Control device and control system

Abstract

To suppress the positional dependence of detection sensitivity for proximity of a signal source.SOLUTION: A control device is provided inside or outside a housing with conductivity. The control device includes: a detector whose input end is connected to the housing, which processes an oscillation signal input through the housing, and outputs a detection signal from an output end according to a distance to the signal source of the oscillation signal; and a controller that performs predetermined control on a control target when the detection signal indicates proximity of the signal source.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The disclosed technology relates to a control device and a control system. [Background technology]

[0002] The following techniques are known as techniques for protecting humans from robots. For example, Patent Document 1 describes a personal protection device for a robot that, when the robot approaches a worker working around the robot, causes the robot to perform an action to avoid contact with the worker. This personal protection device includes an AC voltage application device that is held by the worker and applies an AC electric field that fluctuates between positive and negative with an absolute value greater than that of the electrostatic field of the human body to the vicinity of the worker's body surface, electrodes that are provided on the robot, and a measuring device that measures the voltage at the electrodes. A signal is sent to a controller of the robot based on the voltage value measured by the measuring device, and the operation of the robot is controlled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-15160 A Summary of the Invention [Problem to be solved by the invention]

[0004] Industrial robots having moving parts such as manipulators are provided with safety devices to prevent the moving parts from coming into contact with workers. For example, in the personal protection device described in JP 2020-15160 A, when an AC electric field is applied near the body surface of a worker, and the robot and the worker approach each other, causing the voltage of the electrode on the robot to increase, a control signal for personal protection according to the voltage value measured by the measuring instrument is sent to a controller. The controller slows down or stops the robot based on the control signal.

[0005] However, according to the device described in JP 2020-15160 A, the range in which the proximity of a worker can be detected depends on the position of the electrodes provided on the robot. That is, parts of the robot farther from the electrodes have a relatively low sensitivity for detecting the proximity of a worker.

[0006] In addition, since the housing of the robot including the surface of the movable part is usually fixed at ground potential, when the movable part is positioned between the electrode provided on the robot and the worker, the AC electric field applied to the worker may be blocked by the movable part fixed at ground potential and may not reach the electrode. In this case, the control for protecting the person cannot be operated appropriately. In order to avoid such a situation, it is necessary to take measures such as determining the arrangement of the electrodes taking into account all possible postures of the robot for each model, which makes the design complicated.

[0007] The disclosed technology has been made in consideration of the above-mentioned points, and aims to suppress the position dependency of detection sensitivity for the proximity of a signal source. [Means for solving the problem]

[0008] The control device related to the disclosed technology is a control device provided inside or outside a conductive housing, and includes a detector having an input end connected to the housing, which processes an oscillation signal input through the housing, and outputs a detection signal from an output end according to the distance from a signal source of the oscillation signal, and a controller that performs a predetermined control on a controlled object when the detection signal indicates the proximity of the signal source.

[0009] The housing may be connected to a first ground line. The detector may operate with a ground potential applied to a second ground line that is insulated from the first ground line or connected to the first ground line via an impedance. The controller may operate with a ground potential applied to the first ground line as a reference.

[0010] The control device may further include an isolated communication device that transmits the detection signal to the controller by isolated communication. The control device may further include an isolated power supply or a battery that supplies power to the detector.

[0011] The controller may slow down or stop a movement of a movable part of the robot having the housing when the detection signal indicates the proximity of the signal source. The controller may issue an alarm when the detection signal indicates the proximity of the signal source.

[0012] The detector may output, as the detection signal, a signal corresponding to a phase difference between the oscillation signal input through the housing and a reference signal that is the oscillation signal received via a path different from a path via the housing. The detector may output, as the detection signal, a signal corresponding to an amplitude of the oscillation signal input through the housing.

[0013] The control system according to the disclosed technology has a signal source that outputs an oscillation signal, a robot having a conductive housing, and a control device provided inside or outside the housing, wherein the control device has a detector having an input end connected to the housing, which processes the oscillation signal input through the housing, and outputs a detection signal from an output end according to the distance from the signal source, and a controller that performs a predetermined control on a controlled object when the detection signal indicates the proximity of the signal source.

