Patent Publication Number: US-2022229433-A1

Title: Maneuvering support apparatus, maneuvering support method, and computer-readable recording medium

Description:
TECHNICAL FIELD 
     The present invention relates to a maneuvering support apparatus and a maneuvering support method for supporting a maneuvering of an unmanned aerial vehicle, and further relates to a computer-readable recording medium having recorded thereon a program for realizing the apparatus and method. 
     BACKGROUND ART 
     Conventionally, an unmanned aerial vehicle called “drone” (hereinafter, “UAV (Unmanned Aerial Vehicle)” is used for various applications such as military use, pesticide spraying, cargo transportation, and area monitoring. Particularly, in recent years, small unmanned aerial vehicles that use an electric motor as a power source have been developed due to the miniaturization and high output of batteries. Small unmanned aerial vehicles are rapidly gaining in popularity due to their ease of operation. 
     Furthermore, UAV flights are carried out by autopilot or manual maneuvering. In the autopilot, UAV itself flies independently on the designated route while detecting its own location by GPS (Global positioning System) receiver mounted on itself. On the other hand, in manual maneuvering, UAV flies in response to operations performed by the pilot via the transmitter. 
     By the way, in the case of manual maneuvering, the pilot usually controls the UAV visually. If the UAV (drone) is located far away, it will be difficult for the pilot to see the UAV, and as a result, the pilot will not know a direction of a nose of the UAV, which can lead to maneuvering mistakes. In addition, a maneuvering mistake may cause a crash or the like. On the other hand, according to the autopilot, such a problem does not occur, but since the autopilot can only fly on a predetermined route, the use of the UAV is limited. 
     On the other hand, a maneuver called FPV (First Person View) flight is known (see, for example, Patent Document 1). FPV flight is a method in which a pilot controls a UAV while watching an image from a camera mounted on the UAV. In FPV flight, the pilot can control the UAV as if he were on the UAV, so even if the he cannot see the UAV, a possibility of a maneuvering mistake is low. 
     LIST OF RELATED ART DOCUMENTS 
     Patent Document 
     [Patent Document 1] JP2016-199261 
     SUMMARY OF INVENTION 
     Problems to be Solved by the Invention 
     However, in FPV flight, the pilot&#39;s field of view is limited to an angle of view of the camera mounted on the UAV. Therefore, there is a problem that it is very difficult for the pilot to check a situation around the UAV as compared with the case of visual flight. As a result, a probability of a crash in FPV flight is much higher than that in visual flight. 
     An example object of the present invention is to solve the aforementioned problems and to provide a maneuvering support apparatus, a maneuvering support method, and a computer-readable recording medium in which it possible to easily check a situation around the unmanned aerial vehicle while suppressing an occurrence of maneuvering mistakes in a case where it is difficult for the pilot to see the unmanned aerial vehicle. 
     Means for Solving the Problems 
     In order to achieve the aforementioned object, a maneuvering support apparatus according to an example aspect of the present invention includes: 
     a flight control unit configured to cause a second unmanned aerial vehicle having an imaging device to fly so as to follow a first unmanned aerial vehicle maneuvered by a pilot, and further, and to control the second unmanned aerial vehicle so that the first unmanned aerial vehicle is captured by the imaging device; and 
     an image display unit configured to acquire an image data of an image captured by the imaging device, and to display the image based on the acquired image data on a screen of a display device. 
     Also, in order to achieve the aforementioned object, a maneuvering support method according to an example aspect of the present invention includes: 
     (a) a step of causing a second unmanned aerial vehicle having an imaging device to fly so as to follow a first unmanned aerial vehicle maneuvered by a pilot, and further, controlling the second unmanned aerial vehicle so that the first unmanned aerial vehicle is captured by the imaging device; and 
     (b) a step of acquiring an image data of an image captured by the imaging device, and displaying the image based on the acquired image data on a screen of a display device. 
     Further, in order to achieve the aforementioned object, a computer readable recording medium according to an example aspect of the present invention that includes a program recorded thereon, the program including instructions that cause a computer to carry out: 
     (a) a step of causing a second unmanned aerial vehicle having an imaging device to fly so as to follow a first unmanned aerial vehicle maneuvered by a pilot, and further, controlling the second unmanned aerial vehicle so that the first unmanned aerial vehicle is captured by the imaging device; and 
     (b) a step of acquiring an image data of an image captured by the imaging device, and displaying the image based on the acquired image data on a screen of a display device. 
     Advantageous Effects of the Invention 
     As described above, according to the present invention, it is possible to easily check a situation around the unmanned aerial vehicle while suppressing an occurrence of maneuvering mistakes in a case where it is difficult for the pilot to see the unmanned aerial vehicle. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram illustrating a schematic configuration of a maneuvering support apparatus according to an example embodiment. 
