Fire accident analysis of sweeping robot-heater based on FRAM-PLTS

doi:10.16265/j.cnki.issn1003-3033.2025.12.0449

Abstract

Abstract:

To address the safety risk issues of smart household appliance products, a systematic risk analysis was conducted by taking two sweeping robot-heater fire accidents in a certain location as the research subjects. An integrated method combining the FRAM and PLTS was adopted. FRAM was applied to analyze the accidents, through which nine core functional modules were identified, including navigation module, obstacle avoidance sensor module, and motion control module. Subsequently, PLTS was introduced to quantitatively determine the main characteristics of the input and output terminals of each functional module. Based on this quantitative analysis, four functional resonance modules that led to the accidents in the sweeping robot-heater were confirmed. The results show that the primary causes of the accidents include insufficient sensor accuracy and failure of users to implement the "power-off when leaving" operation. Additionally, the barrier system for risk prevention and control is identified, which consists of physical barriers, functional barriers, intangible barriers, and symbolic barriers.

Key words: sweeping robots, heaters, functional resonance analysis method (FRAM), probabilistic linguistic term set (PLTS), fire accident, barrier system

CLC Number:

X928.7火灾与爆炸事故

HUANG Guozhong, ZUO Zhiyong, DENG Qing, CHEN Hanxige, CAO Zhengkai. Fire accident analysis of sweeping robot-heater based on FRAM-PLTS[J]. China Safety Science Journal, 2025, 35(12): 180-186.

Figures/Tables 8

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来源	简称	功能模块编号	描述
扫地机器人	导航模块	FM1	负责根据传感器数据规划移动路径
	避障传感器模块	FM2	依赖红外、激光或视觉传感器检测障碍物
	运动控制模块	FM3	控制扫地机器人转向和动力输出
	扫地机器人电源模块	FM4	扫地机器人的电源管理模块
取暖器	加热控制模块	FM5	调节温度输出
取暖器	取暖器电源模块	FM6	取暖器的电源管理模块
用户行为	用户响应功能	FM7	用户未在出现险情第一时间响应
	设备监管功能	FM8	用户未遵守“人走断电”原则
	设备维护功能	FM9	未定期检查扫地机器人、取暖器

要素	描述	解释
I	险情信号	传感器检测到异常传递给用户,或者险情本身被用户直接发现
O	险情响应断电	用户通过APP远程断电或手动关闭设备,切断电源避免事故
R	感知设备;用户身体机能	设备:传感器、智能终端;机能:视觉/听觉感知、手部操作能力
C	响应优先级	用户接收到不同险情信号后,响应的顺序
P	险情可以被感知;用户处于“可响应状态”	信号未被屏蔽;用户清醒且无行动障碍
T	响应时间窗口	从险情信号输入到用户响应的时间窗口

专家	工作经验	专业相关度	信心指数	教育背景	总分	权重
Z₁	9	9	9	9	36	36/98
Z₂	7	8	8	9	32	32/98
Z₃	8	7	7	8	30	30/98

功能模块编号	F	D	A	Q	主要表型
FM1	0.739	0.244	0.787	0.561	A
FM2	0.752	0.373	0.809	0.329	A
FM4	0.074	0.876	0.256	0.454	D
FM6	0.106	0.859	0.262	0.439	D
FM7	0.101	0.738	0.385	0.443	D
FM8	0.234	0.615	0.454	0.731	Q
FM9	0.357	0.632	0.451	0.242	D

功能模块编号	I	R	C	T	P	主要表型
FM1	0.817	0.761	0.745	0.278	0.347	I
FM2	0.443	0.798	0.732	0.249	0.307	R
FM3	0.673	0.781	0.711	0.306	0.352	R
FM4	0.210	0.370	0.828	0.754	0.436	C
FM5	0.640	0.637	0.516	0.742	0.197	T
FM6	0.114	0.185	0.803	0.740	0.312	C