151 or the socket 2160.

[0550] The light intensity detection unit 2308 detects the light intensity of the light bulb 2150 while the bulb is rotated clockwise and counterclockwise. Specifically, the light intensity detection unit 2308 can perform its function using, for example, the illuminance sensor 2212 shown in Figure 22.

[0551] The replacement necessity determination unit 2304 can determine, based on the detection results of the light intensity detection unit 2308, that the light intensity of the light bulb 2150 does not need to be replaced if it exceeds a predetermined value or remains above the predetermined value for a predetermined period of time or longer. Conversely, the unit may determine that the light bulb 2150 needs to be replaced if it falls below a predetermined value or fails to remain above the predetermined value for a predetermined period of time or longer.

[0552] In other words, when the light bulb 2150 is properly installed in the socket 2160, the tip of the base 2151 contacts the electrodes of the socket 2160, thereby supplying power to the light bulb 2150 and causing the light bulb 2150 to light up.

[0553] The light intensity detection unit 2308 detects a change (decrease) in light intensity caused by the light bulb 2150 being turned off. 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.

[0554] In this way, it is possible to confirm that the installed light bulb 2150 turns off while the power is on, thus ensuring that the removal of the light bulb is more reliable. Furthermore, since this does not require manual labor by the worker (they do not need to directly touch the light bulb 2150 with their hands), the risk of electric shock to the worker is completely avoided even while the power is on, allowing for safer work.

[0555] The temperature detection unit 2309 detects the temperature of the light bulb 2150 while the light bulb 2150 is rotated clockwise and counterclockwise. Specifically, the temperature detection unit 2309 can perform its function using, for example, the temperature sensor 2213 shown in Figure 22.

[0556] The replacement necessity determination unit 2304 can determine, based on the detection result of the temperature detection unit 2309, that if the temperature of the light bulb 2150 exceeds a predetermined value or remains above the predetermined value for a predetermined period of time or longer, the light bulb 2150 is lit and generating heat, and therefore does not need to be replaced. Conversely, if the temperature falls below a predetermined value or remains below the predetermined value for a predetermined period of time or longer, the unit may determine that the light bulb 2150 is not lit and is not generating heat, and therefore needs to be replaced.

[0557] In this way, it is possible to confirm that the installed light bulb 2150 lights up while the power is on, and by utilizing the fact that the light bulb 2150 generates heat and its temperature rises when it lights up, a more reliable inspection of the light bulb can be performed. In addition, since it does not require manual labor by workers (workers do not have to directly touch the light bulb 2150 with their hands), the risk of electric shock or burns from the heat of the light bulb is reliably avoided even when the power is on, and safe work can be performed.

[0558] The replacement necessity determination unit 2304 may determine whether the light bulb has been turned on based on any one of the four results: the analysis result from the analysis unit 2306, the detection result from the torque detection unit 2307, the detection result from the light intensity detection unit 2308, and the detection result from the temperature detection unit 2309. Alternatively, it may determine whether the light bulb has been turned on based on two or more of the four results combined. Depending on the conditions such as the situation and environment in which the light bulb 2150 is installed, the unit may change which result is used, and if multiple results are used, the unit may freely select a combination of them. Furthermore, the unit may determine whether the light bulb has been turned on based on information other than the four results.

[0559] The transmitting unit 2310 transmits an image or video of at least one of the light bulb 2150 and the socket 2160 captured by the imaging unit 2305. The destination of the image or video may be, for example, the control unit 250 or the management server 260. Specifically, the transmitting unit 2310 can implement its functions by, for example, the communication I / F 2202 shown in Figure 22.

[0560] The imaging unit 2305 captures images or videos of the light bulb 2150 before installation, during removal, and after removal. In this way, the transmitting unit 2310 transmits the images or videos, allowing the user to know the status of the light bulb 2150 removal process. Furthermore, it enables the management of the light bulb inspection process.

[0561] Furthermore, the imaging unit 2305 captures an image or video of the area around the base 2151 of the light bulb 2150, and the analysis unit 2306 analyzes the image or video captured by the imaging unit 2305. The moving unit 2302 may then move its own device (light bulb inspection device (unmanned aerial vehicle) 2100) based on the analysis results of the analysis unit 2306.

[0562] The imaging unit 2305 may also read a two-dimensional code (not shown) provided on or around the base 2151. This two-dimensional code is associated with information about the socket 2160 and information about the types of usable light bulbs 2150. The analysis unit 2306 may analyze the information in the two-dimensional code.

[0563] In this way, the destination position can be determined based on the analysis results of the image or video of the area around the base 2151 of the analysis unit 2306, so the moving unit 2302 can more reliably move itself to a position where it can grasp the light bulb 2150 that is to be inspected.