         FIG. 2  is a block diagram illustrating a specific configuration of the maneuvering support apparatus according to the example embodiment. 
         FIG. 3  is a diagram illustrating an example of flight control of a second unmanned aerial vehicle performed in the example embodiment. 
         FIG. 4  is a diagram illustrating another example of flight control of the second unmanned aerial vehicle performed in the example embodiment. 
         FIG. 5  is a diagram illustrating a function assigned to a control stick when the second unmanned aerial vehicle is located above a unmanned aerial vehicle. 
         FIG. 6  is a diagram illustrating a function assigned to the control stick when the second unmanned aerial vehicle is located on the side of the first unmanned aerial vehicle. 
         FIG. 7  is a diagram illustrating a function assigned to the control stick when the second unmanned aerial vehicle is located behind the first unmanned aerial vehicle. 
         FIG. 8  is a flow diagram illustrating operations of the maneuvering support apparatus according to the example embodiment. 
         FIG. 9  is a block diagram illustrating an example of a computer that realizes the maneuvering support apparatus according to the example embodiment. 
     
    
    
     EXAMPLE EMBODIMENT 
     Example Embodiment 
     The following describes a maneuvering support apparatus, a maneuvering support method, and a program according to an example embodiment with reference to  FIG. 1  to  FIG. 9 . 
     [Apparatus Configuration] 
     First, a schematic configuration of the maneuvering support apparatus according to the example embodiment will be described.  FIG. 1  is a block diagram illustrating a schematic configuration of the maneuvering support apparatus according to the example embodiment. 
     A maneuvering support apparatus  10  shown in  FIG. 1  is an apparatus for assisting a maneuvering of the first unmanned aerial vehicle  30  by a pilot  20 . In  FIG. 1 , reference numeral  21  denotes a transmitter for maneuvering. As shown in  FIG. 1 , the maneuvering support apparatus  10  includes a flight control unit  11  and an image display unit  12 . 
     The flight control unit  11  causes a second unmanned aerial vehicle  40  having an imaging device  46  to fly so as to follow a first unmanned aerial vehicle  30  maneuvered by the pilot  20 . Further, the flight control unit  11  controls the second unmanned aerial vehicle  40  so that the first unmanned aerial vehicle  30  is captured by the imaging device. The image display unit  12  acquires an image data of an image captured by the imaging device, and displays an image based on the acquired image data on a screen of a display device. 
     In this way, by using the maneuvering support apparatus  10 , the pilot  20  can check a situation around the first unmanned aerial vehicle  30  controlled by the pilot through the image from another following second unmanned aerial vehicle  40 . Therefore, according to the example embodiment, in a case where it is difficult for the pilot  20  to see the first unmanned aerial vehicle  30 , it is easy to check the situation around the first unmanned aerial vehicle  30  while suppressing an occurrence of maneuvering mistakes. 
     Subsequently, with reference to  FIG. 2 , the configuration and function of the maneuvering support apparatus  10  in the example embodiment will be explained in detail.  FIG. 2  is a block diagram illustrating the specific configuration of the maneuvering support apparatus according to the example embodiment. In  FIG. 2 , the configurations of the unmanned aerial vehicles  30  and  40  are also shown by block diagrams. 
     As shown in  FIG. 2 , the first unmanned aerial vehicle  30  includes a location measurement unit  31 , a control unit  32 , drive motors  33 , and a communication unit  34 , and the control unit  32 . Further, as shown in  FIG. 1 , the first unmanned aerial vehicle  30  is a multi-copter including four propellers (not shown in  FIG. 2 ) and four drive motors  33 . The first unmanned aerial vehicle  30  performs forward, backward, ascending, descending, right-turning, left-turning, and hovering by adjusting output of each drive motors  33 . 
     The location measurement unit  31  includes a GPS (Global positioning System) receiver, and measures a location (latitude, longitude, altitude) of the first unmanned aerial vehicle  30  by using the GPS signal received by the GPS receiver. The location measurement unit  31  can also measure the altitude of the first unmanned aerial vehicle  30  by using, for example, a barometric pressure sensor. Further, the location measurement unit  31  outputs a location information (first location information) for specifying the measured location of the first unmanned aerial vehicle  30  to transmitter  21  for maneuvering the first unmanned aerial vehicle  30  via the communication unit  34 . 
     The drive motor  33  drives the propeller of the first unmanned aerial vehicle  30 . The communication unit  34  communicates with the transmitter  21  of the pilot  20 , and receives a maneuvering instruction from the pilot  20  via the transmitter  21 . In addition, the communication unit  34  receives the above-mentioned first location information from the first unmanned aerial vehicle  30 . 
