System and method for managing critical events in undergound environments

Abstract

The present disclosure relates to a method for managing a critical event in an underground environment (1), the method being performed by a system (100) comprising a central server (2) connected to at least one sensor (3). The method comprising: • obtaining (301) data from the at least one sensor (2) indicating an ongoing critical event associated with generation of fume, • obtaining (302) a location of the ongoing critical event, • obtaining (303) a ventilation model of the underground environment (1), and • predicting (304) a fume motion in the underground environment (1) based on the location of the ongoing critical event and the ventilation model. The at least one sensor (3) is positioned in the underground environment (1).

Description

[0001] SYSTEM AND METHOD FOR MANAGING CRITICAL EVENTS IN UNDERGOUND

[0002] ENVIRONMENTS

[0003] TECHNICAL FIELD

[0004] The disclosure relates to a method and a system for detecting and managing critical events, such as fires, gas emissions or emission of toxic fumes. In particular, the disclosure relates to such methods and systems in underground environments, such as mines.

[0005] BACKGROUND OF THE INVENTION

[0006] Detection systems for critical events, such as fire alarms, gas alarms, toxic emission alarms or the like are common in underground working environments. Fumes, such as smoke or gas emissions originating from critical events, may be particularly dangerous in closed and / or restricted environments, such as underground environments since fumes may become more concentrated than in open environments.

[0007] Known safety systems for underground environments make use of sensors distributed in the underground environment. If one of these sensors detects a critical event associated with the generation of a fume, an alarm is issued, and rescue measures are taken.

[0008] However, in complex underground environments with a multitude of routes, it is difficult to plan rescue measures, such as evacuation of persons from the mine or admission of rescue personnel to the source of the critical event. Parts of the underground environment may not be safe for passage due to contamination with the fume originating from the critical event. Mine workers or rescue personnel taking a contaminated path may be exposed to the fume, which may lead to serious personal injuries. In recent years, there has been an increased interest in using electrically driven machines in underground environments due to developments of battery and fuel cells. The use of electrically driven machines is beneficial in terms of reduced carbon emissions and exhaust pollutions. Electrically driven machines give rise to new possibilities also in the field of systems for detection and managing critical events.

[0009] Consequently, there is an opportunity for improved systems and methods for detecting and managing critical events in underground environments. Further, there is a need for systems and a methods that detect critical events of machines in underground environments quickly and reliably. Further, there is a need for systems and methods for improved evacuation of underground environments and / or admission of rescue personnel.

[0010] SUMMARY OF THE INVENTION

[0011] A primary object of the present disclosure is to achieve an in at least some aspect improved method for managing a critical event in an underground environment, and an in at least some aspect improved system for managing a critical event in an underground environment. In particular, it is an object to achieve such a method and system that may contribute to a quicker and more reliable detection of a critical event in an underground environment. Another object is to achieve such a method and system that may contribute to a safer evacuation of persons from the underground environment in case of a critical event. Still another object is to achieve such a method and system that may contribute to a safer and faster admission of rescue personnel to the underground environment.

[0012] According to a first aspect of the disclosure, at least the primary object is achieved by a method for managing a critical event in an underground environment. The method is performed by a system comprising a central server connected to at least one sensor, the method comprises:

[0013] - obtaining data from the at least one sensor indicating an ongoing critical event associated with generation of fume;

[0014] - obtaining a location of the ongoing critical event;

[0015] - obtaining a ventilation model of the underground environment; and

[0016] - predicting a fume motion in the underground environment based on the location of the ongoing critical event and the ventilation model.

[0017] The at least one sensor is positioned in the underground environment.

[0018] The disclosed method makes use of a ventilation model, comprising air flow directions and / or air flow magnitudes in the underground environment, and the location of a detected critical event to predict a fume motion originating from the critical event. E.g. in case of a fire in the underground environment, at least one sensor, such as a smoke detector, detects the fire and transmits an indication along with a location of the detected fire to the central server. Alternatively, the location of the at least one sensor may be known to the central server or determined in different ways, explained below. Based on the ventilation model and the location of the ongoing event, the fume motion is predicted. Here, the prediction of the fume motion may include predicting where the fume travels and which concentration it will have in different parts of the underground environment. The predicted fume motion then enables informed decisions on further evacuation and / or rescue measures. A fume in this respect may be a smoke originating from a fire, a toxic gas emitted by accident, carbon monoxide originating from a combustion process or any other harmful gaseous or particulate emission.

