A charging port cover for a vehicle, a control method and device, and a vehicle

Abstract

The application provides a charging port cover for vehicle, a control method and device and a car. The charging port cover for vehicle comprises an actuator, a transmission mechanism, a hinge arm assembly and a port cover fixing base. The actuator is internally provided with a driving component for driving the transmission mechanism to rotate. The transmission mechanism is fixedly connected with the hinge arm assembly and rotates synchronously. The hinge arm assembly is rotatably connected to the port cover fixing base through the transmission mechanism and is used for opening or closing the front end opening of the port cover fixing base. The top of the port cover fixing base is fixedly installed with the actuator, and the bottom is fixedly installed with a locking structure for locking the hinge arm assembly. The application avoids the situation that the charging port cover cannot be opened and the charging port cover is seriously damaged during use, thereby improving the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the new energy technology field, and in particular, relates to a charging port cover for vehicle, a control method and device and a car. BACKGROUND

[0002] At present, with the growing of new energy vehicle market, users pay more and more attention to the user experience of vehicles, especially for the vehicles with high intelligent degree, which has higher experience requirement. At present, in order to improve the user experience, the electric charging port cover is applied more and more widely, and the problem that the electric charging port cover cannot be normally opened and closed due to the harsh external environment is also more and more common. For example, when the port cover cannot be normally opened or closed due to icing, or when the port cover is damaged and cannot be normally used due to other external obstacles, the user experiences a bad driving experience. SUMMARY

[0003] The present application aims to provide a charging port cover for vehicle, a control method and device and a car, which are based on the running direction and the stall position of the electric charging port cover and perform fault analysis, thereby avoiding the problems that the charging port cover cannot be normally opened and the charging port cover is seriously damaged and affects the use. The specific scheme is as follows:

[0004] A charging port cover for vehicle, comprising:

[0005] An actuator, which is internally provided with a driving component for driving a transmission mechanism to rotate;

[0006] A transmission mechanism, which is fixedly connected with a hinge arm assembly and synchronously rotates with the hinge arm assembly;

[0007] A hinge arm assembly, which is rotatably connected to a port cover fixing base by the transmission mechanism and is used for opening or closing the front end opening of the port cover fixing base;

[0008] A port cover fixing base, which is fixedly installed with the actuator at the top and is fixedly installed with a locking structure for locking the hinge arm assembly at the bottom;

[0009] Optionally, the charging port cover further comprises an actuator fixing base, wherein the actuator is fixed on the actuator fixing base;

[0010] The actuator fixing base is fixed on the port cover fixing base;

[0011] The lower end of the transmission mechanism is rotatably connected to the port cover fixing base, and the upper end of the transmission mechanism is drivingly connected with the driving component through the actuator fixing base;

[0012] Optionally, the transmission mechanism comprises:

[0013] A first transmission member, which is drivingly connected with the driving component at the upper end and is gear-connected with a second transmission member at the lower end;

[0014] The second transmission member is sleeved and fixed to the rotating shaft;

[0015] The rotating shaft is inserted and fixed to the hinge arm assembly and movably connected to the cover fixing seat;

[0016] The rotating shaft and the hinge arm assembly rotate synchronously on the cover fixing seat, and the hinge arm assembly opens or closes the front end opening of the cover fixing seat.

[0017] Optionally, the hinge arm assembly comprises:

[0018] The cover plate is clamped to the hinge arm;

[0019] The hinge arm is inserted and fixed to the rotating shaft and can be opened and closed at the front end opening of the cover fixing seat.

[0020] Optionally, the locking structure comprises:

[0021] The locking fixed plate is fixed to the bottom of the cover fixing seat;

[0022] The locking motor is clamped and fixed to the bottom of the locking fixed plate;

[0023] The locking rod is clamped at one end to the locking motor and provided at the other end with a locking pin for locking the hinge arm.

[0024] A control method for a charging port cover of a vehicle, comprising the following steps:

[0025] Obtaining the running state of the charging port cover;

[0026] Collecting image information of the running state of the charging port cover and analyzing the fault cause of the charging port cover based on the image information;

[0027] According to the fault cause, output corresponding control instruction;

[0028] According to the control instruction, action.