     The control unit  32  adjusts an output of each drive motor  33  based on the maneuvering instruction from the pilot  20 , and controls the flight of the first unmanned aerial vehicle  30 . Under the control of the control unit  32 , the first unmanned aerial vehicle  30  performs forward, backward, ascending, descending, right-turning, left-turning, and hovering. 
     In addition, the transmitter  21  for maneuvering the first unmanned aerial vehicle  30  includes a display device  22 , a control stick  23 , a first button  24 , and a second button  25 . The image display unit  12  of the maneuvering support apparatus  10  displays the above-mentioned image on the screen of the display device  22 . 
     As shown in  FIG. 2 , also the second unmanned aerial vehicle  40  includes a location measurement unit  41 , a control unit  42 , drive motors  43 , and a communication unit  44 . The second unmanned aerial vehicle  40  further includes imaging devise  45 . Further, as shown in  FIG. 1 , the second unmanned aerial vehicle  40  is also a multi-copter including four propellers (not shown in  FIG. 2 ) and four drive motors  33 .The second unmanned aerial vehicle  40  performs forward, backward, ascending, descending, right-turning, left-turning, and hovering by adjusting output of each drive motors  43 . 
     The location measurement unit  41  is configured as same as the location measurement unit  31  described above and includes a GPS (Global positioning System) receiver, and measures a location (latitude, longitude, altitude) of the second unmanned aerial vehicle  40 . Further, the location measurement unit  41  outputs a location information (second location information) for specifying the measured location of the second unmanned aerial vehicle  40  to the maneuvering support apparatus  10 . The drive motor  43  is also configured as same as the drive motor  33  described above and drives the propeller of the second unmanned aerial vehicle  40 . 
     The communication unit  44  is different form the communication unit  34 . The communication unit  44  communicates with the maneuvering support apparatus  10  and receives a maneuvering instruction from the maneuvering support apparatus  10 . The control unit  42  adjusts an output of each drive motor  43  based on the maneuvering instruction from the maneuvering support apparatus  10 , and controls the flight of the second unmanned aerial vehicle  40 . Under the control of the control unit  42 , the second unmanned aerial vehicle  40  performs forward, backward, ascending, descending, right-turning, left-turning, and hovering. 
     The image device  45  is a digital camera, captures an image at a set frame rate, and outputs an image data of the taken image to the communication unit  44 . As a result, the communication unit  44  transmits the image data to the maneuvering support apparatus  10  at the set frame rate. Further, the image device  45  is provided with a function of freely setting a shooting direction in response to an instruction from the maneuvering support apparatus  10 . For example, when the second unmanned aerial vehicle  40  is located directly above the first unmanned aerial vehicle  30 , the image device  45  sets the shooting direction downward. When the second unmanned aerial vehicle  40  is located directly behind the first unmanned aerial vehicle  30 , the imaging device  45  sets the capturing direction as forward. 
     Further, as shown in  FIG. 2 , the maneuvering support apparatus  10  includes a maneuvering mode setting unit  13  and a location information acquisition unit  14  in addition to the flight control unit  11  and the image display unit  12  described above. Further, the maneuvering support apparatus  10  is connected to the transmitter  21  of the first unmanned aerial vehicle. 
     The maneuvering mode setting unit  13  sets the maneuvering mode of the transmitter  21  of the first unmanned aerial vehicle  30 , that is, the function assigned to the control stick  23 , the first button  24 , and the second button  25 . Specifically, the maneuvering mode setting unit  13  sets the function assigned to the control stick  23 , the first button  24 , and the second button  25  based on the nose direction of the first unmanned aerial vehicle  30  displayed on the screen of the display device  22 . 
     The location information acquisition unit  14  acquires the above-mentioned first location information via the transmitter  21 , and further acquires the second location information from the second unmanned aerial vehicle  40 . In the example embodiment, the flight control unit  11  controls the second unmanned aerial vehicle  40  based on the acquired first location information and the acquired second location information. 
     Further, the flight control unit  11 , causes the second unmanned aerial vehicle  40  to follow the first unmanned aerial vehicle  30  so that the second unmanned aerial vehicle  40  is located above, on the side of, or behind the first unmanned aerial vehicle  30 , based on the first location information and the second location information. 
     Specifically, the flight control unit  11  first causes the second unmanned aerial vehicle  40  to reach a target point set in advance near the first unmanned aerial vehicle  30  (see  FIGS. 3 and 4 ). Next, when the second unmanned aerial vehicle  40  reaches the target point, the flight control unit  11  causes the second unmanned aerial vehicle  40  to follow the first unmanned aerial vehicle  30 . Then, when the follow-up is started, the maneuvering mode setting unit  13  sets the maneuvering mode as described above (see  FIGS. 5 to 7 ). 