[0019] In embodiments, the at least one sensor may comprise at least one fixed sensor situated at a respective fixed position in the underground environment and / or at least one machine-mounted sensor mounted on at least one respective machine, e.g. a drilling rig, an excavator, a haul truck or the like. The machine may be movable with its own drive, e.g. operated autonomously or by an operator. By including machine-mounted sensors, the method may become even more reliable and faster in detecting a critical event. In particular, when the critical event is associated with the machine, e.g. by a beginning fire in the machine, the critical event is detected faster and more reliably, since it is detected directly at the machine.

[0020] In embodiments, the at least one machine may comprise an electric energy storage, such as a battery or a fuel cell. Thereby, carbon and exhaust emissions are reduced.

[0021] In embodiments, obtaining data from at least one sensor indicating an ongoing critical event associated with generation of fume may comprise obtaining an indication of an ongoing critical event from a respective battery management system, BMS, of the at least one machine. The BMS of modern battery-driven machines may be a system for monitoring and controlling the battery. The BMS may be used to detect deviations from normal operation of the battery, such as deviating temperatures, currents, or voltages. Hence, a critical event may be detected very fast by the BMS.

[0022] In embodiments, the system may comprise at least one means for determining a respective position of the at least one machine, and obtaining a location of the ongoing critical event may comprise obtaining the position of the at least one machine. Hence, the location of one or more machines and, based thereon, the location of the critical event may be obtained quickly and reliably. The means for determining the position of the respective machine may include a positioning system that detects the machine’s position relative to sensors or transmitters in the underground environment. The position of the machine may e.g. be sensed when passing a sensor placed at known positions in the underground environment. Alternatively, the position of the at least one machine may be determined by a machine management system at the respective machine. Alternatively, the position of the at least one machine may be determined at the central server or any other computing device suitable for that purpose.

[0023] In embodiments, the central server may further be configured to control a ventilation system of the underground environment and the method may further comprise:

[0024] - controlling the ventilation system to influence flow velocities and / or directions in parts of the underground environment, based on the predicted fume motion;

[0025] - optionally, obtaining a new ventilation model based on the new flow velocities and / or directions; and

[0026] - optionally, predicting a new fume motion in the underground environment.

[0027] As mentioned above, underground environments are commonly equipped with a ventilation system. The ventilation system delivers fresh air to the underground environments and draws used air and emissions out of the underground environment. A ventilation system comprises ventilation devices for blowing and sucking air into and out of the underground environment, such as fans, ducts and air inlets / outlets. By controlling the ventilation system based on the predicted fume motion, air flows can be created in the underground environment that are advantageous for evacuation or rescue operations. For example, when the predicted fume motion indicates that a certain pathway that is needed for evacuation is contaminated with fume, the ventilation system may be controlled to alter the flow in parts of the underground environment, thereby redirecting the flow in an advantageous manner. The needed pathway may then be freed from the fume pollution, thereby allowing evacuation via said pathway. Further, by re-performing the method steps of obtaining a ventilation model and predicting a fume motion, the predicted fume motion may be updated, allowing for further improved evacuation and / or rescue operations. As the skilled person realizes, the method steps ‘controlling the ventilation system’, ‘obtaining a new ventilation model’ and ‘predicting a new fume motion’ may be iterated until the fume motion fulfills certain criteria for evacuation and or rescue operations, e.g. until the new predicted fume motion indicates that critical pathways are free from fume.

[0028] In embodiments, the method may further comprise:

[0029] - based on the predicted fume motion in the underground environment, determining routes for safe passage for evacuation and / or for rescue operations; and - providing information about routes for safe passage for evacuation and / or rescue operations to persons in the underground environment and rescue personnel, respectively.

[0030] Hence, evacuation and / or rescue operations are facilitated.

[0031] By moving the at least one machine to another position in the underground environment, certain pathways, pits or shafts may be cleared from the fume contamination. Thereby, new or improved (e.g. shorter) routes for safe passage may be created. Also, it may be possible to move the at least one machine from areas which are prone to higher risks, such as areas where explosives or fuels are stored. The person skilled in the art realizes that the prediction of the fume motion may be repeated after a machine has been moved, thereby providing an updated predicted fume motion.