[0014] The signal source may be worn by a person. The control system may further include an electrical conductor electrically connected to the housing. Effect of the Invention

[0015] According to the disclosed technique, it is possible to suppress the position dependency of detection sensitivity for the proximity of a signal source. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a control system according to an embodiment of the disclosed technology. [Diagram 2] FIG. 2 is a diagram illustrating an example of a configuration of a control device according to an embodiment of the disclosed technology. [Diagram 3] FIG. 13 is a diagram illustrating another example of the configuration of a control device according to an embodiment of the disclosed technology. [Figure 4] FIG. 1 is a circuit block diagram illustrating an example of a configuration of a detector according to an embodiment of the disclosed technology. [Figure 5A] 10 is a time chart showing an example of signal waveforms of each part of a detector according to an embodiment of the disclosed technique. [Figure 5B] 10 is a time chart showing an example of signal waveforms of each part of a detector according to an embodiment of the disclosed technique. [Figure 6] FIG. 13 is a circuit block diagram showing an example of a configuration of a detector according to another embodiment of the disclosed technology. [Figure 7] FIG. 13 is a circuit block diagram showing an example of a configuration of a detector according to another embodiment of the disclosed technology. [Figure 8] FIG. 13 is a diagram illustrating an example of a configuration of a control system according to another embodiment of the disclosed technology. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an example of an embodiment of the disclosed technology will be described with reference to the drawings. In each drawing, the same or equivalent components and parts are given the same reference numerals, and duplicated descriptions will be omitted.

[0018] [First embodiment] FIG. 1 is a diagram showing an example of the configuration of a control system 1 according to an embodiment of the disclosed technique. The control system 1 includes a robot 10, a signal source 20, and a control device 30. The robot 10 has a conductive housing 11 and a movable part 12 such as a manipulator. The housing 11 constitutes the entire surface part of the robot 10 including the movable part 12. The control device 30 is provided inside the housing 11 of the robot 10 and controls the robot 10. The signal source 20 is an oscillator that outputs an oscillation signal such as a sine wave, a triangular wave, a rectangular wave, or the like. The frequency of the oscillation signal is not particularly limited, but is, for example, 10 KHz or more and 300 MHz or less. The signal source 20 is wearable and is attached to a worker 21 who works together with the robot 10. When the control device 30 detects that the worker 21 wearing the signal source 20 has approached the robot 10, it performs control to prevent the movable part 12 from contacting the worker 21.

[0019] 2 is a diagram showing an example of the configuration of the control device 30. The control device 30 has a detector 31, an insulated communication device 32, a controller 33, and an insulated power supply 34. The detector 31, the insulated communication device 32, the controller 33, and the insulated power supply 34 are each provided inside a housing 11 of the robot 10. The housing 11 is made of a conductor such as metal, and is connected to a first ground line GL1. The first ground line GL1 is connected to a ground potential V G1 is applied

[0020] The detector 31 has an input terminal 35 connected to the housing 11. The detector 31 receives an oscillation signal S 1 By processing the signal, a detection signal S according to the distance to the signal source 20 is generated. 4 from the output terminal 36. That is, the housing 11 transmits the oscillation signal S 1 The housing 11 functions as an antenna for receiving the oscillation signal S 1 The signal S is input to the detector 31 and processed. The detector 31 outputs a detection signal S whose level changes according to the distance between the signal source 20 and the robot 10. 4 The detection signal S 4By monitoring the ground potential V applied to the second ground line GL2, it is possible to detect when the worker 21 wearing the signal source 20 approaches the robot 10. G2 That is, in the detector 31, the oscillation signal S 1 is the ground potential V G2 is input as a reference signal, and the detection signal S 4 is the ground potential V G2 The detector 31 outputs a signal based on the reference signal. The configuration and operation of the detector 31 will be described in detail later.

[0021] The second ground line GL2 is insulated from the first ground line GL1. The second ground line GL2 may be connected to the first ground line GL1 via an impedance. The impedance is sufficiently high (for example, on the order of several tens of kilohms) equivalent to insulation for the frequency of the oscillation signal from the signal source 20. The first ground line GL1 and the second ground line GL2 may be connected via at least one of a resistor, an inductor, and a capacitor that serve as an impedance component.