     Subsequently, with reference to  FIGS. 3 and 4 , flight control performed by the flight control unit  11  until the second unmanned aerial vehicle  40  reaches a target point will be described.  FIG. 3  is a diagram illustrating an example of flight control of the second unmanned aerial vehicle performed in the example embodiment.  FIG. 4  is a diagram illustrating another example of flight control of the second unmanned aerial vehicle performed in the example embodiment. 
     In the example of  FIG. 3 , the flight control unit  11  sets the target point between the first unmanned aerial vehicle  30  and the second unmanned aerial vehicle  40  based on the first location information and the second location information. Then, the flight control unit  11  instructs a speed, a traveling direction, and an altitude of the second unmanned aerial vehicle  40  so that the second unmanned aerial reaches the target point. At this time, the flight control unit  11  also instructs the second unmanned aerial vehicle  40  so that a nose and the traveling direction of the second unmanned aerial vehicle  40  face the target point. 
     When the flight control shown in  FIG. 3  is performed, the traveling nose of the second unmanned aerial vehicle  40  become the target point, and the first unmanned aerial vehicle  30  exists as an extension of the target point. Therefore, the first unmanned aerial vehicle  30  inevitably fits in an angle of view of the imaging device  46  of the second unmanned aerial vehicle  40 . 
     That is, in the example of  FIG. 3 , the first unmanned aerial vehicle  30  naturally fits within the angle of view of the imaging device with simple control without using information about the nose direction of the first unmanned aerial vehicle  30 . Since the target point is set on a straight line connecting the first unmanned aerial vehicle  30  and the second unmanned aerial vehicle  40 , it is possible to shorten a time required for the second unmanned aerial vehicle  40  to reach the target point. Further, due to these features, the flight control shown in  FIG. 3  is useful for a purpose of recording an image. 
     In the example of  FIG. 4 , the flight control units  11  sets the target point at a location at a certain distance from a rear side of a fuselage of the first unmanned aerial vehicle  30  based on the first location information. Then, the flight control unit  11  controls the speed, the traveling direction, and the altitude of the second unmanned aerial vehicle  40  so that the second unmanned aerial vehicle  40  reaches the target point. However, in the example of  FIG. 4 , the flight control unit  11  controls the second unmanned aerial vehicle  40  points so that the nose of the second unmanned aerial vehicle  40  faces to the first unmanned aerial vehicle  30 , and the traveling direction of the second unmanned aerial vehicle  40  faces to the target point. 
     In the example of  FIG. 4 , unlike the example of  FIG. 4 , the flight control unit  11  needs to control the nose direction of the second unmanned aerial vehicle  40 , control process become complicated. However, according to the example of  FIG. 4 , it is possible to reduce a possibility that the first unmanned aerial vehicle  30  deviates from the angle of view of the image device  45  as compared with the example of  FIG. 3 . Further, after the second unmanned aerial vehicle  40  reaches the target point, the nose direction of the second unmanned aerial vehicle  40  matches the nose direction of the first unmanned aerial vehicle  30 . This always provides the pilot with optimal maneuvering support. 
     Subsequently, a setting of the transmitter  21  in a case of following flight will be described in detail with reference to  FIGS. 5 to 7 .  FIG. 5  is a diagram illustrating a function assigned to the control stick when the second unmanned aerial vehicle is located above the first unmanned aerial vehicle.  FIG. 6  is a diagram illustrating a function assigned to the control stick when the second unmanned aerial vehicle is located on the side of the first unmanned aerial vehicle.  FIG. 7  is a diagram illustrating a function assigned to the control stick when the second unmanned aerial vehicle is located behind the first unmanned aerial vehicle. 
     In the example of  FIG. 5 , the second unmanned aerial vehicle  40  is located above the first unmanned aerial vehicle  30 . In this case, as shown in  FIG. 5 , a upper surface of the first unmanned aerial vehicle  30  is displayed on the screen of the display device  22  of the transmitter  21 . In the example of  FIG. 5 , a upper side of the screen is aligned with a nose side of the first unmanned aerial vehicle  30 . 
     Therefore, the maneuvering mode setting unit  13  assigns front and back of the control stick  23  of the control stick  23  to the forward and backward movements, and assigns the left and right of the control stick  23  to the left movement and right movement. Further, the maneuvering mode setting unit  13  assigns the first button  24  to descending and the second button  25  to ascending. 
     In the example of  FIG. 6 , the second unmanned aerial vehicle  40  is located on the right side of the first unmanned aerial vehicle  30 . In this case, as shown in  FIG. 6 , the right-side surface of the first unmanned aerial vehicle  30  is displayed on the screen of the display device  22  of the transmitter  21 . In the example of  FIG. 5 , the right side of the screen is aligned with the nose side of the first unmanned aerial vehicle  30 . 