[0029] Optionally, the running state comprises the running direction and the locked-rotor position of the charging port cover;

[0030] When the running direction of the charging port cover is the opening direction:

[0031] When the locked-rotor position of the charging port cover is in the first preset position area, a first control instruction is sent to the charging port cover;

[0032] When the locked-rotor position of the charging port cover is in the second preset position area, a second control instruction is sent to the charging port cover;

[0033] When the locked-rotor position of the charging port cover is in the third preset position area, a third control instruction is sent to the charging port cover.

[0034] Optionally, the running direction of the charging port cover is the closing direction:

[0035] When the charging port cover is at the first preset position area or the second preset position area, a fourth control instruction is sent to the charging port cover;

[0036] When the charging port cover is at the third preset position area, a fifth control instruction is sent to the charging port cover.

[0037] A charging port cover control device for vehicles, comprising:

[0038] An acquisition module is configured to acquire the running state of the charging port cover;

[0039] A fault analysis module is configured to collect image information of the running state of the charging port cover and analyze the fault cause of the charging port cover based on the image information;

[0040] A control module is configured to output a corresponding control instruction according to the fault cause;

[0041] An execution module is configured to perform an action according to the control instruction.

[0042] An automobile, comprising a side wall outer plate, wherein the side wall outer plate is provided with the charging port cover for vehicles.

[0043] Compared with the prior art, the charging port cover for vehicles has the following advantages:

[0044] The charging port cover for vehicles, the method and the automobile provided by the application determine the fault cause based on the image analysis of the running state of the charging port cover, and output different control instructions, thereby providing a protection mechanism for the charging port cover, avoiding the situation that the charging port cover cannot be opened and the charging port cover is damaged seriously during use, and reducing the use experience of the user. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 FIG. 1 is a schematic diagram of the installation of the charging port cover for vehicles on an automobile;

[0046] Figure 2 FIG. 3 is a schematic diagram of the overall structure of the charging port cover for vehicles;

[0047] Figure 3 FIG. 5 is a schematic diagram of the exploded structure of the charging port cover for vehicles;

[0048] Figure 4 FIG. 7 is a schematic diagram of the connection structure of the hinge arm assembly and the rotating shaft;

[0049] Figure 5 FIG. 9 is a flowchart of the control method of the charging port cover for vehicles;

[0050] Figure 6 Structure diagram of hinge arm assembly in different positions of the cover fixing base;

[0051] Figure 7 Flow chart of one embodiment of the charging cover in open state;

[0052] Figure 8 Flow chart of one embodiment of the charging cover in closed state;

[0053] In the figure:

[0054] 1, actuator; 11, actuator fixing base; 12, driving part;

[0055] 2, transmission mechanism; 21, first transmission part; 22, second transmission part; 23, rotating shaft;

[0056] 3, hinge arm assembly; 31, cover plate; 32, hinge arm; 33, pin hole;

[0057] 4, cover fixing base; 41, mounting port;

[0058] 5, locking structure; 51, locking fixing plate; 52, locking motor; 53, locking rod; 54, locking pin;

[0059] 6, micro-control switch;

[0060] 7, emergency unlocking pull wire;

[0061] 8, press switch;

[0062] 9, indicator light;

[0063] 10, drain pipe;

[0064] 100, side outer panel;

[0065] 200, charging cover. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will combine the attached drawings to make a further detailed description. Figures 1-8 The present application will be further described in detail. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall into the scope of protection of the present application.

[0067] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0068] A vehicle charging port cover, comprising:

[0069] Actuator 1, wherein the actuator 1 is provided with a drive component 12 for driving the transmission mechanism 2 to rotate;

[0070] The transmission mechanism 2 is fixedly connected to the hinge arm assembly 3, and the two rotate synchronously.

[0071] The hinge arm assembly 3 is rotatably connected to the cover fixing seat 4 via the transmission mechanism 2, and is used to open or close the front opening of the cover fixing seat 4;

[0072] The cover fixing seat 4 has an actuator 1 fixedly installed on the top and a locking structure 5 for locking the hinge arm assembly 3 fixedly installed on the bottom.