[0022] The isolated power supply 34 supplies power to the detector 31. The input terminal 37 of the isolated power supply 34 is connected to a ground potential V G1 Any AC or DC primary voltage V B1 The output terminal 38 of the isolated power supply 34 is supplied with a ground potential V G2 DC secondary voltage V B2 The insulated power supply 34 may be, for example, a galvanic insulated converter. As shown in FIG. 3, a battery 39 may be used as a power supply to the detector 31 instead of the insulated power supply 34.

[0023] The insulated communication device 32 receives the detection signal S output from the detector 31. 4 The detection signal S is transmitted to the controller 33 by insulated communication. 4 is the ground potential V G2The detection signal S input to the insulated communication device 32 is input as a signal based on the reference signal S. 4 is the ground potential V G1 is output as a signal based on the reference voltage Vref and supplied to the controller 33. The isolated communication device 32 may be configured to include, for example, a photocoupler, an insulating transformer, or a coupling capacitor.

[0024] The controller 33 receives the detection signal S 4 indicates the proximity of a signal source (i.e., the proximity of the worker 21), a predetermined control is performed on the controlled object. The controlled object may be, for example, the movable part 12 of the robot 10. In this case, the controller 33 performs a predetermined control on the controlled object when the detection signal S 4 indicates the proximity of the signal source 20. The controller 33 may also slow down or stop the movement of the movable part 12 when the detection signal S 4 indicates the proximity of the signal source 20, the movement of the movable part 12 is decelerated and the detection signal S 4 indicates further proximity of the signal source 20. The controller 33 may also stop the movement of the movable part 12 when the detection signal S 4 indicates the proximity of the signal source 20, an alarm may be issued. The alarm may be issued, for example, by outputting a predetermined sound from a speaker or by turning on a lamp.

[0025] The controller 33 controls the ground potential V G1 That is, the controller 33 operates based on the detection signal S 4 is the ground potential V G1 The control signal for controlling the controlled object is input as a signal with respect to the ground potential V G1 is output as a signal based on the reference.

[0026] 4 is a circuit block diagram showing an example of the configuration of the detector 31. The detector 31 has a first amplifier 41, a second amplifier 42, a phase shifter 43, a multiplier 44, and a signal processor 45. The input terminal of the first amplifier 41 is connected to the housing 11 of the robot 10. The first amplifier 41 receives an oscillation signal S 1is amplified and this is the amplified oscillation signal S 1a The output is as follows:

[0027] The input end of the second amplifier 42 is connected to the signal receiving unit 40. The signal receiving unit 40 is, for example, configured with a resistive element 46 having one end connected to the second ground line GL2 and the other end connected to the input end of the second amplifier 42. The signal receiving unit 40 functions as an antenna and receives the oscillation signal S output from the signal source 20. 1 The signal is received not only by the housing 11 but also by the signal receiving unit 40. The signal receiving unit 40 may be configured by a circuit including at least one of an electrode (conductor), a resistive element, a capacitor, and an inductor.

[0028] The oscillation signal S received by the signal receiving unit 40 1 is a signal input to the detector 31 via a path different from the path via the housing 11. The oscillation signal S 1 (The oscillation signal S received via a route different from the route via the housing 11 1 ) is the reference signal S 2 The second amplifier 42 receives the reference signal S 2 is amplified and used as the amplified reference signal S 2a The amplified oscillation signal S 1a and the amplified reference signal S 2a is converted into a square wave by a waveform conversion circuit (not shown). 1 is input to the second amplifier 42, and a reference signal S 2 may be input to the first amplifier 41.

[0029] The phase shifter 43 outputs the amplified reference signal S 2a The phase of the signal is shifted by, for example, 90° or −90°, and this is expressed as a phase-shifted signal S 2b The amount of phase change applied by the phase shifter 43 is not limited to 90° or −90°, and can be determined arbitrarily. The detector 31 may have two or more phase shifters. The positions of the phase shifter 43 and the second amplifier 42 may be interchanged. The multiplier 44 multiplies the amplified oscillation signal S 1aand the phase shift signal S 2b and the result is the detection signal S 3 The output is as follows:

[0030] The signal processor 45 outputs the detection signal S 3 The averaged signal is the detection signal S 4 The detection signal S 4 The level of the detection signal S 3 The larger the duty ratio of the detection signal S 3 The duty ratio of the amplified oscillation signal S 1a and the phase shift signal S 2b It changes according to the phase difference with the amplified oscillation signal S 1a and the phase shift signal S 2b The phase difference between the detection signal S and the signal source 20 changes depending on the distance between the signal source 20 and the robot 10. 4 The level of the detection signal S changes depending on the distance between the signal source 20 and the robot 10. 4 By monitoring the signal source 20, it is possible to detect when the worker 21 wearing the signal source 20 approaches the robot 10.