     Therefore, the maneuvering mode setting unit  13  assigns front and back of the control stick  23  of the control stick  23  to the ascending and descending, and assigns the left and right of the control stick  23  to forward and backward movements. Further, the maneuvering mode setting unit  13  assigns the first button  24  to moving to the front side (right movement) and the second button  25  to moving to the back side (left movement). 
     In the example of  FIG. 7 , the second unmanned aerial vehicle  40  is located behind the first unmanned aerial vehicle  30 . In this case, as shown in  FIG. 7 , a rear surface of the first unmanned aerial vehicle  30  is displayed on the screen of the display device  22  of the transmitter  21 . In the example of  FIG. 7 , a back side of the screen is aligned with the nose side of the first unmanned aerial vehicle  30 . 
     Therefore, the maneuvering mode setting unit  13  assigns the front and back of the control stick  23  of the control stick  23  to the ascending and descending, and assigns the left and right of the control stick  23  to the left movement and right movement. Further, the maneuvering mode setting unit  13  assigns the first button  24  to the backward and the second button  25  to the forward. 
     As shown in  FIGS. 5 to 7 , in the example embodiment, functions are assigned to the control stick  23 , the first button  24 , and the second button  25  of the transmitter  21  according to a state of the first unmanned aerial vehicle  30  displayed on the screen. Therefore, the pilot can intuitively maneuver while looking at the screen, and the occurrence of maneuvering mistakes is suppressed. 
     [Apparatus Operations] 
     Next, an operation of the maneuvering support apparatus  10  according to the example embodiment will be described with reference to  FIG. 8 .  FIG. 8  is a flow diagram illustrating the operation of the maneuvering support apparatus according to the example embodiment. In the following description,  FIGS. 1 to 7  will be referred to as appropriate. Furthermore, in the example embodiment, the maneuvering support method is implemented by operating the maneuvering support apparatus  10 . Therefore, a description of the maneuvering support method in the example embodiment will be replaced with the following description of the operation of the maneuvering support apparatus  10 . 
     As shown in  FIG. 8 , first, the flight control unit  11  sets the target point for the second unmanned aerial vehicle  40  to follow the first unmanned aerial vehicle  40 , based on the first location information of the first unmanned aerial vehicle  30  and the second location information of the second unmanned aerial vehicle  40  (step A 1 ). 
     Next, the flight control unit  11  causes the second unmanned aerial vehicle  40  to fly to the target point set in step A 1  (step A 2 ). Specifically, as shown in  FIG. 3 or 4 , the flight control unit  11  instructs the speed, the traveling direction, and the altitude of the second unmanned aerial vehicle  40  so that ii reaches the target point. 
     Further, during the execution of step A 2 , the image data captured by the image device  45  is transmitted from the second unmanned aerial vehicle  40  at a predetermined frame rate. Therefore, the image display unit  12  sends an image of the transmitted image data to the transmitter  21  and cause the display device  22  to displays the image on the screen. 
     Next, the maneuvering mode setting unit  13  specifies a locational relationship between the first unmanned aerial vehicle  30  and the second unmanned aerial vehicle  40  based on the latest first location information and the second location information (step A 3 ). Specifically, in step A 3 , the maneuvering mode setting unit  13  determines whether the second unmanned aerial vehicle  40  is located above, on the side of, or behind the first unmanned aerial vehicle  30 . 
     Next, the maneuvering mode setting unit  13  specifies the nose direction of the first unmanned aerial vehicle  30  displayed on the screen of the display device  22  (step A 4 ). 
     Specifically, since a feature value indicating the nose is registered in advance, the maneuvering mode setting unit  13  specifies an area where the registered feature value is detected from the image transmitted by the image display unit  12 , and specified the nose direction based on a location of the specified area. For example, when the registered feature value is detected from an area on the right side of the screen, the maneuvering mode setting unit  13  specifies a direction toward a right side of the screen as the nose direction. 
     When the first unmanned aerial vehicle  30  is provided with an electronic compass for measuring the nose direction, the maneuvering mode setting unit  13  acquires a measurement result by the electronic compass ,and can specify the nose direction of the first unmanned aerial vehicle  30  based on the acquired measurement result. 
     Next, the maneuvering mode setting unit  13  sets the maneuvering mode of the transmitter of the first unmanned aerial vehicle  30  based on the locational relationship specified in step A 3  and the locational relationship specified in step A 4  (step A 5 ). 
     For example, in step A 3 , it is specified that the second unmanned aerial vehicle  40  is located above the first unmanned aerial vehicle  30  as a locational relationship, and in step A 4 , the nose direction is specified on the upper side of the screen as a locational relationship. In this case, the maneuvering mode setting unit  13  assigns functions to the control stick  23 , the first button  24 , and the second button  25 , as shown in FIG. 5 . 