[0564] The GNSS (Global Navigation Satellite System) receiver 2311 determines the current position of the device. Specifically, the GNSS receiver 2311 can perform its function using a GPS sensor 2214 as shown in Figure 22. The mobile unit 2302 may then move the device (light bulb inspection device (unmanned aerial vehicle) 2100) based on the positioning result from the GNSS receiver 2311.

[0565] In this way, the destination can be determined based on the positioning results from the GNSS receiver 2311, allowing the mobile unit 2302 to move itself to a position where it can grasp the light bulb 2150.

[0566] The moving unit 2302 may also move its own device (light bulb inspection device (unmanned aerial vehicle) 2100) based on the destination location information stored in the memory unit 2312. Specifically, the memory unit 2312 can realize its function by, for example, the control circuit 2201 (and its memory) shown in Figure 22.

[0567] Here, the destination location information may be more detailed latitude and longitude information. Furthermore, it is not limited to latitude and longitude information, as long as it can identify the location of the socket 2160 (or the light bulb 2150 mounted in the socket 2160) at the destination. In addition, the destination location information may include angle information regarding the inclination of the socket 2160 at the destination. For example, except when the socket 2160 is mounted 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) to the angle indicated by the angle information regarding the inclination, thereby moving it.

[0568] The memory unit 2312 may also store information about the destination socket 2160 (type and characteristics of the socket 2160), the type of light bulb being used, and information about the replacement work (previous replacement date, cleaning date, work history, etc.). This information allows for more efficient and reliable (preventing accidents and incorrect work) light bulb replacement work.

[0569] The receiving unit 2313 receives information about the destination of its own device (light bulb inspection device (unmanned aerial vehicle) 2100). Specifically, the receiving unit 2313 can perform its function by means of, for example, the communication I / F 2202 shown in Figure 22.

[0570] The memory unit 2312 then stores the destination information received by the receiving unit 2313. The source of the destination information may be, for example, the control unit 250 or the management server 260. In this way, the location information of the light bulb 2150 (socket 2160) to be inspected can be easily and reliably obtained.

[0571] The arrival determination unit 2314 determines whether the device has reached a position where the light bulb gripping unit 2301 can grip the light bulb 2150. Based on the determination result by the arrival determination unit 2314, the light bulb gripping unit 2301 can grip the light bulb 2150 if the device has reached a position where it can grip the light bulb 2150.

[0572] The arrival determination unit 2314 can, specifically, implement its function using, for example, the control circuit 2201 shown in Figure 22.

[0573] 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. Based on the analysis results from the analysis unit 2306, the arrival 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.

[0574] More specifically, the arrival determination unit 2314 can determine that the 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 when the device reaches a position where it can grasp the light bulb 2150. In other words, by image recognition, the captured image or video is compared with the image or video of the light bulb when it reaches a position where it can grasp the light bulb, and the consistency between the two can be determined by pattern recognition of the images using AI (Artificial Intelligence).

[0575] Furthermore, the reach determination unit 2314 can determine that the device has reached a position where it can grasp the light bulb 2150 when a predetermined part of the light bulb gripping part 2301 (for example, the arms 2104a to 2104d or the palm portion at the base of the arms 2104a to 2104d (2601 in Figure 26, described later)) comes into contact with the light bulb. Contact sensors 2215, as shown in Figure 22, may be provided on the arms 2104a to 2104d or the palm portion at the base of the arms 2104a to 2104d.

[0576] In this way, the device (light bulb inspection device (unmanned aerial vehicle) 2100) is reliably reached by the arrival determination unit 2314 to a position where the light bulb gripping unit 2301 can grip the light bulb 2150, and only after this has been confirmed, the light bulb gripping unit 2301 begins to grip the light bulb (by operating the arms 2104a to 2104d to close, enveloping the light bulb 2150 with the arms 2104a to 2104d and the palm unit 2601, so that the light bulb 2150 does not move within the arms 2104a to 2104d and is gripped), thus enabling the light bulb gripping unit 2301 to grip the light bulb 2150 more reliably.

[0577] The bulb gripping determination unit 2315 determines whether the bulb gripping unit 2301 has successfully gripped the bulb 2150. Based on the determination result by the bulb gripping determination unit 2315, the rotating unit 2303 can rotate the bulb 2150. In other words, by rotating the bulb 2150 after the bulb gripping unit 2301 has successfully gripped the bulb 2150, it is possible to reliably check whether the bulb lights up by screwing the socket 2160 and the base 2151 of the bulb 2150 together or releasing the screw. Furthermore, if the bulb 2150 needs to be replaced, it can be reliably removed.

[0578] Specifically, the light bulb gripping determination unit 2315 can implement its function using, for example, the control circuit 2201 and contact sensor 2215 shown in Figure 22.