[0073] The present invention drives the transmission mechanism 2 through the drive component 12 inside the actuator 1, which drives the hinge arm assembly 3 to rotate on the cover fixing seat 4, thereby opening or closing the front opening of the cover fixing seat 4. This application increases the torque of the drive component 12 by reducing the rotation speed of the drive component 12 inside the actuator 1. At the same time, the vibrator inside the actuator 1 can shake off the ice on the outside of the charging port cover 200, thereby avoiding the phenomenon that the charging port cover 200 cannot be opened.

[0074] The driving component 12 described in this application is a servo motor, which can precisely control the rotation angle of the charging port cover 200; the output shaft of the servo motor is connected to the transmission mechanism 2 via a bushing.

[0075] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0076] like Figures 2-3 The illustrated vehicle charging port cover includes an actuator 1; the actuator 1 is fixedly mounted on the port cover fixing seat 4 via an actuator fixing seat 11; specifically, the actuator 1 is fixed to the actuator fixing seat 11 by snapping on the front and rear ends of the actuator fixing seat 11, and the left side of the actuator 1 is fixedly connected to the actuator fixing seat 11 by bolts; the actuator fixing seat 11 is fixed to the top right side of the port cover fixing seat 4 by bolts.

[0077] The driving component 12 is drivingly connected with the transmission mechanism 2, and drivingly connected with the hinge arm 32 through the transmission mechanism 2; the transmission mechanism 2 comprises a first transmission member 21, a second transmission member 22 and a rotating shaft 23. The upper end of the first transmission member 21 is a transmission shaft, and the lower end is a main transmission gear; the outer surface of the transmission shaft is provided with at least one key, which is in matched connection with the key groove in the shaft sleeve, and the other end of the shaft sleeve is also in matched connection with the key groove of the output shaft of the servo motor; the second transmission member 22 is a driven gear, which is in meshing connection with the main transmission gear at the lower end of the first transmission member 21; the driven gear is sleeved on the upper end of the rotating shaft 23, and the two rotate synchronously.

[0078] The rotating shaft 23 passes through the hinge arm assembly 3 and is fixed on the hinge arm assembly 3 by insertion; the front and rear ends of the rotating shaft 23 are rotatably connected on the lid fixing seat 4.

[0079] As shown in Figure 4 The hinge arm assembly 3 comprises a lid plate 31 clamped on the front end of the hinge arm 32 and the hinge arm 32 fixed by insertion with the rotating shaft 23; the hinge arm 32 is clamped on the front end opening of the lid fixing seat 4 in an openable and closable manner; specifically, the right end of the hinge arm 32 passes through the mounting opening 41 in the inside of the lid fixing seat 4 and is rotatably connected on the lid fixing seat 4 through the rotating shaft 23.

[0080] In use, the driving component 12 in the actuator 1 is driven to rotate the first transmission member 21, the second transmission member 22 and the rotating shaft 23 in turn, and the lid fixing seat 4 is opened or closed through the hinge arm 32.

[0081] Further, the right side of the lid fixing seat 4 is also provided with a micro control switch 6, the touch head of which is in touch with the outer surface of the hinge arm 32, for determining the open and closed positions of the lid fixing seat 4.

[0082] The bottom of the lid fixing seat 4 is also fixed with a locking structure 5; the locking structure 5 comprises a locking fixed plate 51 fixed on the bottom of the lid fixing seat 4 by bolts, a locking motor 52 clamped and fixed on the bottom of the locking fixed plate 51, and a locking rod 53 rotatably clamped with the output shaft of the locking motor 52; the free end of the locking rod 53 is provided with a locking pin 54, which is inserted and matched with the pin hole 33 on the left side of the hinge arm 32 to lock and close the front end opening of the lid fixing seat 4.

[0083] In use, when the hinge arm 32 is clamped on the front end opening of the lid fixing seat 4, the output shaft of the locking motor 52 is retracted to lock and fix the hinge arm 32.

[0084] In order to prevent the lock motor 52 from being unable to work, the lock rod 53 is fixedly provided with an emergency unlocking pull wire 7, the hinge arm 32 is unlocked by manually pulling the emergency unlocking pull wire 7, and the front end opening of the cover fixing seat 4 is opened.

