Step 1: Use heat as a second clue, not just light.
Turn on switch 1 and let its bulb burn for about 5 minutes, then turn switch 1 off. Right away, turn on switch 2 and leave switch 3 off the whole time. Now walk up to the first floor. That is your only trip.
Step 2: Read the three bulbs at once.
The bulb that is glowing must belong to switch 2, since that is the only switch still on. Touch the two bulbs that are dark: the one that feels warm was recently lit, so it belongs to switch 1. The bulb that stays completely cool belongs to switch 3.
Step 3: Check why fewer trips cannot work.
With only one trip you can normally read just one property (on or off), which tells you at most one switch for sure. By adding the warm or cold clue, you pack a second property into the same visit, so one visit is enough to fix all three matches.
Final Answer:
You need to go up only once. \[ \boxed{1 \text{ time}} \]