[0579] 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. The light bulb gripping determination unit 2315 then determines that the light bulb 2150 has been gripped correctly if, based on the analysis results of the analysis unit 2306, the captured image or video matches the image or video of the light bulb being gripped correctly. In other words, by image recognition, the captured image or video is compared with the image or video of the light bulb being gripped correctly, and the consistency between the two can be determined by pattern recognition of the images using AI (Artificial Intelligence).

[0580] Furthermore, the light bulb gripping determination unit 2315 can determine that the light bulb 2150 has been properly gripped if a predetermined part of the light bulb gripping part 2301 comes into contact with the light bulb 2150. The predetermined part of the light bulb gripping part 2301 is, for example, the arms 2104a to 2104d. Using the contact sensors 2215 provided on each of these arms 2104a to 2104d, if the light bulb 2150 is in contact with all of the arms 2104a to 2104d in an area greater than a predetermined area of ​​the arms 2104a to 2104d, it can be determined that the light bulb 2150 has been properly gripped.

[0581] (Operating procedure for light bulb inspection device) Figure 24 is a flowchart showing an example of the processing procedure of the light bulb inspection device (unmanned aerial vehicle) according to Embodiment 3 of this invention. Figures 25 to 30 are explanatory diagrams showing the light bulb inspection work performed by the light bulb inspection device.

[0582] In the flowchart of Figure 24, the propellers 2101a to 2101d of the light bulb inspection device (unmanned aerial vehicle) 2100 are rotated to cause the light bulb inspection device (unmanned aerial vehicle) 2100 to take off (float) (step S2401).

[0583] The light bulb inspection device (unmanned aerial vehicle) 2100 flies through the air to a predetermined destination (step S2402). Since the destination is predetermined, it can fly the shortest distance unless there are obstacles. If there are obstacles, it can fly in a way that avoids them based on information about those obstacles. Figure 25 shows the light bulb inspection device (unmanned aerial vehicle) 2100 flying through the air to a predetermined destination (the position of the light bulb 2150).

[0584] Then, it is determined whether or not the target light bulb 2150, which is the predetermined destination, has reached a position where it can be grasped (step S2403). Whether or not it has reached this position can be determined based on the analysis of the image from the camera 2205 or the detection results from the contact sensor 2215, as described above.

[0585] If the position has not yet been reached (step S2403: No), the process returns to step S2402 and continues to fly 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 the light bulb 2150, i.e., the angle of the light bulb inspection device (unmanned aerial vehicle) 2100, is adjusted (step S2404). Figure 26 shows the gripping mechanism 2102 in a state where it can grip the light bulb 2150, that is, including the angle adjustment, it is positioned so that gripping is possible when the arm 2104 is closed.

[0586] After the angle adjustment is complete, the gripping mechanism 2102 (arms 2104a to 2104d) grips the light bulb 2150 (step S2405). Figure 27 shows the state in which the gripping mechanism 2102 is gripping the light bulb 2150.

[0587] Next, it is determined whether the gripping mechanism 2102 has successfully gripped the light bulb 2150 (step S2406). If it has not successfully gripped the light bulb (step S2406: No), the process returns to step S2404, and the angle adjustment and gripping operation are repeated. The process then waits for the gripping mechanism 2102 to successfully grip the light bulb 2150. If it has successfully gripped the light bulb (step S2406: Yes), the light bulb 2150 is then rotated alternately clockwise and counterclockwise by a predetermined angle (step S2407).

[0588] This causes the socket 2160 and the base 2151 of the light bulb 2150 to repeatedly engage and disengage. Figure 28 shows the light bulb 2150 being rotated alternately clockwise and counterclockwise, repeatedly causing contact and non-contact between the tip of the base 2151 and the electrodes of the socket 2160.

[0589] Next, it is determined whether the light bulb 2150 in question needs to be replaced (step S2408). The specific method of determination is as described above. If the light bulb 2150 needs to be replaced, that is, if the light bulb 2150 is burnt out (faulty) (step S2408: Yes), the light bulb 2150 is rotated counterclockwise to remove it properly from the socket 2160, and then the rotation of the light bulb 2150 is stopped (step S2409).

[0590] After stopping the rotation of the light bulb 2150, the light bulb inspection device (unmanned aerial vehicle) 2100 detaches itself from its position (the position of the socket 2160) (step S2410). The state in which the light bulb inspection device (unmanned aerial vehicle) 2100 detaches itself and the base 2151 separates from the socket 2160 is shown, for example, in Figure 19 of Embodiment 2.

[0591] Then, it flies through the air again and moves to a predetermined destination (return destination) (step S2411). As shown in Figure 20 of Embodiment 2, the light bulb inspection device (unmanned aerial vehicle) 2100 has left the position of the socket 2160 and is moving through the air while holding the removed light bulb 2150. The predetermined destination may usually be the takeoff position, or it may be any other position.