     After executing step A 5 , the flight control unit  11  determines whether or not the first unmanned aerial vehicle  30  has entered a landing mode (step A 6 ). Specifically, the flight control unit  11  determines whether or not the pilot has instructed the first unmanned aerial vehicle  30  to land via the transmitter  21 . 
     As a result of the determination in step A 6 , if the first unmanned aerial vehicle has not entered the landing mode, the flight control unit  11  executes step A 1  again. On the other hand, as a result of the determination in step A 6 , when the first unmanned aerial vehicle has entered to the landing mode, the flight control unit  11  lands the second unmanned aerial vehicle  40  and ends the process (step A 7 ). 
     [Effects in the Example Embodiment] 
     As described above, in the example embodiment, the pilot  20  can check the situation around the first unmanned aerial vehicle  30  that the pilot controls by the image from another following second unmanned aerial vehicle  40 . Further, since the maneuvering mode of the transmitter  21  is set according to a state displayed on the image, the pilot  20  can intuitively maneuver the first unmanned aerial vehicle  30 . Therefore, according to the example embodiment, in a case where it is difficult for the pilot  20  to see the first unmanned aerial vehicle  30 , it is easy to check the situation around the first unmanned aerial vehicle  30  while suppressing the occurrence of maneuvering mistakes. 
     Further, in the example embodiment, since it is possible to capture the first unmanned aerial vehicle  30  from a bird&#39;s-eye view, it is possible to record an image from a bird&#39;s-eye view. Such records are useful for confirming work, analyzing accidents, and the like. 
     [Program] 
     It is sufficient that the program according to the present example embodiment to be a program that causes a computer to execute steps A 1  to A 7  illustrated in  FIG. 8 . The maneuvering support apparatus  10  and the maneuvering support method according to the present example embodiment can be realized by installing this program in the computer and executing this program. 
     In this case, a processor of the computer functions as the flight control unit  11 , the image display unit  12 , the maneuvering mode setting unit  13  and the location information acquisition unit  14 , and performs processing. 
     Moreover, the program according to the present example embodiment may be executed by a computer system constructed with a plurality of computers. In this case, for example, each computer may function as one of the flight control unit  11 , the image display unit  12 , the maneuvering mode setting unit  13  and the location information acquisition unit  14 . 
     Using FIG. 9 , the following describe a computer that realizes the maneuvering support apparatus  10  by executing the program according to the present example embodiment.  FIG. 9  is a block diagram illustrating one example of the computer that realizes the maneuvering support apparatus according to the example embodiment. 
     As shown in  FIG. 9 , a computer  110  includes a CPU (Central Processing Unit)  111 , a main memory  112 , a storage device  113 , an input interface  114 , a display controller  115 , a data reader/writer  116 , and a communication interface  117 . These components are connected in such a manner that they can perform data communication with one another via a bus  121 . Note that the computer  110  may include a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) in addition to the CPU  111  or in place of the CPU  111 . 
     The CPU  111  carries out various types of calculation by deploying the program (codes) according to the example embodiment stored in the storage device  113  to the main memory  112 , and executing the codes in a predetermined order. The main memory  112  is typically a volatile storage device, such as a DRAM (Dynamic Random Access Memory). Also, the program according to the example embodiment is provided in a state where it is stored in a computer readable recording medium  120 . Note that the program according to the example embodiment may also be distributed over the Internet connected via the communication interface  117 . 
     Furthermore, specific examples of the storage device  113  include a hard disk drive, and also a semiconductor storage device, such as a flash memory. The input interface  114  mediates data transmission between the CPU  111  and an input device  118 , such as a keyboard and a mouse. The display controller  115  is connected to a display device  119 , and controls displays on the display device  119 . 
     The data reader/writer  116  mediates data transmission between the CPU  111  and the recording medium  120 , reads out the program from the recording medium  120 , and writes the result of processing in the computer  110  to the recording medium  120 . The communication interface  117  mediates data transmission between the CPU  111  and another computer. 
     Also, specific examples of the recording medium  120  include: a general-purpose semiconductor storage device, such as CF (Compact Flash®) and SD (Secure Digital); a magnetic recording medium, such as Flexible Disk; and an optical recording medium, such as CD-ROM (Compact Disk Read Only Memory). 
     Note that the maneuvering support apparatus  10  according to the example embodiment can also be realized by using items of hardware that respectively correspond to the components, rather than the computer in which the program is installed. Furthermore, a part of the maneuvering support apparatus  10  may be realized by the program, and the remaining part of the maneuvering support apparatus  10  may be realized by hardware. 
     A part or all of the aforementioned example embodiment can be represented by (Supplementary Note 1) to (Supplementary Note 21) described below, but is not limited to the description below. 