[0032] In embodiments, obtaining the ventilation model may comprise obtaining air flow directions and / or air flow velocities in different parts of the underground environment, such as pathways, shafts, and pits.

[0033] Since underground environments usually are a network of pathways, shafts and pits, obtaining a ventilation model in terms of air flow velocities and directions in these different geometries and predicting the fume motion based on these values is computationally efficient.

[0034] In embodiments, obtaining the ventilation model may comprise determining the ventilation model from ventilation data, the ventilation data comprising positions of ventilation devices, instantaneous flow directions of the ventilation devices and instantaneous flow rates of the ventilation devices.

[0035] As mentioned before, the ventilation model represents a model of the airflow in relevant parts of the underground environment. Since ventilation data is made available to the central server, i.e. positions of ventilation devices and air flow magnitudes / directions at respective ventilation devices, air flow velocities and directions can be predicted for different parts of the underground environment.

[0036] By complementing the ventilation model with measured data at specific positions in the underground environment, the accuracy of the ventilation model may be improved. In embodiments, the at least one sensor may comprise at least one of an optical fire alarm, a smoke detector, a gas detector, a carbon monoxide sensor, a temperature sensor or a camera.

[0037] By using suitable detectors or combinations of detectors, the accuracy of the detection may be improved.

[0038] According to a second aspect of the disclosure, at least the primary object is achieved by a system for managing a critical event in an underground environment. The system comprises a central server and at least one sensor connected to the central server. The central server is configured to

[0039] - obtain data from the at least one sensor indicating an ongoing critical event associated with generation of fume;

[0040] - obtain a location of the ongoing critical event;

[0041] - obtain a ventilation model of the underground environment; and

[0042] - predict a fume motion in the underground environment based on the location of the ongoing critical event and the ventilation model.

[0043] The at least one sensor is positioned in the underground environment.

[0044] Advantages and advantageous embodiments of the second aspect largely correspond to those of the first aspect.

[0045] In embodiments, the at least one sensor may comprise at least one fixed sensor situated at a respective fixed position in the underground environment and / or at least one machine-mounted sensor mounted on at least one respective machine.

[0046] In embodiments, the at least one machine may comprise an electric energy storage, such as a battery or a fuel cell.

[0047] In embodiments, the central server may be configured to obtain an indication of an ongoing critical event from a respective battery management system, BMS, of the at least one machine.

[0048] In embodiments, the system may comprise at least one means for determining a respective position of the at least one machine, and the system is configured to obtain the position of the at least one machine. In embodiments, the central server may further be configured to control a ventilation system of the underground environment, the central server being configured to:

[0049] - control the ventilation system to influence flow velocities and / or directions in parts of the underground environment, based on the predicted fume motion;

[0050] - optionally, obtain a new ventilation model based on the new flow velocities and / or directions; and

[0051] - optionally, predict a new fume motion in the underground environment.

[0052] In embodiments, the central server may further be configured to:

[0053] - based on the predicted fume motion in the underground environment, determine routes for safe passage for evacuation and / or for rescue operations; and

[0054] - provide information about routes for safe passage for evacuation and / or rescue operations to persons in the underground environment and rescue personnel, respectively.

[0055] In embodiments, the central server may be configured to obtain air flow directions and / or air flow velocities in different parts of the underground environment, such as pathways, shafts, and pits.

[0056] In embodiments, the central server may be configured to determine the ventilation model from ventilation data, the ventilation data comprising positions of ventilation devices, instantaneous flow directions of the ventilation devices and instantaneous flow rates of the ventilation devices.

[0057] BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In the following, the technology disclosed will be described in detail, with reference to exemplifying embodiments and to the enclosed drawings. In the drawings:

[0059] Fig. 1 schematically illustrates a system according to an embodiment of the disclosure,

[0060] Fig. 2 schematically illustrates a system according to another embodiment of the disclosure,

[0061] Fig. 3 schematically illustrates a system according to another embodiment of the disclosure, Fig. 4 is a flow-chart illustrating steps of a method according to an embodiment of the disclosure.

[0062] Fig. 5 is a flow-chart illustrating steps of a method according to another embodiment of the disclosure.