[0085] Further, the inside left side boss of the cover fixing seat 4 is respectively provided with a press switch 8 and an indicator lamp 9. In use, the cover plate 31 is manually pressed, so as to trigger the press switch 8, the press switch 8 sends an opening signal to the vehicle controller, the locking structure 5 and the transmission mechanism 2 are controlled by the vehicle controller, the charging port cover 200 is unlocked and opened, and when the charging port cover 200 is closed, the press switch 8 is pressed once again. By the indicator lamp 9, the charging state of the automobile can be observed.

[0086] Further, the bottom of the cover fixing seat 4 is further connected with a drain pipe 10.

[0087] As Figure 5 shown, the application also provides a control method for a vehicle charging port cover, and the method comprises the following steps:

[0088] Step S1: obtaining the running state of the charging port cover;

[0089] Step S2: collecting image information of the running state of the charging port cover, and analyzing the fault reason of the charging port cover based on the image information;

[0090] Step S3: outputting a corresponding control instruction according to the fault reason;

[0091] Step S4: performing an action according to the control instruction.

[0092] By adopting the above method, the following beneficial technical effects are obtained:

[0093] The application obtains the running state of the charging port cover, analyzes the fault reason of the charging port cover 200 from the image information collected by the charging port cover 200, outputs a corresponding control instruction according to the fault, controls the actuator 1 to start the related operation, and opens or closes the charging port cover 200. During use, the charging port cover 200 is prevented from being damaged and the use is affected due to the reverse rotation of the charging port cover 200 caused by the protection mechanism. The fault reasons of the application include two cases of external icing of the charging port cover 200 and external obstacles of the charging port cover 200.

[0094] Specifically, when the charging port cover 200 is in a working state, such as an open state, it can be known from image analysis collected by the camera outside the vehicle body that the outer surface of the charging port cover 200 is covered with an ice layer; the central controller of the vehicle sends a vibration instruction and an increased torque instruction, the servo motor inside the actuator reduces the speed according to the increased torque instruction, and at the same time, the vibrator inside the actuator 1 starts to work according to the vibration instruction; through this method, the charging port cover 200 can be opened, so that the charging port cover 200 can work normally.

[0095] In this embodiment, the operating state includes the operating direction and the locked-rotor position of the charging port cover 200.

[0096] When the operating direction of the charging port cover 200 is the opening direction:

[0097] When the locked-rotor position of the charging port cover 200 is in the first preset position area, a first control instruction is sent to the charging port cover 200.

[0098] When the locked-rotor position of the charging port cover 200 is in the second preset position area, a second control instruction is sent to the charging port cover 200.

[0099] When the locked-rotor position of the charging port cover 200 is in the third preset position area, a third control instruction is sent to the charging port cover 200.

[0100] When the operating direction of the charging port cover 200 is the closing direction:

[0101] When the locked-rotor position of the charging port cover 200 is in the first preset position area or the second preset position area, a fourth control instruction is sent to the charging port cover 200.

[0102] When the locked-rotor position of the charging port cover 200 is in the third preset position area, a fifth control instruction is sent to the charging port cover 200.

[0103] The following will be described in combination with Figures 6-8 , and the working condition of icing outside the charging port cover 200 is exemplarily described.

[0104] Figure 7For the flow chart when the charging port cover 200 is opened, when the blocked position of the charging port cover is located in the first preset area, the central controller sends a first control instruction, the vibrator generates high-frequency vibration according to the first control instruction, the control charging port cover vibration, at the same time, the servo motor in the actuator 1 reduces the speed to open the charging port cover with greater torque according to the first control instruction to adapt to the ice-breaking opening working condition; when the blocked position of the charging port cover is located in the second preset area, a second control instruction, i.e. a closing instruction, is sent to the charging port cover, and the charging port cover is closed according to the closing instruction to realize the self-protection mechanism when the opening process of the port cover encounters external obstacles; when the blocked position of the charging port cover is located in the third preset area, a third control instruction is sent to the port cover, and the charging port cover stops the opening action according to the third control instruction. Since the blocked position of the charging port cover is located in the third preset area, this position does not affect the use of the user, so it is not necessary to control the charging port cover to open to the maximum position, so as to damage the charging port cover.