     (Supplementary Note 1) 
     A maneuvering support apparatus comprising: 
     a flight control unit configured to cause a second unmanned aerial vehicle having an imaging device to fly so as to follow a first unmanned aerial vehicle maneuvered by a pilot, and further, control the second unmanned aerial vehicle so that the first unmanned aerial vehicle is captured by the imaging device; and 
     an image display unit configured to acquire an image data of an image captured by the imaging device, and displaying the image based on the acquired image data on a screen of a display device. 
     (Supplementary Note 2) 
     The maneuvering support apparatus according to Supplementary Note 1 further comprising: 
     a maneuvering mode setting unit configured to set a maneuvering mode of a transmitter of the first unmanned aerial vehicle. 
     (Supplementary Note 3) 
     The maneuvering support apparatus according to Supplementary Note 2, wherein 
     the maneuvering mode setting unit sets the maneuvering mode based on a nose direction of the first unmanned aerial vehicle displayed on the screen. 
     (Supplementary Note 4) 
     The maneuvering support apparatus according to any one of Supplementary Notes 1 to 3 further comprising: 
     a location information acquisition unit configured to acquire a first location information for specifying a location of the first unmanned aerial vehicle and a second location information for specifying a location of the second unmanned aerial vehicle; and 
     wherein, the flight control unit controls the second unmanned aerial vehicle based on the acquired first location information and the acquired second location information. 
     (Supplementary Note 5)
     5. The maneuvering support apparatus according to claim 4, wherein   

     the flight control unit causes the second unmanned aerial vehicle to follow the first unmanned aerial vehicle so that the second unmanned aerial vehicle is located above, on the side of, or behind the first unmanned aerial vehicle, based on the first location information and the second location information. 
     (Supplementary Note 6) 
     The maneuvering support apparatus according to Supplementary Note 4 or 5, wherein 
     the flight control unit sets a target point between the first unmanned aerial vehicle and the second unmanned aerial vehicle based on the first location information and the second location information, and controls the second unmanned aerial vehicle so that a nose and a traveling direction of the second unmanned aerial vehicle point toward to the target point. 
     (Supplementary Note 7) 
     The maneuvering support apparatus according to Supplementary Note 4 or 5, wherein 
     the flight control unit sets a target point at a location at a certain distance from a rear side of a fuselage of the first unmanned aerial vehicle, and controls the second unmanned aerial vehicle so that a nose of the second unmanned aerial vehicle points toward to the first unmanned aerial vehicle and a traveling direction of the second unmanned aerial vehicle points toward to the target point. 
     (Supplementary Note 8)
     8. A maneuvering support method comprising:   

     (a) a step of causing a second unmanned aerial vehicle having an imaging device to fly so as to follow a first unmanned aerial vehicle maneuvered by a pilot, and further, controlling the second unmanned aerial vehicle so that the first unmanned aerial vehicle is captured by the imaging device; and 
     (b) a step of acquiring an image data of an image captured by the imaging device, and displaying the image based on the acquired image data on a screen of a display device. 
     (Supplementary Note 9) 
     The maneuvering support method according to Supplementary Note 8 further comprising: 
     (c) a step of setting a maneuvering mode of a transmitter of the first unmanned aerial vehicle. 
     (Supplementary Note 10) 
     The maneuvering support method according to Supplementary Note 9, wherein, 
     in the (c) step, setting the maneuvering mode based on a nose direction of the first unmanned aerial vehicle displayed on the screen. 
     (Supplementary Note 11) 
     The maneuvering support method according to any one of Supplementary Notes 8 to 10, further comprising: 
     (d) a step of acquiring a first location information for specifying a location of the first unmanned aerial vehicle and a second location information for specifying a location of the second unmanned aerial vehicle; and 
     in the (a) step, controlling the second unmanned aerial vehicle based on the acquired first location information and the acquired second location information. 
     (Supplementary Note 12) 
     The maneuvering support method according to Supplementary Note 11, wherein 
     in the (a) step, 
     causing the second unmanned aerial vehicle to follow the first unmanned aerial vehicle so that the second unmanned aerial vehicle is located above, on the side of, or behind the first unmanned aerial vehicle, based on the first location information and the second location information. 
     (Supplementary Note 13) 
     The maneuvering support method according to Supplementary Note 11 or 12, wherein 
     in the (a) step, 
     setting a target point between the first unmanned aerial vehicle and the second unmanned aerial vehicle based on the first location information and the second location information; and 
     controlling the second unmanned aerial vehicle so that a nose and a traveling direction of the second unmanned aerial vehicle point toward to the target point. 
