System and method for generating control command values ​​for propulsion devices

Abstract

This technology enables even less experienced operators to perform tunneling work by generating control and command values ​​for the tunneling equipment used in the tunneling method from the system side, thereby reducing the burden on operators. [Solution] The propulsion device 1 forms a pipeline underground G by pressing a tunneling machine 11, which excavates the ground in the ground G, with a push jack 12 via a propulsion pipe 100 connected to the rear of the tunneling machine 11. The processing unit 2 generates control command values ​​for the propulsion device 1 using the tunneling machine operation data acquired from the tunneling machine 11, the push jack operation data acquired from the push jack 12, and the position data of the tunneling machine 11.

Description

【Technical Field】 , , , 【0001】 The present invention relates to a system and method for generating control command values for a propulsion device. 【Background Art】 【0002】 Conventionally, in construction work such as burying medium or small-diameter sewer pipes underground, a propulsion method is used in which a propulsion pipe is pressed by a pushing jack of a propulsion device while the ground is excavated by an excavator at the tip of the propulsion pipe. In the implementation of the propulsion method, an operator inputs appropriate control command values to the propulsion device. However, a considerable amount of training and experience is required to be able to input appropriate control command values. Therefore, not only does it take time to train operators, but there is also a problem that the burden on the responsible operator is large when implementing the propulsion method. 【0003】 In Patent Document 1 below, a technique for obtaining a propulsion trajectory and a propulsion posture along which an excavator used in the propulsion method advances by calculation is proposed. However, this document does not have a specific proposal on how to generate control command values. 【0004】 In Patent Document 2 below, a technique for predicting setting values for the operation of a shield excavator by a learning model is proposed in the shield method, not the propulsion method. The shield method is generally used for tunnel construction and large-diameter sewer construction. However, the technique of this document is for the shield method and cannot be applied to the propulsion method. 【Prior Art Documents】 【Patent Documents】 【0005】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2001-91242 【Patent Document 2】 Japanese Patent Application Laid-Open No. 2019-39264 【Summary of the Invention】 [Problems that the invention aims to solve] 【0006】 This invention has been made in view of the circumstances described above. The main object of this invention is to provide a technology that enables even less skilled operators to perform the tunneling method and reduces the burden on operators by generating control value commands for the tunneling device used in the tunneling method on the system side. [Means for solving the problem] 【0007】 This invention can be expressed as the invention described in the following items. 【0008】 (Item 1) A propulsion device for forming a pipeline underground by pressing a tunneling machine, which excavates the ground underground, with a push jack via a propulsion pipe connected to the rear of the tunneling machine, The system includes a processing unit that generates control command values ​​for the propulsion device using the tunneling machine operation data acquired from the tunneling machine, the main jack operation data acquired from the main jack, and the position data of the tunneling machine. A system for generating control command values ​​for propulsion systems. 【0009】 (Item 2) The processing unit is configured to generate control command values ​​for the tunneling machine or the main jack. The generation system described in item 1. 【0010】 (Item 3) The aforementioned tunnel boring machine operation data is obtained from the following data acquired by sensors installed on the tunnel boring machine: • Cutter torque for driving the cutter head in a tunnel boring machine • Face pressure acting on the tip of the tunnel boring machine • Earth pressure • Position of the tunneling machine • Stroke of the folding jack for changing the direction of the tunnel boring machine One or more of the following: The generation system according to item 1 or 2. 【0011】 (Item 4) The original jack operation data is the following data acquired by a sensor installed on the original jack: · Pressure from the original jack to the propulsion pipe · Speed at which the propulsion pipe moves due to the pressing force from the original jack It is one or both of the above. The generation system according to item 1 or 2. 【0012】 (Item 5) The position data of the tunneling machine is acquired by a surveying terminal arranged inside the propulsion pipe and moving together with the propulsion pipe. The surveying terminal is configured to measure the position of the tunneling machine from a reference point in the shaft where the original jack is installed. The generation system according to item 1 or 2. 【0013】 (Item 6) The processing unit is configured to generate the control command value based on one or more of the following data: [[ID=3-2]]· Soil quality in the ground · Properties of the muddy water supplied to the front of the tunneling machine · Mud pumping pressure for supplying the muddy water to the front of the tunneling machine · Injection amount, injection timing or injection position of the lubricant supplied around the propulsion pipe It is configured to generate the control command value further based on one or more of the above. The generation system according to item 1 or 2. 