[0105] Figure 8 For the flow chart when the charging port cover is closed, when the blocked position of the charging port cover is located in the third preset area, the central controller sends a fourth control instruction to the charging port cover, the vibrator generates high-frequency vibration according to the fourth control instruction, and at the same time, the servo motor in the actuator 1 reduces the speed to close the charging port cover with greater torque according to the fourth control instruction to adapt to the ice-breaking opening working condition; when the blocked position of the charging port cover is located in the first preset area or the second preset area, a fifth control instruction, i.e. an opening instruction, is sent to the port cover again, and the charging port cover is opened according to the opening instruction to realize the self-protection mechanism when the closing process of the port cover encounters external obstacles; when the micro-control switch 6 detects that the charging port cover is completely closed, a signal is output to the central controller, the central controller controls the servo motor to stop rotating, and controls the locking structure 5 to lock the hinge arm 32.

[0106] It needs to be explained that in order to obtain a running torque, it is not limited to a specific torque value, and different gradient values can be set according to the characteristics of the servo motor.

[0107] It needs to be further explained that when it is judged that the running direction of the charging port cover is the opening direction, and the blocked position of the port cover is in the first preset area, a first control instruction is sent to the charging port cover, the vibrator performs vibration work, and then the first control instruction can be sent again. The number of times of sending the instruction is not limited to one time, and different numbers of times can be set according to different control requirements, preferably 2-3 times, and the same setting is adopted in the closing direction as in the opening direction.

[0108] A charging port cover control device for a vehicle, comprising:

[0109] An acquisition module is configured to acquire the running state of the charging port cover.

[0110] The fault analysis module is configured to collect image information of the running state of the charging port cover and analyze the fault cause of the charging port cover based on the image information.

[0111] The control module is configured to output a corresponding control instruction according to the fault cause.

[0112] The execution module is configured to perform an action according to the control instruction.

[0113] It is worth noting that, although the system only discloses the acquisition module, the fault analysis module, the control module and the execution module, it does not mean that the device is limited to the above basic functional modules. On the contrary, the meaning expressed by the present application is that on the basis of the above basic functional modules, a person skilled in the art can add one or more functional modules to form an infinite number of embodiments or technical solutions in combination with the prior art. That is to say, the system is open rather than closed, and it cannot be considered that the protection scope of the present application is limited to the above disclosed basic functional modules just because the present embodiment discloses only individual basic functional modules.

[0114] The present embodiment also provides an automobile using the above-mentioned charging port cover.

[0115] Exemplary embodiments according to this application will now be described in greater detail below with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms, and should not be construed as being limited to the embodiments set forth herein. It should be understood that the embodiments are provided in order to make the present disclosure complete and comprehensive, and to sufficiently convey the ideas of the exemplary embodiments to those of ordinary skill in the art. In the drawings, the thickness of layers and regions can be exaggerated for clarity, and the same reference numerals are used to designate the same elements throughout the drawings, so that a description thereof will not be repeated.

Claims

1. A method for controlling a vehicle charging port cover, characterized in that, The method includes the following steps: Obtain the operating status of the charging port cover (200); Image information of the operating status of the charging port cover (200) is collected, and the cause of failure of the charging port cover (200) is analyzed based on the image information; Based on the cause of the fault, output the corresponding control command; The operation is performed according to control commands; the operating state includes: the running direction and stall position of the charging port cover (200); When the charging port cover (200) is in the opening direction: When the charging port cover is stalled in the first preset position area, the central controller sends a first control command. The vibrator generates high-frequency vibration according to the first control command, controlling the charging port cover to vibrate. At the same time, the servo motor inside the actuator reduces its speed according to the first control command to open the charging port cover with greater torque to adapt to the ice-breaking opening condition. When the charging port cover is stalled in the second preset position area, a second control command, i.e., a closing command, is sent to the charging port cover. The charging port cover closes according to the closing command, realizing a self-protection mechanism after encountering external obstacles during the opening process. When the charging port cover is stalled in the third preset position area, a third control command is sent to the charging port cover. The charging port cover stops opening according to the third control command. When the charging port cover (200) is in the closed position: When the charging port cover is stalled in the third preset position area, the central controller sends a fourth control command to the charging port cover. The vibrator generates high-frequency vibration according to the fourth control command, and at the same time, the servo motor inside the actuator reduces its speed according to the fourth control command to close the charging port cover with greater torque to adapt to the ice-breaking closing condition. When the charging port cover is stalled in the first or second preset position area, a fifth control command, namely an opening command, is sent to the charging port cover. The charging port cover opens according to the opening command, realizing the self-protection mechanism when the charging port cover encounters external obstacles during the closing process. When the micro-control switch detects that the charging port cover is completely closed, a signal is output to the central controller. The central controller controls the servo motor to stop rotating and controls the locking structure to lock the hinge arm.