     (Supplementary Note 14) 
     The maneuvering support method according to Supplementary Note 11 or 12, wherein 
     in the (a) step, 
     setting a target point at a location at a certain distance from a rear side of a fuselage of the first unmanned aerial vehicle; and 
     controlling the second unmanned aerial vehicle so that a nose of the second unmanned aerial vehicle points toward to the first unmanned aerial vehicle and a traveling direction of the second unmanned aerial vehicle points toward to the target point. 
     (Supplementary Note 15) 
     A computer readable recording medium that includes a program recorded thereon, the program including instructions that cause a computer to carry out: 
     (a) a step of causing a second unmanned aerial vehicle having an imaging device to fly so as to follow a first unmanned aerial vehicle maneuvered by a pilot, and further, controlling the second unmanned aerial vehicle so that the first unmanned aerial vehicle is captured by the imaging device; and 
     (b) a step of acquiring an image data of an image captured by the imaging device, and displaying the image based on the acquired image data on a screen of a display device, and displaying the image based on the acquired image data on a display devise. 
     (Supplementary Note 16) 
     The computer readable recording medium according to Supplementary Note 15, 
     wherein the program further includes instructions that cause the computer to carry out: 
     (c) a step of setting a maneuvering mode of a transmitter of the first unmanned aerial vehicle. 
     (Supplementary Note 17) 
     The computer readable recording medium according to Supplementary Note 16, wherein 
     in the (c) step, 
     setting the maneuvering mode based on a nose direction of the first unmanned aerial vehicle displayed on the screen. 
     (Supplementary Note 18) 
     The computer readable recording medium according to any one of Supplementary Notes 15 to 17, 
     wherein the program further includes instructions that cause the computer to carry out: 
     (d) a step of acquiring a first location information for specifying a location of the first unmanned aerial vehicle and a second location information for specifying a location of the second unmanned aerial vehicle; 
     in the (a) step, controlling the second unmanned aerial vehicle based on the acquired first location information and the acquired second location information. 
     (Supplementary Note 19) 
     The computer readable recording medium according to Supplementary Note 18, wherein 
     in the (a) step, 
     causing the second unmanned aerial vehicle to follow the first unmanned aerial vehicle so that the second unmanned aerial vehicle is located above, on the side of, or behind the first unmanned aerial vehicle, based on the first location information and the second location information. 
     (Supplementary Note 20) 
     The computer readable recording medium according to Supplementary Note 18 or 19, wherein 
     in the (a) step, 
     setting a target point at a location at a certain distance from a rear side of a fuselage of the first unmanned aerial vehicle; and 
     controlling the second unmanned aerial vehicle so that a nose of the second unmanned aerial vehicle points toward to the first unmanned aerial vehicle and a traveling direction of the second unmanned aerial vehicle points toward to the target point. 
     (Supplementary Note 21) 
     The computer readable recording medium according to Supplementary Note 18 or 19, wherein 
     in the (a) step, 
     setting a target point at a location at a certain distance from a rear side of a fuselage of the first unmanned aerial vehicle; and 
     controlling the second unmanned aerial vehicle so that a nose of the second unmanned aerial vehicle points toward to the first unmanned aerial vehicle and a traveling direction of the second unmanned aerial vehicle points toward to the target point. 
     Although the invention of the present application has been described above with reference to the example embodiment, the invention of the present application is not limited to the aforementioned example embodiment. Various changes that can be understood by a person skilled in the art within the scope of the invention of the present application can be made to the configurations and details of the invention of the present application. 
     This application claims priority on the basis of Japanese application Japanese Patent Application No. 2019-12716 filed on Jun. 18, 2019, and the entire disclosure of which is incorporated herein. 
     INDUSTRIAL APPLICABILITY 
     According to the present invention, it is possible to easily check the surrounding situation around the unmanned aerial vehicle while suppressing the occurrence of maneuvering mistakes in a case where it is difficult for the pilot to see the unmanned aerial vehicle. The present invention is useful in various fields where the use of unmanned aerial vehicles is required. 
     REFERENCE SIGNS LIST 
       10  maneuvering support apparatus 
       11  flight control unit 
       12  image display unit 
       12  maneuvering mode setting unit 
       13  location information acquisition unit 
       20  pilot 
       21  transmitter 
       22  display devise 
       23  control stick 
       24  first button 
       25  second button 
       30  first unmanned aerial vehicle 
       31  location measurement unit 
       32  control unit 
       33  drive motor 
       34  communication unit 
       40  second unmanned aerial vehicle 
       41  location measurement unit 
       42  control unit 
       43  drive motor 
       44  communication unit 
       45  imaging device 
       110  computer 
       111  CPU 
       112  main memory 
       113  storage device 
       114  input interface 
       115  display controller 
       116  data reader/writer 
       117  communication interface 
       118  input devise 
       119  display devise 
       120  recording medium 
       121  bus