【0014】 (Item 7) The control command value for the tunneling machine is the direction of the tunneling machine or the cutter torque for driving the cutter head of the tunneling machine. The control command value for the original jack is the pressure from the original jack to the propulsion pipe or the speed at which the propulsion pipe moves due to the pressing force from the original jack. The generation system according to item 2. 【0015】 (Item 8) The processing unit is arranged at a position separated from the propulsion device, The processing unit and the propulsion device are connected by the Internet and can directly or indirectly transmit and receive data to and from each other between remote locations. The generation system according to Item 1 or 2. 【0016】 (Item 9) Furthermore, an operating device installed near the propulsion device is provided, The processing unit is configured to send the control command value to the operating device, The operating device is configured to present the control command value to an operator and receive an input of the control command value from the operator. The generation system according to Item 1 or 2. 【0017】 (Item 10) A method for generating a control command value using the generation system according to Item 1 or 2, A step of sending the tunneling machine operation data acquired from the tunneling machine, the original pressing jack operation data acquired from the original pressing jack, and the position data of the tunneling machine to the processing unit; A step of the processing unit generating and outputting a control command value to the propulsion device. A method for generating a control command value for a propulsion device. 【0018】 (Item 11) A learning model constituting a processing unit used in the generation system according to Item 1, Learned using the tunneling machine operation data acquired from the tunneling machine, the original pressing jack operation data acquired from the original pressing jack, and the position data of the tunneling machine, Configured to generate a control command value for the propulsion device. Learning model. [Effect of the Invention] 【0019】 According to the technology of the present invention, by generating control values ​​for the jacking device used in the jacking method, even operators with low skill levels can carry out the jacking method, and the burden on the operators can be reduced. [Brief explanation of the drawing] 【0020】 [Figure 1] This is a block diagram illustrating the schematic configuration of a control command value generation system for a propulsion device according to one embodiment of the present invention. [Figure 2] This is a block diagram showing the configuration of the propulsion system used in the generation system of Figure 1. [Figure 3] This is a block diagram showing the configuration of the processing unit used in the generation system shown in Figure 1. [Figure 4] This is an explanatory diagram illustrating an example of a propulsion system to which the generation system shown in Figure 1 is applied, and it shows the propulsion system in a side view. [Figure 5] This is an explanatory diagram illustrating an example of a propulsion system to which the generation system shown in Figure 1 is applied, and it is a plan view of the propulsion system. [Figure 6] Figure 5 is an enlarged view of the main part. [Figure 7] This flowchart illustrates the procedure for generating control command values ​​using the generation system shown in Figure 1. [Modes for carrying out the invention] 【0021】 Hereinafter, a system for generating control command values ​​for a propulsion device according to one embodiment of the present invention (hereinafter sometimes simply referred to as the "generation system") will be described with reference to the attached drawings. The generation system of this embodiment includes a propulsion device 1, a processing unit 2, and an operating device 3 (see Figures 1 to 3). 【0022】 (propulsion device) The propulsion device 1 forms a pipeline in the ground G (see Figure 4) by pressing a tunneling machine 11, which excavates the ground, with a main jack 12 via a propulsion pipe 100 (see Figures 4 and 5) connected to the rear of the tunneling machine 11. In this specification, "ground" is synonymous with "soil." In this specification, "soil" is used as a broad concept that includes not only natural geological layers but also artificially created geological layers such as backfill soil, embankments, and improved ground. Furthermore, there are no restrictions on the soil type of the soil (sandy soil, cohesive soil, gravel, etc.). 【0023】 The tunnel boring machine 11 of this embodiment includes a tunnel boring machine sensor 111, a cutter head 112, and a folding jack 113 (see Figures 2, 4 to 6). 【0024】 The tunnel boring machine sensor 111 (see Figure 4) acquires tunnel boring machine operation data. In this embodiment, the tunnel boring machine operation data consists of all of the following, but any one or more of these may be used. Although this data is basically acquired by individual sensors, in this embodiment it is collectively referred to as the tunnel boring machine sensor 111. 【0025】 • Cutter torque for driving the cutter head in the tunnel boring machine 11 • Face pressure acting on the tip of the tunnel boring machine 11 • Earth pressure • Posture of the tunneling machine 11 • Stroke of the articulated jack 113 for changing the orientation of the tunneling machine 11. 