[0592] Subsequently, the machine lands at a designated destination (step S2412), and the series of processes is completed. Alternatively, instead of landing, the machine may automatically discard the held light bulb 2150 and then move to a new destination (inspection destination).

[0593] On the other hand, in step S2408, if it is not necessary to replace the light bulb 2150, that is, if the light bulb 2150 is not burnt out (not faulty or deteriorated) (step S2408: No), the light bulb 2150 is rotated clockwise to properly install the light bulb 2150 into the socket 2160, and then the rotation of the light bulb 2150 is stopped (step S2413).

[0594] After stopping the rotation of the light bulb 2150, the gripping mechanism 2102 releases its grip on the light bulb 2150 (step S2414). Figure 29 shows the gripping mechanism 2102 releasing its grip on the light bulb 2150. The light bulb inspection device (unmanned aerial vehicle) 2100 then leaves its current location (the position of the socket 2160) (step S2415) and flies through the air again to a predetermined destination (inspection destination) (step S2416). This completes the series of processes.

[0595] Figure 30 shows the light bulb inspection device (unmanned aerial vehicle) 2100 leaving the socket 2160 and moving to its next destination while flying through the air. As can be seen from Figure 30, the light bulb 2150, which did not need to be replaced, remains installed in the socket 2160. This completes the inspection of the light bulb 2150.

[0596] As described above, the light bulb inspection device 2100 of Embodiment 3 of the present invention can include a moving unit 2302 that flies through the air to move itself to a position where it can grip a light bulb 2150 with a base 2151 screwed into a socket 2160, a light bulb gripping unit 2301 that grips the light bulb 2150, and a rotating unit 2303 that rotates the light bulb 2150 in a rotational direction that screws the base 2151 into the socket 2160 while the light bulb gripping unit 2301 is gripping the light bulb 2150. This makes it possible to automatically tighten any looseness of the light bulb 2150 in the socket 2160 without human intervention.

[0597] Furthermore, in the third embodiment of the present invention, the light bulb inspection device 2100 is further configured such that the rotating part 2303 stops rotating after the light bulb 2150 has been properly installed in the socket 2160, and the light bulb gripping and moving part 2302 releases its grip on the light bulb 2150 after the rotation by the rotating part 2303 has stopped. This makes it possible to more reliably retighten any loosening of the light bulb 2150.

[0598] Furthermore, in the third embodiment of this invention, the light bulb inspection device 2100 can also move the movable part 2302 to a position where it can grip a different light bulb 2150 after the light bulb gripping part 2301 has released the grip on the light bulb 2150. This allows the inspection to be automatically completed and the device to move on to inspecting another light bulb.

[0599] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention may include a moving unit 2302 that flies through the air to move the device to a position where it can grip a light bulb 2150 in which a base 2151 is screwed into a socket 2160; a light bulb gripping unit 2301 that grips the light bulb 2150; and a rotating unit 2303 that, while the light bulb gripping unit 2301 is gripping the light bulb 2150, alternately rotates the light bulb 2150 in a rotational direction that screws the base 2151 into the socket 2160 and in a rotational direction that releases the screwing. This makes it possible to reliably check whether the light bulb 2150 lights up properly.

[0600] Furthermore, in the third embodiment of this invention, the light bulb inspection device 2100 can rotate the light bulb 2150 by having the rotating part 2303 rotate itself while flying through the air. This eliminates the need to provide a separate drive source for screwing the light bulb 2150 and the socket 2160 together and for unscrewing them together.

[0601] Furthermore, in the third embodiment of the present invention, the light bulb inspection device 2100 is further configured such that the rotating part 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 in and unscrewed without rotating the device (light bulb inspection device 2100) itself.

[0602] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a replacement necessity determination unit 2304 that determines whether or not the light bulb 2150 needs to be replaced. Based on the determination result by the replacement necessity determination unit 2304, if the light bulb 2150 does not need to be replaced, the rotating unit 2303 rotates the light bulb 2150 in a rotational direction that screws the base 2151 and the socket 2160 together, thereby properly mounting the light bulb 2150 into the socket 2160. This allows the inspection of the light bulb 2150 to be completed reliably and quickly without human intervention.

[0603] Furthermore, in the third embodiment of the present invention, the light bulb inspection device 2100 is further configured such that the rotating part 2303 stops rotating after the light bulb 2150 has been properly installed in the socket 2160, and the light bulb gripping and moving part 2302 releases its grip on the light bulb 2150 after the rotation by the rotating part 2303 has stopped. This makes it possible to more reliably retighten any loosening of the light bulb 2150.

[0604] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a replacement necessity determination unit 2304 that determines whether or not the light bulb 2150 needs to be replaced. Based on the determination result by the replacement necessity determination unit 2304, if the light bulb 2150 needs to be replaced, the rotating unit 2303 rotates the light bulb 2150 in a rotational direction that releases the screw connection between the base 2151 and the socket 2160, thereby removing the light bulb 2150 from the socket 2160. This ensures that the light bulb 2150 to be replaced is reliably removed and the replacement work with a new light bulb can be carried out efficiently.