2. The vehicle charging port cover control method according to claim 1, characterized in that, The car charging port cover includes: Actuator (1), wherein the actuator (1) is provided with a drive component (12) for driving the transmission mechanism (2) to rotate. The transmission mechanism (2) is fixedly connected to the hinge arm assembly (3), and the two rotate synchronously; The hinge arm assembly (3) is rotatably connected to the cap fixing seat (4) via the transmission mechanism (2) and is used to open or close the front opening of the cap fixing seat (4); The cover fixing seat (4) has an actuator (1) fixedly installed on the top and a locking structure (5) for locking the hinge arm assembly (3) fixedly installed on the bottom; a micro-control switch is also provided on the right side of the cover fixing seat, and the contact head of the micro-control switch contacts the outer surface of the hinge arm to determine the two position states of the cover fixing seat: open and closed.

3. The vehicle charging port cover control method according to claim 2, characterized in that, It also includes an actuator mounting base (11), on which the actuator (1) is fixed; The actuator mounting base (11) is fixed on the cover mounting base (4); The lower end of the transmission mechanism (2) is rotatably connected to the cover fixing seat (4), and the upper end of the transmission mechanism (2) passes through the actuator fixing seat (11) and is driven to connect with the driving component (12).

4. The vehicle charging port cover control method according to claim 3, characterized in that, The transmission mechanism (2) includes: The first transmission component (21) is connected to the drive component (12) at its upper end and to the second transmission component (22) at its lower end via gear; The second transmission component (22) is sleeved and fixed to the rotating shaft (23); The pivot (23) is inserted and fixed to the hinge arm assembly (3) and movably connected to the cover fixing seat (4); The rotating shaft (23) and the hinge arm assembly (3) rotate synchronously on the cap fixing seat (4), and the front opening of the cap fixing seat (4) is opened or closed through the hinge arm assembly (3); The driving component (12) is a servo motor. The upper end of the first transmission component is a transmission shaft and the lower end is a main transmission gear. The outer surface of the transmission shaft is provided with at least one convex key. The convex key is connected to the keyway in the bushing. The other end of the bushing is also connected to the output shaft of the servo motor by a keyway. The second transmission component is a driven gear. The driven gear is meshed with the main transmission gear at the lower end of the first transmission component. The driven gear is sleeved on the upper end of the rotating shaft, and the two rotate synchronously.

5. The vehicle charging port cover control method according to claim 4, characterized in that, The hinge arm assembly (3) includes: The cover plate (31) is snapped onto the hinge arm (32); The hinge arm (32) is inserted and fixed to the pivot (23), and can be opened and closed by fastening to the front opening of the cover fixing seat (4).

6. The vehicle charging port cover control method according to claim 5, characterized in that, The locking structure (5) includes: The locking plate (51) is fixed to the bottom of the cover fixing seat (4); The locking motor (52) is snapped and fixed to the bottom of the locking fixing plate (51); The locking rod (53) is engaged with the locking motor (52) at one end, and a locking pin (54) for locking the hinge arm is provided at the other end.

7. The vehicle charging port cover control method according to claim 6, characterized in that, The vehicle charging port cover control device for implementing this method includes: The acquisition module is used to acquire the operating status of the charging port cover (200); The fault analysis module is used to collect image information of the operating status of the charging port cover (200) and analyze the cause of the fault of the charging port cover (200) based on the image information; The control module is used to output corresponding control commands based on the cause of the fault. The execution module is used to perform actions according to control commands.

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