【0026】 Here, "face" refers to the surface of the ground cut by the cutter head 112, and "face pressure" refers to the pressure applied to the face by the propulsion device 1. "Earth pressure" refers to the pressure acting on the face from the surrounding ground. The posture of the tunneling machine 11 refers to the pitching and rolling of the tunneling machine 11. Yawing can also be included. 【0027】 The cutter head 112 is a rotating body for excavation that is rotatably mounted on the tunnel boring machine 11 for cutting the ground. Cutter torque is the rotational force (torque) acting to rotate the cutter head 112 by a drive device (not shown), such as a motor. Cutter torque can vary depending on the properties of the ground to be excavated, the rotational speed of the cutter head 112, the thrust force, the bit shape, etc. 【0028】 The folding jack 113 presses against the cutter head 112 to change its orientation. Specifically, the folding jack 113 changes the folding angle α (see Figure 6) of the tunneling machine by the uneven expansion and contraction of multiple jacks, thereby determining the direction of the tip of the cutter head 112. 【0029】 The main push jack 12 has a sensor 121 for the main push jack (see Figure 4). The sensor 121 for the main push jack is configured to detect main push jack operation data. Here, the main push jack operation data is one or both of the following data. 【0030】 • Pressure from the main jack 12 to the jacking pipe 100 The speed at which the propulsion pipe 100 moves due to the pressure from the main jack 12. 【0031】 The lubricant injection device 13 can inject lubricant into the ground surrounding the jacking pipe 100 via a lubricant pipe 131. The lubricant is a fluid or semi-fluid material supplied to reduce friction between the outer circumference of the jacking pipe 100 and the ground, and includes, but is not limited to, bentonite slurry, polymer lubricants, foaming agents, surfactant solutions, and mud. The lubricant injection device 13 in this embodiment is installed on the ground surface (GL) (see Figure 4). 【0032】 The tunneling machine 11 is also equipped with piping (not shown) for supplying pressurized drilling fluid to the face in front of the cutter head 112 to apply face pressure. 【0033】 (processing) The processing unit 2 generates control command values ​​for the propulsion device 1 using the tunneling machine operation data acquired from the tunneling machine 11, the main jack operation data acquired from the main jack 12, and the position data of the tunneling machine 11. The processing unit 2 in this embodiment is configured to generate control command values ​​for the tunneling machine 11 and the main jack 12. The position data of the tunneling machine 11 is acquired by a surveying terminal 200 (described later) which is placed inside the propulsion pipe 100 and moves together with the propulsion pipe 100. 【0034】 In this embodiment, the processing unit 2 is located at a distance from the propulsion device 1 (i.e., at a remote location). The processing unit 2 and the propulsion device 1 are connected by the Internet 300 (see Figure 4), enabling them to send and receive data directly or indirectly from each other at the remote location. There are no restrictions on the hardware configuration of the processing unit 2; generally, the processing unit 2 is composed of a combination of hardware and computer software. 【0035】 In this embodiment, the control command value for the tunneling machine 11 includes the direction of the tunneling machine 11 and the cutter torque for driving the cutter head in the tunneling machine 11. In addition, the control command value for the main jack 12 in this embodiment includes the pressure from the main jack 12 to the jacking pipe 100, or the speed at which the jacking pipe 100 moves due to the pressure from the main jack 12. 【0036】 Specifically, the processing unit 2 of this embodiment includes a learning model 21, a cloud server 22, an interface 23, and a model update unit 24 (see Figure 3). 【0037】 The learning model 21 is a model trained using tunneling machine operation data, main jack operation data, and position data of the tunneling machine 11. After training, it can estimate control command values ​​to the propulsion device 1 based on the input of predetermined target values ​​(described later). Here, the learning model 21 of this embodiment uses the following data • Soil type in natural ground • Properties of the mud supplied to the front of the tunnel boring machine 11 • Mud supply pressure for supplying mud to the front of the tunneling machine 11 • The type, amount, timing, or location of the lubricant supplied around the propulsion pipe 100. The system further uses this information to learn and generates the aforementioned control command values ​​based on these results. 【0038】 More specifically, the learning model 21 in this specification refers to a model having a set of parameters and a structure (e.g., a layered structure of a neural network) for performing inference processing based on input data. A deep learning model is preferred, but other models may be used as long as they achieve the objective, such as machine learning models, statistical models, or rule-based models. The learning model 21 can be built on, for example, a cloud server 22, or a learning model 21 placed on a local server (not shown) can be used via the cloud server 22. 【0039】 The cloud server 22 refers to a server that provides computing resources that can be accessed from the outside (from the operating device 3 in this embodiment) via the Internet 300, and may be configured as a physical server, a virtual server, a container infrastructure, or a combination thereof. The cloud server 22 may be located in the data center of a cloud provider, or it may be configured in a distributed manner by multiple server groups (not shown). 