[0605] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes an imaging unit 2305 that captures an image or video of the light bulb 2150, and an analysis unit 2,306 that analyzes the image or video captured by the imaging unit 2305. The replacement necessity determination movement unit 2302 can determine, based on the analysis results of the analysis unit 2306, that the light bulb 2150 does not need to be replaced if it lights up. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0606] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a light intensity detection unit 2308 for detecting the light intensity of the light bulb 2150, and the replacement necessity determination movement unit 2302 can determine that the light bulb 2150 does not need to be replaced if the light intensity of the light bulb 2150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer, based on the detection result of the light intensity detection unit 2308. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0607] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a temperature detection unit 2309 for detecting the temperature of the light bulb 2150, and the replacement necessity determination unit 2302 can determine, based on the detection result of the temperature detection unit 2309, that the light bulb 2150 does not need to be replaced if the temperature of the light bulb 2150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0608] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a GNSS (Global Navigation Satellite System) receiving unit 2311 and a storage unit 2312 that stores location information of the device's destination. The moving unit 2302 can move the device (light bulb inspection device 2100) based on the positioning results from 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 (light bulb inspection device 2100) to the location where the destination socket 2160 (light bulb 2150) is located.

[0609] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention can also include angle information regarding the inclination of the socket 2160 at the destination in the destination location information. This makes it possible to reliably inspect even sockets 2160 that are mounted at an angle.

[0610] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a receiving unit 2313 that receives information about the destination, and a storage unit 2312 can store the destination information received by the receiving unit 2313. This makes it possible to more reliably determine the location of the socket 2160 (light bulb 2150) at the destination of the device (unmanned aerial vehicle 2100).

[0611] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes an imaging unit 2305 that captures an image or video of at least one of the light bulb 2150 and the socket 2160, and an analysis unit 2306 that analyzes the image or video captured by the imaging unit 2305, and the moving unit 2302 can move itself (light bulb inspection device 2100) based on the analysis results of the analysis unit 2306. This makes it possible to move itself (light bulb inspection device 2100) to the destination position more reliably.

[0612] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes a reach determination unit 2314 that determines whether the device has reached a position where the light bulb gripping unit 2301 can grip the light bulb 2150. The light bulb gripping unit 2301 can grip the light bulb 2150 if it has reached the position based on the determination result of the reach determination unit 2314. This allows for a more reliable gripping of the light bulb 2150.

[0613] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes an imaging unit 2305 that captures an image or video of the light bulb 2150, and an analysis unit 2306 that analyzes the image or video captured by the imaging unit 2305. The arrival determination unit 2314 can determine, based on the analysis results of the analysis unit 2306, that the device has reached a position where it can grasp the light bulb 2150. This allows for more reliable grasping of the light bulb 2150 based on image analysis.

[0614] Furthermore, in the third embodiment of this invention, the light bulb inspection device 2100 can determine that the device has reached a position where it can grasp the light bulb 2150 if the arrival determination unit 2314 matches the image or video of the light bulb 2150 captured by the imaging unit 2305 when the device has reached a position where it can grasp the light bulb 2150. This allows the device to grasp the light bulb 2150 more reliably based on image analysis using pattern matching.

[0615] Furthermore, in the third embodiment of this invention, the light bulb inspection device 2100 can determine when the reach determination unit 2314 has reached a position where it can grasp the light bulb 2150 when a predetermined part of the light bulb gripping unit 2301 comes into contact with the light bulb 2150. This allows the device to grasp the light bulb 2150 more reliably based on the detection result of the contact sensor 2215.

[0616] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this 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 rotating unit 2303 can rotate the light bulb 2150 based on the determination result by the light bulb gripping determination unit 2315. This makes it possible to grip the light bulb 2150 more reliably based on the detection result of the contact sensor 2215.

[0617] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention further includes an imaging unit 2305 that captures an image or video of the light bulb 2150, and an analysis unit 2306 that analyzes the image or video captured by the imaging unit 2305. The light bulb gripping determination unit 2315 can determine that the light bulb 2150 has been properly gripped if, based on the analysis results of the analysis unit 2306, the captured image or video shows the light bulb 2150 in a state where it can be properly gripped. This allows for more reliable confirmation of light bulb gripping based on image analysis.

[0618] Furthermore, in the third embodiment of this invention, the light bulb inspection device 2100 can determine that the light bulb 2150 has been properly gripped when a predetermined part of the light bulb gripping part 2301 comes into contact with the light bulb 2150, as determined by the light bulb gripping determination unit 2315. This allows for more reliable confirmation of light bulb gripping based on the detection results of the contact sensor 2315.