[0031] 5A and 5B are time charts showing examples of signal waveforms at various parts of the detector 31. 1a , phase-shifted signal S 2b , detection signal S 3 and detection signal S 4 5A shows a case where the signal source 20 (worker 21) is not close to the robot 10, and FIG. 5B shows a case where the signal source 20 (worker 21) is close to the robot 10.

[0032] When the signal source 20 is located far enough away from the robot 10, i.e., when there is no risk of contact between the worker 21 and the movable part 12, the amplified oscillation signal S 1a and the phase shift signal S 2b The phase difference between the detected signal S and the phase shifter 43 is maintained at 90°, which is the phase shift amount provided by the phase shifter 43. As a result, the detected signal S 3 The duty ratio of the detection signal S3 The average detection signal S 4 The level of the detection signal S becomes zero. 4 When the level of is near zero, the controller 33 does not perform control to prevent the movable part 12 from coming into contact with the operator 21.

[0033] When the signal source 20 approaches the robot 10, the amplified oscillation signal S 1a In the example shown in FIG. 5B, the phase of the amplified oscillation signal S 1a The phase of the amplified oscillation signal S 1a and the phase shift signal S 2b The phase difference between the detected signal S and the phase shifter 43 is greater than 90°, which is the phase shift provided by the phase shifter 43. As a result, the detected signal S 3 The duty ratio of the detection signal S becomes smaller than 50%. 3 The average detection signal S 4 The level of the detection signal S becomes smaller than zero. 4 If the level is equal to or lower than the threshold, a predetermined control is performed on the controlled object to prevent the movable part 12 from coming into contact with the operator 21.

[0034] As the signal source 20 approaches the robot 10, the amplified oscillation signal S 1a When the phase of the detection signal S advances, the detection signal S 4 In this case, the controller 33 controls the detection signal S 4 When the level of the vibration becomes equal to or higher than the threshold value, control is performed to prevent contact between the movable part 12 and the operator 21.

[0035] As described above, the control device 30 according to the embodiment of the disclosed technique includes a conductive housing 11, and a detector 31 and a controller 33 each provided inside the housing 11. The detector 31 has an input terminal 35 connected to the housing 11 and detects an oscillation signal S 1 and processing the detected signal S according to the distance to the signal source 20. 4 The controller 33 outputs the detection signal S 4indicates the proximity of the signal source 20, a predetermined control is performed on the controlled object.

[0036] According to the control device 30 according to the disclosed technique, the housing 11 constituting the entire surface portion of the robot 10 including the movable part 12 receives the oscillation signal S 1 This makes it possible to suppress the position dependency of the detection sensitivity of the proximity of the signal source 20 (worker 21). In addition, since the housing 11 constitutes the entire surface portion of the robot 10 including the movable part 12, the movable part 12 itself also receives the oscillation signal S 1 Therefore, the movable part 12 functions as an antenna for receiving the oscillation signal S 1 That is, the detection sensitivity of the proximity of the signal source 20 (worker 21) can be ensured for all postures of the robot 10.

[0037] In addition, in the control device 30 according to the embodiment of the disclosed technique, the housing 11 is connected to the first ground line GL1. The detector 31 is either insulated from the first ground line GL1 or is connected to the first ground line GL1 via an impedance. G2 The controller 33 operates based on the ground potential V G1 In this way, the ground potential of the housing 11 and the controller 33 is separated from the ground potential of the detector 31, so that the ground potential V G1 The housing 11 to which the oscillation signal S 1 In addition, the insulated communication device 32 can effectively function as an antenna for receiving the detection signal S 4 is transmitted to the controller 33 by insulated communication, the detection signal S between the detector 31 and the controller 33, which are separated by ground, 4 This makes it possible to properly transmit and receive information.

[0038] In the control device 30 according to the embodiment of the disclosed technique, the detector 31 detects the oscillation signal S 1and a reference signal S, which is an oscillation signal received via a path different from the path via the housing 11. 2 The signal corresponding to the phase difference with the detection signal S 4 This makes it possible to appropriately detect the approach of the signal source 20 (worker 21).