【0040】 Interface 23 refers to a communication function unit for sending and receiving data, authentication, request processing, response generation, etc., between the propulsion device 1 and the operating device 3 and each part of the processing unit 2 (for example, the cloud server 22). Interface 23 may be configured as a software module incorporated into the propulsion device 1 or the operating device 3, as an API, service, or management module on the cloud server side, or distributed between both. 【0041】 The model update unit 24 is a functional unit that updates parameters, retrains, fine-tunes, or replaces the model for the learning model 21. The model update unit 24 may be configured as a processing module on the cloud server 22, or it may be located on the side of the propulsion device 1 or the operating device 3 (i.e., the user terminal), or it may be distributed between both. Furthermore, the model update unit 24 is applicable to any of the following methods: supervised learning, unsupervised learning, reinforcement learning, transfer learning, etc. 【0042】 Other than the above, the configuration of the propulsion device 1 can be the same as in the conventional model, so further detailed explanation will be omitted. 【0043】 (operating device) The control device 3 is installed near the propulsion device 1 and is configured to receive control command values ​​sent from the processing unit 2. Furthermore, the control device 3 is configured to present the control command values ​​to the operator and to receive input of control command values ​​from the operator. In this embodiment, the control device 3 is installed on the ground level (GL). 【0044】 More specifically, the operating device 3 includes a display (not shown) for presenting control command values ​​to the operator, an input interface (not shown) for receiving input from the operator, and an output interface (not shown) for sending the commands entered by the operator to various parts of the propulsion device 1. 【0045】 (Surveying terminal) The surveying terminal 200 is configured to measure the position of the tunnel boring machine 11 from a reference point (a predetermined point) within the shaft S (see Figure 4) where the main pushing jack 12 is installed. The position of the tunnel boring machine 11 is generally represented by a coordinate system based on the reference point within the shaft S. 【0046】 Specifically, the surveying terminal 200 in this embodiment is a robotic total station that constitutes an automatic surveying system, and this surveying terminal 200 is positioned inside the jacking pipe 100. The surveying terminal 200 moves together with the jacking pipe 100 when the jacking pipe 100 moves due to the main jack 12. Generally, since the jacking pipe 100 is curved, the surveying terminals 200 are installed at positions that can be connected in a straight line (i.e., have a line of sight using laser or infrared light) between the reference point and the tunneling machine 11. In this case, the position of the tunneling machine 11 from the reference point can be measured by so-called relay surveying. The surveying terminal 200 in this embodiment can be moved appropriately inside the jacking pipe 100, thereby allowing it to take an appropriate position for surveying. 【0047】 (Method for generating control command values ​​for the propulsion system) Next, a method for generating control command values ​​using the aforementioned generation system and operating the propulsion device 1 based on these values ​​will be explained further with reference to Figure 7. 【0048】 (Step SA-1 in Figure 7) First, a learning model 21 is constructed using the training data. The training data in this embodiment is as follows. Here, the training data is basically obtained from actual tunneling construction work. 【0049】 • Cutter torque for driving the cutter head in the tunnel boring machine 11 • Face pressure acting on the tip of the tunnel boring machine 11 • Earth pressure • Posture of the tunneling machine 11 • Stroke of the folding jack 113 for changing the orientation of the tunnel boring machine 11 • Position of the tunneling machine 11 relative to the reference point (position on local coordinates) • Pressure from the main jack 12 to the jacking pipe 100 • The speed at which the propulsion pipe 100 moves due to the pressure from the main jack 12. • Soil type in natural ground • Properties of the mud supplied to the front of the tunnel boring machine 11 • Mud supply pressure for supplying mud to the front of the tunneling machine 11 • The type, amount, timing, or location of the lubricant supplied around the propulsion pipe 100. 【0050】 Furthermore, it's possible to train using other data, and some of this data can be omitted depending on the situation. 【0051】 In this embodiment, the control command values ​​estimated by the learning model 21 are, as described above, the control command values ​​for the tunneling machine 11 and the control command values ​​for the main push jack 12. 【0052】 (Step SA-2 in Figure 7) Next, the operating device 3 acquires data from the tunneling machine sensor 111 and the main push jack sensor 121 of the propulsion device 1, and also acquires the position of the tunneling machine 11 from the surveying terminal 200, and sends this data from the propulsion device 1 to the processing unit 2 and inputs it into the learning model 21. Preferably, the following data is also sent to the processing unit 2 at this time. 