[0619] Furthermore, the light bulb inspection device 2100 of Embodiment 3 according to this invention may further include an imaging unit 2305 that captures an image or video of the light bulb 2150, and a transmitting unit 2310 that transmits the image or video captured by the imaging unit 2305. This makes it possible to know from a distance whether the inspection work on the light bulb 2150 has been carried out.

[0620] Furthermore, in the third embodiment of this invention, the light bulb inspection method allows the unmanned aerial vehicle 2100 to fly through the air and move its device to a position where it can grasp the light bulb 2150, whose base 2151 is screwed into the socket 2160, grasp the light bulb 2150, and while holding the light bulb 2150, rotate the light bulb 2150 in the rotational direction that screws the base 2151 into the socket 2160. This allows the loosening of the light bulb 2150 in the socket 1160 to be automatically tightened without human intervention.

[0621] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be performed such that the unmanned aerial vehicle 2100 stops rotating after properly installing the light bulb 2150 into the socket 2160, and then releases its grip on the light bulb 2150 after the rotation has stopped. This makes it possible to more reliably retighten any loosening of the light bulb 2150.

[0622] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be configured so that, after the unmanned aerial vehicle 2100 has released its grip on the light bulb 2150, it moves itself to a position where it can grip a different light bulb 2150. This allows the inspection to be automatically completed and the process to move on to inspecting another light bulb.

[0623] Furthermore, in the third embodiment of this invention, the light bulb inspection method allows the unmanned aerial vehicle 2100 to fly through the air and move its device to a position where it can grasp the light bulb 2150, whose base 2151 is screwed into the socket 2160. The unmanned aerial vehicle 2100 then grasps the light bulb 2150 and, while holding the light bulb 2150, rotates the light bulb 2150 alternately in the direction of screwing the base 2151 into the socket 2160 and in the direction of releasing the screwing. This ensures that the light bulb 2150 lights up properly.

[0624] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 rotates the device itself while flying in the air, thereby rotating the light bulb 2150. This eliminates the need to provide a separate drive source for screwing the light bulb 2150 and the socket 2160 together and for unscrewing them together.

[0625] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention allows the unmanned aerial vehicle 2100 to perform a process in which it rotates the light bulb 2150 independently of the rotation of the device itself. This makes it possible to screw the light bulb 2150 and the socket 2160 together and unscrew them together without rotating the device (light bulb inspection device 2100) itself.

[0626] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be performed by the unmanned aerial vehicle 2100 to determine whether or not the light bulb 2150 needs to be replaced, and if, based on the determination result, the light bulb 2150 does not need to be replaced, it rotates the light bulb 2150 in the rotational direction that screws the base 2151 and the socket 2160 together, thereby properly installing the light bulb 2150 into the socket 2160. This makes it possible to complete the inspection of the light bulb 2150 reliably and quickly without human intervention.

[0627] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be performed such that the unmanned aerial vehicle 2100 stops rotating after properly installing the light bulb 2150 into the socket 2160, and then releases its grip on the light bulb 2150 after the rotation has stopped. This makes it possible to more reliably retighten any loosening of the light bulb 2150.

[0628] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be performed such that the unmanned aerial vehicle 2100 determines whether the light bulb 2150 needs to be replaced, and based on the determination result, if the light bulb 2150 needs to be replaced, it rotates the light bulb 2150 in a rotational direction that releases the screw connection between the base 2151 and the socket 2160, thereby removing the light bulb 2150 from the socket 2160. This ensures that the light bulb 2150 to be replaced is reliably removed and the replacement work with a new light bulb is carried out efficiently.

[0629] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 captures an image or video of the light bulb 2150, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb 2150 does not need to be replaced if it lights up. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0630] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 detects the luminous intensity of the light bulb 2150, and, based on the detection result, determines that the light bulb 2150 does not need to be replaced if the luminous intensity of the light bulb 2150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0631] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be configured so that the unmanned aerial vehicle 2100 detects the temperature of the light bulb 2150, and based on the detection result, if the temperature of the light bulb 2150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer, it is determined that the light bulb 2150 does not need to be replaced. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0632] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention allows the unmanned aerial vehicle 2100 to store location information of its destination and execute a process to move its device based on the positioning results from GNSS (Global Navigation Satellite System) and the stored destination location information. This makes it possible to more reliably move the device (light bulb inspection device 2100) to the location where the destination socket 2160 (light bulb 2150) is located.

[0633] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention may also include angle information relating to the inclination of the socket 2160 at the destination in the destination location information. This makes it possible to reliably inspect even sockets 2160 that are mounted at an angle.

[0634] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also enable the unmanned aerial vehicle 2100 to perform a process of receiving information about the destination and storing the received information about the destination. This makes it possible to more reliably determine the location of the socket 2160 (light bulb 2150) at the destination of the device (unmanned aerial vehicle 2100).