[0039] [Second embodiment] FIG. 6 is a circuit block diagram showing an example of the configuration of a detector 31A according to a second embodiment of the disclosed technique. The detector 31A according to the second embodiment can be used in place of the detector 31 according to the first embodiment. The detector 31 according to the first embodiment detects the proximity of the signal source 20 by a phase detection method. In contrast, the detector 31A according to the second embodiment detects the proximity of the signal source 20 by an amplitude detection method. That is, the detector 31A detects the oscillation signal S input via the housing 11. 1 A signal corresponding to the amplitude of the detection signal S 4 The output is as follows:

[0040] The detector 31A includes a first amplifier 41, a second amplifier 42, a differential amplifier 47, and a signal processor 45. The input terminal of the first amplifier 41 is connected to the housing 11 of the robot 10. The first amplifier 41 receives an oscillation signal S 1 is amplified and this is the amplified oscillation signal S 1a The output is as follows:

[0041] The input terminal of the second amplifier 42 is connected to the signal receiving unit 40. The signal receiving unit 40 functions as an antenna and receives the oscillation signal S output from the signal source 20. 1 The oscillation signal S received by the signal receiving unit 40 is received not only by the housing 11 but also by the signal receiving unit 40. 1 (That is, the oscillation signal S received via a path different from the path via the housing 11 1 ) is the reference signal S 2 The second amplifier 42 receives the reference signal S 2 is amplified and used as the amplified reference signal S 2a The output is as follows:

[0042] The differential amplifier 47 outputs the amplified oscillation signal S 1a and the amplified reference signal S 2 The amplified signal is the detection signal S 3 The signal processor 45 outputs the detection signal S 3 A detection signal S having a level according to the amplitude of 4 The signal processor 45 may be configured to include, for example, a rectifier circuit. 3 The amplitude of the amplified oscillation signal S 1a and the amplified reference signal S 2a The amplified oscillation signal S 1a and the amplified reference signal S 2a The difference between the detection signal S and the signal source 20 changes depending on the distance between the signal source 20 and the robot 10. 4 The level of the detection signal S changes depending on the distance between the signal source 20 and the robot 10. 4 By monitoring the signal source 20, it is possible to detect when the worker 21 wearing the signal source 20 approaches the robot 10.

[0043] In the above description, the amplified oscillation signal S 1a and the amplified reference signal S 2 Although the configuration in which the differential method using the difference between the amplified oscillation signal S 1a It is also possible to apply a single-ended system using only a single-ended resistor 31B as the detector 31. Fig. 7 is a circuit block diagram showing an example of the configuration of a detector 31B using the single-ended system.

[0044] In the detector 31B, the amplified oscillation signal S 1a is input to the signal processor 45. The signal processor 45 outputs the amplified oscillation signal S 1a A detection signal S having a level according to the amplitude of 4 The amplified oscillation signal S 1a The amplitude of the detection signal S changes depending on the distance between the signal source 20 and the robot 10. 4 The level of the detection signal S changes depending on the distance between the signal source 20 and the robot 10. 4By monitoring the signal source 20, it is possible to detect when the worker 21 wearing the signal source 20 approaches the robot 10.

[0045] [Third embodiment] 8 is a diagram showing an example of the configuration of a control system 1A according to a third embodiment of the disclosed technique. The control system 1A further includes a conductor 50 electrically connected to the housing 11. By electrically connecting the conductor 50 to the housing 11 of the robot 10, not only the housing 11 but also the conductor 50 transmits an oscillation signal S 1 The conductor 50 is connected to the housing 11 of the robot 10 by a cable 51, and the conductor 50 is placed at a location away from the robot 10, so that the oscillation signal S 1 It is possible to expand the detection range.

[0046] In the above first to third embodiments, the control device 30 is provided inside the housing 11 of the robot 10, but the disclosed technology is not limited to this. Some or all of the components of the control device 30 may be provided outside the housing 11.

[0047] The following supplementary notes are further disclosed regarding the above first to third embodiments. (Appendix 1) A control device provided inside or outside a conductive housing, a detector having an input end connected to the housing, which processes an oscillation signal input via the housing, and outputs a detection signal from an output end according to a distance from a signal source of the oscillation signal; a controller that performs a predetermined control on a control target when the detection signal indicates the proximity of the signal source; A control device having the above configuration.