【0053】 • Soil type in natural ground • Properties of the mud supplied to the front of the tunnel boring machine 11 • Mud supply pressure for supplying mud to the front of the tunneling machine 11 • The type, amount, timing, or location of the lubricant supplied around the propulsion pipe 100. 【0054】 (Step SA-3 in Figure 7) Meanwhile, before or after step SA-2, or in parallel thereafter, the operator inputs a target value from the control device 3. The target value is, for example, the position of the tunneling machine 11. The target value may also be the attitude of the tunneling machine 11. The input target value is sent from the control device 3 to the learning model 21 of the processing unit 2. 【0055】 (Steps SA-4 and SA-5 in Figure 7) Next, the learning model 21 generates control command values ​​for the tunneling machine 11 and the main jack 12 based on the input data and target values. The generated control command values ​​are displayed on the operating device 3. 【0056】 (Steps SA-6 and SA-7 in Figure 7) The operator can determine the control command value by referring to the displayed control command value and input it into the operating device 3. Here, the control command value for the tunneling machine 11 includes the direction of the tunneling machine 11 and the cutter torque for driving the cutter head in the tunneling machine 11, as described above. In addition, the control command value for the main jack 12 in this embodiment includes the pressure from the main jack 12 to the jacking pipe 100, or the speed at which the jacking pipe 100 moves due to the pressure from the main jack 12. 【0057】 This allows the operation of the tunneling machine 11 and the main jack 12 of the tunneling device 1 to be controlled, enabling the tunneling method to be implemented. According to this embodiment, since the control command values ​​for the tunneling device 1 are generated on the system side, even an operator with low skill level can determine appropriate control command values ​​and implement the tunneling method. In addition, since the operator can determine the actual control command values ​​by referring to the control command values ​​proposed by the system side, it is also possible to reduce the burden on the operator when implementing the tunneling method. 【0058】 Furthermore, the operator can input various instruction values ​​(control command values) for carrying out the tunneling work, such as instruction values ​​for slurry condition control, mud supply pressure control, and lubricant injection control, via the operating device 3, thereby operating the lubricant injection device 13 and other components. If the learning model 21 of this embodiment has been trained to also estimate these instruction values, these instruction values ​​can also be generated by the learning model 21 and displayed on the operating device 3 to assist the operator. 【0059】 Furthermore, if the control command values ​​proposed by the learning model 21 are deemed to have sufficient reliability, it is possible to control the propulsion system 1 based on these control command values ​​without operator input. In this case, the procedure of presenting the control command values ​​to the operator via the operating device 3 and having the operator input the command values ​​can be omitted. 【0060】 (Steps SA-8 to SA-10 in Figure 7) Meanwhile, during or after the operation of the propulsion device 1 as instructed by the operator, the operating device 3 collects data from the tunneling machine sensor 111 and the main push jack sensor 121 installed on the propulsion device 1, as well as position data of the tunneling machine 11 obtained from the surveying terminal 200, and sends it to the model update unit 24 of the processing unit 2. Furthermore, the operating device 3 collects updated environmental data obtained at or near the time of collection of this data, namely data such as mud condition, mud pumping pressure, lubricant injection amount, and lubricant injection position, and similarly sends it to the model update unit 24 of the processing unit 2. The model update unit 24 of the processing unit 2 uses this data to retrain and update the learned model 21. In this embodiment, the reliability of the learned model 21, i.e., the reliability of the obtained control instruction values, can be improved in accordance with the actual operation of the propulsion device 1. After this, the process returns to step SA-3 and the same procedure is repeated. When the target value is approached, the operation of the propulsion device 1 can be stopped at the operator's discretion. Once the jacking pipe 100 has advanced sufficiently, the next jacking pipe 100 can be added to carry out the jacking work. This is the same as in conventional jacking methods. 【0061】 In this way, according to this embodiment, the tunnel boring machine 11 can be advanced in the appropriate direction. The direction of travel of the tunnel boring machine 11 is indicated by the symbol D in Figure 5. 【0062】 As explained above, the method for generating control command values ​​for the propulsion device 1 according to this embodiment is as follows: The process involves sending the tunneling machine operation data acquired from the tunneling machine 11, the main push jack operation data acquired from the main push jack 12, and the position data of the tunneling machine 11 to the processing unit 2. The processing unit 2 generates and outputs control command values ​​for the propulsion device 1. It has. 