[0635] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be configured so that the unmanned aerial vehicle 2100 captures an image or video of at least one of the light bulb 2150 and the socket 2160, analyzes the captured image or video, and moves its own device based on the analysis results. This makes it possible to move the device (light bulb inspection device 2100) to the destination location more reliably.

[0636] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be configured to allow the unmanned aerial vehicle 2100 to determine whether its device has reached a position where it can grasp the light bulb 2150, and based on the determination result, to perform a process of grasping the light bulb 2150 if the device has reached that position. This makes it possible to grasp the light bulb 2150 more reliably.

[0637] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also be configured so that the unmanned aerial vehicle 2100 captures an image or video of the light bulb 2150, analyzes the captured image or video, and, based on the analysis results, determines that the device has reached a position where it can grasp the light bulb 2150. This allows for more reliable grasping of the light bulb 2150 based on image analysis.

[0638] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 determines that it has reached a position in which it can grasp the light bulb 2150 when the captured image or video of the light bulb 2150 matches the image or video of the light bulb 2150 at the time the device reached a position in which it can grasp the light bulb 2150. This makes it possible to grasp the light bulb 2150 more reliably based on image analysis by pattern matching.

[0639] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 determines that it has reached a position where it can grasp the light bulb 2150 when a predetermined part of the gripping mechanism for the light bulb 2150 comes into contact with the light bulb 2150. This makes it possible to grasp the light bulb 2150 more reliably based on the detection result of the contact sensor 2215.

[0640] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 determines whether or not it has successfully grasped the light bulb 2150, and rotates the light bulb 2150 based on the determination result. This makes it possible to grasp the light bulb 2150 more reliably based on the detection result of the contact sensor 2215.

[0641] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 captures an image or video of the light bulb 2150, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb 2150 has been properly grasped if the captured image or video shows the light bulb 2150 in a state where it can be properly grasped. This allows for more reliable confirmation of light bulb grasping based on image analysis.

[0642] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 determines that it has successfully grasped the light bulb 2150 when a predetermined part of the gripping mechanism for the light bulb 2150 comes into contact with the light bulb 2150. This allows for more reliable confirmation of the light bulb's gripping based on the detection results of the contact sensor 2315.

[0643] Furthermore, the light bulb inspection method of Embodiment 3 according to this invention can also perform a process in which the unmanned aerial vehicle 2100 captures an image or video of the light bulb 2150 and transmits the captured image or video. This makes it possible to know from a distance that the inspection work on the light bulb 2150 has been carried out.

[0644] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can be configured to have the unmanned aerial vehicle 2100 fly through the air to a position where it can grasp the light bulb 2150, whose base 2151 is screwed into the socket 2160, grasp the light bulb 2150, and while holding the light bulb 2150, rotate the light bulb 2150 in the rotational direction that screws the base 2151 into the socket 2160. This allows the light bulb 2150 to be automatically tightened in the socket 2160 without human intervention.

[0645] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also be made to perform the following actions: after the light bulb 2150 has been properly installed in the socket 2160, the rotation will be stopped, and after the rotation has stopped, the grip on the light bulb 2150 will be released. This makes it possible to more reliably retighten any loosening of the light bulb 2150.

[0646] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention can also cause the unmanned aerial vehicle 2100 to perform a process in which, after the grip on the light bulb 2150 is released, the device moves to a position where it can grip a different light bulb 2150. This allows the inspection to be automatically completed and the process to move on to inspecting another light bulb.

[0647] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can cause the unmanned aerial vehicle 2100 to fly through the air and move itself to a position where it can grasp the light bulb 2150, whose base 2151 is screwed into the socket 2160, grasp the light bulb 2150, and while holding the light bulb 2150, rotate the light bulb 2150 alternately in the rotational direction that screws the base 2151 into the socket 2160 and the rotational direction that releases the screwing. This makes it possible to reliably check whether the light bulb 2150 lights up properly.

[0648] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also cause the unmanned aerial vehicle 2100 to rotate the light bulb 2150 by rotating the device itself while flying through the air. This eliminates the need to provide a separate drive source for screwing the light bulb 2150 and the socket 2160 together and for unscrewing them together.

[0649] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention can also cause the unmanned aerial vehicle 2100 to perform a process that rotates the light bulb 2150 independently of the rotation of the device itself. This makes it possible to screw the light bulb 2150 and the socket 1160 together and unscrew them together without rotating the device (light bulb inspection device 2100) itself.

[0650] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also be instructed to have the unmanned aerial vehicle 2100 determine whether or not the light bulb 2150 needs to be replaced, and, based on the determination result, if the light bulb 2150 does not need to be replaced, to rotate the light bulb 2150 in the rotational direction that screws the base 2151 and the socket 2160 together, thereby properly installing the light bulb 2150 into the socket 2160. This makes it possible to complete the inspection of the light bulb 2150 reliably and quickly without human intervention.