[0063] The drawings show diagrammatic, exemplifying embodiments of the present disclosure and are thus not necessarily drawn to scale. It shall be understood that the embodiments shown and described are exemplifying and that the disclosure is not limited to these embodiments. It shall also be noted that some details in the drawings may be exaggerated in order to better describe and illustrate the disclosure. Like reference characters refer to like elements throughout the description, unless expressed otherwise.

[0064] DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0065] The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art would recognize that other embodiments for carrying out or practicing the present disclosure are also possible.

[0066] Fig. 1 illustrates an example of a system 100 for managing a critical event in an underground environment 1. In the embodiment shown in the figure, only a small part of an underground environment 1 is schematically shown. The visualized part of an underground environment 1 may for example be a section of a mine or a tunnel, or the like. Optional features are illustrated using dashed lines. The system 100 comprises at least one sensor 3 for detecting a critical event and a central server 2. The at least one sensor may comprise at least one of an optical fire alarm, a smoke detector, a gas detector, a carbon monoxide sensor, a temperature sensor, a camera or any other sensor for detecting critical events, such as fires or gas emissions. The at least one sensor 3 may compriseat least one fixed sensor 3f, the at least one fixed sensor 3f being disposed at a respective fixed position in the underground environment 1. The central server 2 is connected to the at least one sensor 3 for data transfer, as illustrated with thin dashed lines. The connection may be a wireless connection, such as via wifi, or a wired connection. The central server 2 may be any computing device and may be disposed in the underground environment 1 or outside of the underground environment 1. The idea behind the system illustrated in Fig. 1 is to detect an ongoing critical event by one or more of the at least one sensor 3 and to obtain a location of the ongoing critical event. Further, a ventilation model describing the air flow in the underground environment is obtained. With knowledge about the air flow due to the ventilation of the underground environment 1 , it is then possible to predict a fume motion of a fume originating from the critical event. Since underground environments oftentimes are complex networks of topologies, such as mines, tunnels, , or other pathways, knowledge of a fume motion is beneficial for the management of the critical event.

[0067] In another embodiment, visualized in Fig. 2 , the system 100 may comprise at least one machine 10. The machine 10 may be connected wirelessly to the central server 2. In some embodiments, and only by way of an example, the machine 10 may be an electrically driven machine 10. The machine 10 may comprise an electric energy storage 11 , EES, such as a battery or a fuel cell. Further, the machine 10 may comprise a battery management system, BMS, 12 for monitoring and controlling the operation of the EES 11. However, the person skilled in the art realizes that the invention is also applicable for non- electrically driven machines, such as machines driven by a combustion engine.

[0068] Optionally, the system 100 may further comprise means 13 for determining a respective position of the at least one machine 10. The means 13 may be comprised in the at least one machine 10 and / or be disposed in the underground environment 1. The means 13 may also be comprised in the sensor 3. The machine 10 may further comprise at least one machine-mounted sensor 3m for detecting a critical event. The machine-mounted sensor 3m may be arranged to detect any deviations from normal operation of the machine 10, such as temperature deviations of an engine or a battery, or gas composition deviations inside or in vicinity of the machine 10. The machine-mounted sensor 3m may be connected to or be part of the BMS. E.g. the machine-mounted sensor 3m may be a temperature sensor of the BMS, monitoring a temperature of the EES. The machinemounted sensor 3m may further comprise a sensor, such as a smoke sensor, to detect critical events associated with (or originating from) the machine 10 on which the machinemounted sensor 3m is mounted. Additionally or alternatively, the machine mounted sensor 3m may be arranged to detect critical events outside of the machine 10 it is mounted on, e.g. an external fire or a fire on another machine. Thus, a fats and reliable detection of a critical event may be provided. Turning now to Fig. 3, a further exemplified embodiment of the system 100 is explained. Fig. 3 illustrates a sectional view of a complex underground environment 1 with numerous pathways during an ongoing critical event. The arrows in Fig. 3 are examples of air flow directions in the underground environment 1 due to the action of ventilation devices 21. The ventilation devices 21 are here represented as air outlets or inlets. In general, ventilation devices 21 may comprise other components such as ducts, fans or vents. The ventilation devices are connected to a ventilation management system 20 for monitoring and control of the ventilation devices 21. The connection is illustrated by a wireless symbol, but may of course be any wireless or wired connection. The ventilation management system may be comprised in the central server 2. The system 100 comprises a central server 2, connected to fixed sensors 3f and machine mounted sensors 3m.