【0063】 The above-described embodiments are merely examples and do not represent configurations essential to the present invention. The configuration of each part is not limited to those described above, as long as it can achieve the spirit of the present invention. 【0064】 For example, in the embodiment described above, the processing unit 2 was configured on the cloud, but it may be an edge server or on-premises server operating in an on-premises environment. In this case, the learning model 21 and the model update unit 24 are built on these servers. [Explanation of Symbols] 【0065】 1 Propulsion device 11 Tunnel machine 111 Sensor for tunnel boring machine 112 Cutter head 113 Folding Jack 12. Main push jack 121 Sensor for main push jack 13 Lubricant injection device 131 Piping for lubricants 2 Processing Units 21 Learning Models 22 Cloud Servers 23 Interfaces 24 Model Update Section 3 Operating device 100 Propulsion tube 200 Surveying Terminals 300 Internet G underground GL surface S Shaft D Direction of travel of the tunneling machine α Tunneling machine's center bending angle

Claims

[Claim 1] A propulsion device for forming a pipeline underground by pressing a tunneling machine, which excavates the ground underground, with a push jack via a propulsion pipe connected to the rear of the tunneling machine, The system includes a processing unit that generates control command values ​​for the propulsion device using the tunneling machine operation data acquired from the tunneling machine, the main jack operation data acquired from the main jack, and the position data of the tunneling machine. A system for generating control command values ​​for propulsion systems. [Claim 2] The processing unit is configured to generate control command values ​​for the tunneling machine or the main jack. The generation system according to claim 1. [Claim 3] The aforementioned tunnel boring machine operation data is obtained from the following data acquired by sensors installed on the tunnel boring machine: - Cutter torque for driving the cutter head in a tunnel boring machine - Face pressure acting on the cutting face at the tip of the tunneling machine • Earth pressure - Position of the tunneling machine - Stroke of the articulated jack used to change the direction of the tunnel boring machine One or more of the following: The generation system according to claim 1 or 2. [Claim 4] The aforementioned main jack operation data is obtained by a sensor installed on the main jack, and consists of the following data: - Pressure from the main jack to the jacking pipe - The speed at which the propulsion pipe moves due to the pressure from the main jack. It is one or two of the above. The generation system according to claim 1 or 2. [Claim 5] The position data of the tunneling machine was acquired by a surveying terminal placed inside the jacking pipe and moving together with the jacking pipe. The surveying terminal is configured to measure the position of the tunneling machine from a reference point in the shaft where the main jack is installed. The generation system according to claim 1 or 2. [Claim 6] The processing unit processes the following data - Soil type in the aforementioned ground - Properties of the mud supplied to the front of the excavation machine - Mud supply pressure for supplying the aforementioned mud to the front of the tunneling machine - The amount, timing, or location of injection of lubricant supplied around the propulsion pipe. The configuration generates the control command value based on one or more of the following: The generation system according to claim 1 or 2. [Claim 7] The control command value for the tunneling machine is either the direction of the tunneling machine or the cutter torque for driving the cutter head in the tunneling machine. The control command value for the main jack is the pressure from the main jack to the jacking pipe, or the speed at which the jacking pipe moves due to the pressure from the main jack. The generation system according to claim 2. [Claim 8] The processing unit is located at a position separated from the propulsion device. The processing unit and the propulsion device are connected via the Internet, enabling them to send and receive data directly or indirectly from each other over long distances. The generation system according to claim 1 or 2. [Claim 9] Furthermore, it is equipped with an operating device installed near the propulsion device, The processing unit is configured to send the control command value to the operating device. The operating device is configured to present the control command value to the operator and to receive the control command value input from the operator. The generation system according to claim 1 or 2. [Claim 10] A method for generating control command values ​​using the generation system described in claim 1 or 2, The process includes sending the tunneling machine operation data obtained from the tunneling machine, the main jack operation data obtained from the main jack, and the position data of the tunneling machine to the processing unit. The processing unit includes a step of generating and outputting control command values ​​for the propulsion device. A method for generating control command values ​​for a propulsion system. [Claim 11] A learning model comprising a processing unit used in the generation system described in claim 1, The system is trained using the tunneling machine operation data acquired from the tunneling machine, the push jack operation data acquired from the push jack, and the position data of the tunneling machine. It is configured to generate control command values ​​for the propulsion system. A learning model.

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