[0048] (Appendix 2) the housing is connected to a first ground line; The detector operates with reference to a ground potential applied to a second ground line that is insulated from the first ground line or is connected to the first ground line via an impedance. 2. The control device according to claim 1.

[0049] (Appendix 3) The controller operates with reference to a ground potential applied to the first ground line. 3. The control device according to claim 2.

[0050] (Appendix 4) The detection signal is transmitted to the controller by an insulated communication device. 4. The control device according to claim 1,

[0051] (Appendix 5) The detector further includes an isolated power supply or battery for powering the detector. 4. The control device according to claim 1,

[0052] (Appendix 6) The controller slows down or stops a movement of a movable part of the robot having the housing when the detection signal indicates the proximity of the signal source. 6. The control device according to claim 1,

[0053] (Appendix 7) The controller issues an alarm when the detection signal indicates the proximity of the signal source. 7. The control device according to claim 1,

[0054] (Appendix 8) The detector outputs, as the detection signal, a signal corresponding to a phase difference between the oscillation signal input via the housing and a reference signal which is the oscillation signal received via a path different from the path via the housing. 8. The control device according to claim 1,

[0055] (Appendix 9) The detector outputs a signal corresponding to the amplitude of the oscillation signal input through the housing as the detection signal. 9. The control device according to any one of claims 1 to 8.

[0056] (Appendix 10) A control system including a signal source that outputs an oscillation signal, a robot having a conductive housing, and a control device provided inside or outside the housing, The control device includes: a detector having an input terminal connected to the housing, which processes the oscillation signal input via the housing, and outputs a detection signal from an output terminal according to a distance from the signal source; a controller that performs a predetermined control on a control target when the detection signal indicates the proximity of the signal source; A control system having

[0057] (Appendix 11) The signal source is attached to a person. 11. The control system of claim 10.

[0058] (Appendix 12) The device further includes a conductor electrically connected to the housing. 12. The control device according to claim 11. [Explanation of symbols]

[0059] 1. 1A control system 10. Robot 11. Cabinet 12 Moving parts 20 Signal source 21 Worker 30 Control device 31, 31A, 31B Detectors 32 Insulated communication device 33 Controller 34 Isolated power supply 39 Batteries 40 Signal receiving section 41 First Amplifier 42 Second Amplifier 50 Conductors

Claims

1. A control device provided inside or outside a conductive housing, a detector having an input end connected to the housing, which processes an oscillation signal input via the housing, and outputs a detection signal from an output end according to a distance from a signal source of the oscillation signal; a controller that performs a predetermined control on a control target when the detection signal indicates the proximity of the signal source; A control device having the above configuration.

2. the housing is connected to a first ground line; The detector operates with reference to a ground potential applied to a second ground line that is insulated from the first ground line or is connected to the first ground line via an impedance. The control device according to claim 1 .

3. The controller operates with reference to a ground potential applied to the first ground line. The control device according to claim 2.

4. The detection signal is transmitted to the controller by an insulated communication device. The control device according to claim 1 .

5. The detector further includes an isolated power supply or battery for powering the detector. The control device according to claim 1 .

6. The controller slows down or stops a movement of a movable part of the robot having the housing when the detection signal indicates the proximity of the signal source. The control device according to claim 1 .

7. The controller issues an alarm when the detection signal indicates the proximity of the signal source. The control device according to claim 1 .

8. The detector outputs, as the detection signal, a signal corresponding to a phase difference between the oscillation signal input via the housing and a reference signal which is the oscillation signal received via a path different from the path via the housing. The control device according to claim 1 .

9. The detector outputs a signal corresponding to the amplitude of the oscillation signal input through the housing as the detection signal. The control device according to claim 1 .

10. A control system including a signal source that outputs an oscillation signal, a robot having a conductive housing, and a control device provided inside or outside the housing, The control device includes: a detector having an input terminal connected to the housing, which processes the oscillation signal input via the housing, and outputs a detection signal from an output terminal according to a distance from the signal source; a controller that performs a predetermined control on a control target when the detection signal indicates the proximity of the signal source; A control system having

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