[0069] Fig. 3 illustrates the occurrence of a critical event, e.g. a fire, originating from the machine 10. As visualized in Fig. 3, the fire emits smoke which travels along certain pathways. The fire is detected by one or more of the fixed sensors 3f or the machine mounted sensor 3m. The detection of the critical event is transmitted to the central server 2. The central server either determines a location of the critical event from the received sensor signals or receives a position indication from the machine 10. The central server 2 may also comprise a look-up table with the position(s) of the fixed sensor(s) 3f and determine a location of the critical event based on the position(s) of the sensor(s) that transmitted the detection of the critical event. Using the location of the critical event the central server 2 has the aim to predict the motion of the fume originating from the critical event.

[0070] For this purpose, the central server 2 obtains a ventilation model. A ventilation model, i.e. a model describing the ventilation in the underground model, is either known or can be computed at the central server 2. The ventilation model is a representation of the air flow in the underground environment as a result of the actions of the ventilation system. The ventilation model may be obtained by the central server already before the occurrence of a critical event. Alternatively, the ventilation model may be obtained based on continuously updated ventilation data such as air flow rates and directions at the ventilation devices. The ventilation data may be obtained from the ventilation management system 20. For example, the air flow in different parts of the underground environment 1 may be computed based on information of how much air is introduced and extracted at respective air inlets / outlets. Obtaining the ventilation model may comprise computing the airflow in different pathways of the underground environment 1. For example, the ventilation model may comprise a list with air flow velocities and directions in different pathways of the underground environment 1. Alternatively, the air flow velocities and directions may be computed using complex methods, such as Computational Fluid Dynamics, CFD. In the latter case, the ventilation model may be a 2-dimensional or 3- dimensional representation of the velocity field in the underground environment 1. The ventilation model may further at least partly be determined or complemented using air flow sensors (not shown) disposed at suitable positions in the underground environment. For example, the ventilation model may be verified or corrected using air flow values measured by air flow sensors.

[0071] Based on the ventilation model, the central server 2 predicts the fume motion in the underground environment 1. The prediction may be performed based on the assumption that the fume passively travels with the air flow. Alternatively, effects such as fume motion due to temperature gradients or molecular diffusion may be taken into account. The predicted fume motion may indicate where the fume travels, i.e. which parts of the underground environment 1 are contaminated with fume. Additionally, the predicted fume motion may comprise the concentration of the fume, e.g. in terms of volume percentage or parts-per-million (ppm), in different parts of the underground environment 1.

[0072] The predicted fume motion in the underground environment 1 may be used for the management of the critical event. For example, the predicted fume motion may be used to manage evacuation operations. Due to the complex topology of the underground environment 1 it may be difficult for persons situated in the underground environment 1 to know how to escape the underground environment safely or to find a safe spot, such as a rescue chamber in the underground environment. In particular, persons may not know which routes are free from fumes originating from the critical event. Hence, evacuation procedures can be improved by guiding persons on routes for safe passage. The system 100 may for that purpose transmit information regarding routes for safe passage to user equipment held or at least accessible by persons situated in the underground environment 1. By way of an example, persons in the underground environment 1 may have a mobile phone or a tablet for work-related purposes or any other wireless equipment. The central server 2 may transmit one or more messages to the user equipment of the persons in the underground environment comprising instructions about routes for fast and safe evacuation based on the predicted fume motion. Alternatively, the system 100 may comprise devices for providing visual or audial information, e.g. screens, signs or loudspeakers, and the central server 2 transmits information regarding routes for safe passage to these devices, that in turn inform persons on which route to take. E.g. arrows guiding persons on safe routes may be lit for guidance. The information about routes for safe passage may not only comprise information on which routes are free from fume but may, additionally or alternatively, comprise information about which routes are fastest to escape the underground environment 1. In a case where all possible routes to escape from a particular location in the underground environment 1 are predicted to be contaminated by the fume, the information about routes for safe escape may comprise the route with the least fume concentration. The information about routes for safe escape may also include advice on which route(s) to take or if it is better to wait for rescue personnel. E.g. persons may be guided to safe areas of the underground environment 1.