[0651] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also be made to perform the following actions: after the light bulb 2150 has been properly installed in the socket 2160, the rotation will be stopped, and after the rotation has stopped, the grip on the light bulb 2150 will be released. This makes it possible to more reliably retighten any loosening of the light bulb 2150.

[0652] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also be instructed to have the unmanned aerial vehicle 2100 determine whether the light bulb 2150 needs to be replaced, and, based on the determination result, if the light bulb 2150 needs to be replaced, rotate the light bulb 2150 in a rotational direction that releases the screw connection between the base 2151 and the socket 2160, thereby removing the light bulb 2150 from the socket 2160. This ensures that the light bulb 2150 to be replaced is reliably removed and the replacement work with a new light bulb is carried out efficiently.

[0653] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention can also be made to perform a process in which the unmanned aerial vehicle 2100 captures an image or video of the light bulb 2150, analyzes the captured image or video, and, based on the analysis results, determines that the light bulb 2150 does not need to be replaced if it lights up. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0654] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can be made to execute a process in which the unmanned aerial vehicle 2100 detects the luminous intensity of the light bulb 2150 and, based on the detection result, determines that the light bulb 2150 does not need to be replaced if the luminous intensity of the light bulb 2150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0655] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can be made to execute a process in which the unmanned aerial vehicle 2100 detects the temperature of the light bulb 2150 and, based on the detection result, determines that the light bulb 2150 does not need to be replaced if the temperature of the light bulb 2150 exceeds a predetermined value or remains above a predetermined value for a predetermined period of time or longer. This makes it possible to reliably determine that the light bulb 2150 does not need to be replaced.

[0656] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention can also cause the unmanned aerial vehicle 2100 to store location information of its destination and execute a process to move its device based on the positioning results from GNSS (Global Navigation Satellite System) and the stored destination location information. This makes it possible to more reliably move the device (light bulb inspection device 2100) to the location where the destination socket 2160 (light bulb 2150) is located.

[0657] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention may also include angle information regarding the inclination of the socket 2160 at the destination in the destination location information. This makes it possible to reliably inspect even sockets 2160 that are mounted at an angle.

[0658] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention can also cause the unmanned aerial vehicle 2100 to perform a process of receiving information about the destination and storing the received information about the destination. This makes it possible to more reliably determine the location of the socket 2160 (light bulb 2150) at the destination of the device (unmanned aerial vehicle 2100).

[0659] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also cause the unmanned aerial vehicle 2100 to capture an image or video of at least one of the light bulb 2150 and the socket 2160, analyze the captured image or video, and, based on the analysis results, execute a process to move its own device. This makes it possible to move the device (light bulb inspection device 2100) to the destination location more reliably.

[0660] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also cause the unmanned aerial vehicle 2100 to determine whether or not it has reached a position where it can grasp the light bulb 2150, and, based on the determination result, to execute a process to grasp the light bulb 2150 if it has reached that position. This makes it possible to grasp the light bulb 2150 more reliably.

[0661] Furthermore, the light bulb inspection program of Embodiment 3 according to this invention can also cause the unmanned aerial vehicle 2100 to capture an image or video of the light bulb 2150, analyze the captured image or video, and, based on the analysis results, determine that the device has reached a position where it can grasp the light bulb 2150. This allows for more reliable grasping of the light bulb 2150 based on image analysis.

[0662] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also cause the unmanned aerial vehicle 2100 to execute a process in which it determines that it has reached a position in which it can grasp the light bulb 2150 when the captured image or video of the light bulb 2150 matches the image or video of the light bulb 2150 at the time the device reaches a position in which it can grasp the light bulb 2150. This makes it possible to grasp the light bulb 2150 more reliably based on image analysis by pattern matching.

[0663] Furthermore, the light bulb inspection program of Embodiment 3 of this invention can also cau...

Claims

[Claim 1] A bulb gripping part that holds the light bulb, A moving unit that moves itself by flying through the air so as to bring the base of the light bulb into contact with the opening of the socket in which the light bulb is to be installed, With the base in contact with the opening of the socket, a rotating part rotates the light bulb held by the light bulb gripping part so that the base is screwed into the socket, A bulb installation completion determination unit that determines whether the bulb has been properly installed in the socket, Equipped with, The bulb installation completion determination unit determines that the bulb has been properly installed in the socket when the temperature of the bulb remains above a predetermined value for a predetermined period of time or longer. The rotating part stops rotating based on the determination result by the light bulb installation completion determination unit. The mounting device is characterized in that the light bulb gripping portion releases its grip on the light bulb after the rotation by the rotating portion stops.

Images