[0073] The predicted fume motion may also be used to inform and guide rescue personnel. For this purpose, the central server 2 may be connected to a third-party server, e.g. an alarm system of a rescue provider. Analogously to the above, information about routes for safe passage may be provided to the rescue personnel to access the location of the critical event safely.

[0074] Turning now to Fig. 4, a method for managing a critical event in an underground environment 1 is illustrated. The method is performed by a system 100 comprising a central server 2 and at least one sensor 3. The method comprises the following actions:

[0075] Action 301 : Obtaining data from the at least one sensor 2 indicating an ongoing critical event associated with generation of fume.

[0076] As mentioned above, the at least one sensor 3 is positioned in the underground environment 1 and is arranged to detect a critical event. For example, the at least one sensor may be one or more of an optical fire alarm, smoke detector, gas detector, carbon monoxide sensor, temperature sensor or camera, or any combination thereof.

[0077] Alternatively, the at least sensor may be part of a BMS of a machine. Upon detection of a critical event, the at least one sensor transmit data to the central server 2 indicating the critical event.

[0078] Action 302: Obtaining a location of the ongoing critical event Upon obtaining an indication of an ongoing critical event, the central server 2 obtains a location of the critical event. The location may be determined based on the position of the sensor 3 that submitted the indication. In case two or more sensors submitted an indication of an ongoing critical event, the position may be determined based on the positions of these sensors. In case the indication was submitted by one or more fixed sensors 3f, the positions of these sensors 3f may be stored on the central server or a position information may be sent from the respective fixed sensor 3f along with the data indicating the critical event. In case, the ongoing critical event was detected by a machinemounted sensor 3m, the position of the machine 10 may be obtained by any known methods suitable for position determination of machines in underground environments. For example, positioning systems may be based on radio technololgy such as cellular radio access technologies (e.g. LTE), wifi, LoRa and UWB. A common technique is the use of triangulation based on signal strength measurements. In case a higher accuracy in the determining of the position is required, radio technologies that support time difference measurements of the time of arrival of signals sent to / from an object in combination with a plurality of radio access points may be utilized. Alternatively, pattern matching techniques may be used where a path pattern traveled by the machine 10 is matched to the pattern of path network in the underground environment 1. Thus, means 13 for position detection of the machine(s) 10 may be situated in the underground environment 1 af fixed positions and / or on the machine 10 itself.

[0079] Action 303: Obtaining a ventilation model of the underground environment 1

[0080] As mentioned above, a ventilation model is a model describing the ventilation in the underground model. The ventilation model may be obtained based on ventilation data such as air flow rates and directions at ventilation devices 21. For example, the air flow in different parts of the underground environment 1 may be computed based on the knowledge of how much air is introduced and extracted at respective air inlets / outlets. Obtaining the ventilation model may comprise computing the airflow in different pathways of the underground environment 1. For example, the ventilation model may comprise a list with air flow velocities and directions in different pathways of the underground environment 1. Alternatively, the air flow velocities and directions may be computed using complex methods, such as Compuational Fluid Dynamics, CFD. In the latter case, the ventilation model may be a 2-dimensional or 3-dimensional representation of the velocity field in the underground environment 1. The ventilation model may further be determined or complemented using air flow sensors disposed at suitable positions in the underground environment. For example, the ventilation model may be verified or corrected using air flow values measured by air flow sensors.

[0081] Action 304: Predicting a fume motion in the underground environment 1 based on the location of the ongoing critical event and the ventilation model

[0082] Based on the ventilation model describing the air flow in the underground environment, the motion of the fume is predicted as it spreads from the location of the critical event. The prediction may be performed based on the assumption that the fume passively travels with the air flow. Alternatively, effects such as fume motion due to temperature gradients or molecular diffusion may be taken into account. The predicted fume motion model may indicate where the fume travels, i.e. which parts of the underground environment 1 are contaminated with fume. Additionally, the predicted fume motion may comprise the concentration of the fume, e.g. in terms of volume percentage or parts-per- million (ppm), in different parts of the underground environment 1.

[0083] Further, as illustrated in figure 5, the method according to another embodiment may comprise the following optional actions:

[0084] Action 305: Controlling a ventilation system to influence flow velocities and / or directions in parts of the underground environment 1, based on the predicted fume motion.

[0085] The central server 2 may be configured to control a ventilation system, i.e. a system for the ventilation of the underground environment 1 comprising a plurality of ventilation devices 21 , such as air inlets and outlets, vents, valves, fans and ducts, etc. Alternatively, the central server may be configured to control a ventilation management system 20, which in turn controls the ventilation system. For example, the central server may be configured to control the air extracted from the underground environment at each air outlet by controlling fans and valves of the ventilation system. The ventilation system may be controlled to alter the airflow in certain parts of the underground environment 1, such as particular pathways. Thereby, routes for safe passage may be created. For example, a pathway that is predicted to be contaminated with fume according to the predicted fume motion may be freed from fume by increasing the air flow extracted at a nearby pathway or by letting air flow in a different direction as compared with the unchanged ventilation. Since the airflow in the underground environment 1 is changed due to the altered operation of the ventilation system, the actions 303 and 304 may be repeated in order to obtain 303’ a new ventilation model based on the updated flow velocities and / or directions, and predict 304’ a new fume motion in the underground environment 1. The actions 303 to 305 may be performed iteratively, i.e. repeated, until the predicted fume motion has desired properties. For example, the actions 303 to 305 may be repeated until the fume contamination is restricted to a desired spatial extension or until optimal routes for safe passage, e.g. for evacuation, are achieved. The routes for safe passage may e.g. be desired to be as short as possible or have the least travel time.

[0086] Action 306: based on the predicted fume motion in the underground environment 1, determining routes for safe passage for evacuation and / or for rescue operations.

[0087] Routes for safe passage may be determined that have no or at least acceptable levels of fume concentrations.

[0088] Action 307: providing information about routes for safe passage for evacuation and / or rescue operations to persons in the underground environment 1 and rescue personnel, respectively.

[0089] Persons in the underground environment 1 , such as workers, may be guided to evacuate from the underground environment 1. Likewise, rescue personnel, such as fire fighters, may be guided to the location of the critical event. The guidance may be performed by transmitting information to at least one user equipment, such as mobile phones, tablets, or other user devices. Further, visual or audial information about routes for safe passages may be provided using e.g. screens, signs or loudspeakers. Further, the information about routes for safe passage may be transmitted to a third-party server, such as an alarm central. The alarm central may be connected to rescue personnel, such as fire fighters, and may forward the information about routes for safe passage to the rescue personnel. Action 308: Controlling the at least one machine 10 associated with the critical event to move to a position, which position decreases the impact of the critical event.

[0090] The knowledge of the predicted fume motion may further be used to control the one or more machines 10 associated with the critical event to move to a different position. Thereby, the impact of the critical event on persons in the underground environment 1 may be decreased. For example, if the predicted fume motion indicates that an area is being contaminated with fume that is occupied by persons, the machine 10 could be moved to a different location where the airflow is such that it leads the fume away from those persons. The machine may be controlled to move to a new position autonomously or by giving instructions to an operator. The machine may also be controlled to move to a new position by another machine-operating system after receiving an instruction from the central server 2. After or before instructing the machine 10 to move to a new position, the action 304 may be repeated to obtain a new predicted fume motion. Thereby, it may be checked that the new predicted fume motion in fact indicates a decreased impact of the critical event.

[0091] It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

Claims

CLAIMS1. A method for managing a critical event in an underground environment (1), the method being performed by a system (100) comprising a central server (2) connected to at least one sensor (3), the method comprising:- obtaining (301) data from the at least one sensor (2) indicating an ongoing critical event associated with generation of fume;- obtaining (302) a location of the ongoing critical event;- obtaining (303) a ventilation model of the underground environment (1); and- predicting (304) a fume motion in the underground environment (1) based on the location of the ongoing critical event and the ventilation model, wherein the at least one sensor (3) is positioned in the underground environment (1).

2. The method according to claim 1 , wherein the at least one sensor (3) comprises at least one fixed sensor (3f) situated at a respective fixed position in the underground environment and / or at least one machine-mounted sensor (3m) mounted on at least one respective machine (10).

3. The method according to claim 2, wherein the at least one machine comprises an electric energy storage (11), such as a battery or a fuel cell.

4. The method according to claim 3, wherein obtaining data (301) from at least one sensor (3) indicating an ongoing critical event associated with generation of fume comprises obtaining an indication of an ongoing critical event from a respective battery management system (12), BMS, of the at least one machine (10).

5. The method according to any one of claims 2-4, wherein the system (100) comprises at least one means (13) for determining a respective position of the at least one machine (10), and wherein obtaining (302) a location of the ongoing critical event comprises obtaining the position of the at least one machine (10).

6. The method according to any one of the preceding claims, wherein the central server (2) is further configured to control a ventilation system of the underground environment, the method further comprising:- controlling (305) the ventilation system to influence flow velocities and / or directions in parts of the underground environment (1), based on the predicted fume motion;- optionally, obtaining (303’) a new ventilation model based on the new flow velocities and / or directions; and- optionally, predicting (304’) a new fume motion in the underground environment (1).

7. The method according to any one of the preceding claims, further comprising:- based on the predicted fume motion in the underground environment (1), determining (306) routes for safe passage for evacuation and / or for rescue operations; and- providing (307) information about routes for safe passage for evacuation and / or rescue operations to persons in the underground environment (1) and rescue personnel, respectively.

8. The method according to any one of the preceding claims, wherein obtaining (303) the ventilation model comprises obtaining air flow directions and / or air flow velocities in different parts of the underground environment (1), such as pathways, shafts, and pits.

9. The method according to any one of the preceding claims, wherein obtaining (303) the ventilation model comprises determining the ventilation model from ventilation data, the ventilation data comprising positions of ventilation devices (21), instantaneous flow directions of the ventilation devices (21) and instantaneous flow rates of the ventilation devices (21).

10. The method according to any one of the preceding claims, wherein the at least one sensor (3) comprises at least one of an optical fire alarm, a smoke detector, a gas detector, a carbon monoxide sensor, a temperature sensor or a camera.

11. A system (100) for managing a critical event in an underground environment (1) comprising a central server (2) and at least one sensor (3) connected to the central server (2), the central server (2) being configured to- obtain (301) data from the at least one sensor (3) indicating an ongoing critical event associated with generation of fume;- obtain (302) a location of the ongoing critical event;- obtain (303) a ventilation model of the underground environment (1); and- predict (304) a fume motion in the underground environment (1) based on the location of the ongoing critical event and the ventilation model, wherein the at least one sensor (3) is positioned in the underground environment.

12. The system (100) according to claim 11 , wherein the at least one sensor (3) comprises at least one fixed sensor (3f) situated at a respective fixed position in the underground environment and / or at least one machine-mounted sensor (3m) mounted on at least one respective machine (10), such as a working machine.

13. The system (100) according to claim 12, wherein the at least one machine (10) comprises an electric energy storage (11), such as a battery or a fuel cell.

14. The system (100) according to claim 13, wherein the central server (2) is configured to obtain an indication of an ongoing critical event from a respective battery management system (12), BMS, of the at least one machine (10).

15. The system (100) according to any one of claims 12-14, wherein the system (100) comprises at least one means (13) for determining a respective position of the at least one machine (10), and wherein obtaining (302) a location of the ongoing critical event comprises obtaining the position of the at least one machine (10).

16. The system (100) according to any one of claims 11-15, wherein the central server (2) is further configured to control a ventilation system of the underground environment, the central server being configured to:- control (305) the ventilation system to influence flow velocities and / or directions in parts of the underground environment, based on the predicted fume motion;- optionally, obtain (303’) a new ventilation model based on the new flow velocities and / or directions; and- optionally, predict (304’) a new fume motion in the underground environment.

17. The system (100) according to any one of claims 11-16, the central server (2) further configured to:- based on the predicted fume motion in the underground environment (1), determine (306) routes for safe passage for evacuation and / or for rescue operations; and- provide (307) information about routes for safe passage for evacuation and / or rescue operations to persons in the underground environment and rescue personnel, respectively.

18. The system (100) according to claims 11-17, wherein the central server (2) is configured to obtain air flow directions and / or air flow velocities in different parts of the underground environment, such as pathways, shafts, and pits.

19. The system (100) according to any one of claims 11-18, wherein the central server(2) is configured to determine the ventilation model from ventilation data, the ventilation data comprising positions of ventilation devices (21), instantaneous flow directions of the ventilation devices (21) and instantaneous flow rates of the ventilation devices (21).

20. The system (100) according to any one of claims 11-19, wherein the at least one sensor (3) comprises at least one of an optical fire alarm, a smoke detector, a gas detector, a carbon monoxide sensor, a temperature sensor or a camera.

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