Haptic system

Abstract

To present temperature sensation adapted to psychological state or surrounding environment of a user.SOLUTION: An AI speaker 1 includes: a temperature sensation array 122A; a psychological information acquisition unit 16 which acquires psychological information pertaining to a psychological state of a user; an environmental information acquisition unit 18 which acquires environmental information; a fluid generation unit 43 which generates a temperature sensation fluid for presenting set temperature sensation; a nozzle 47 which is provided close to two temperature sensation arrays 122A and discharges the temperature sensation fluid to a space on the side where an ultrasonic wave is emitted; three presentation position measurement units 14 for measuring position information of a presentation target portion; and a control unit 30. The control unit 30 controls, based on the psychological information and the environmental information, the fluid generation unit 43 so as to generate the temperature sensation fluid to present temperature sensation corresponding to the psychological state of the user and surrounding environment, and controls driving of the temperature sensation arrays 122A so that the temperature sensation fluid discharged from the nozzle 47 may reach the vicinity of the presentation target portion with ultrasonic radiation pressure.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sensation presentation system that presents a temperature sensation using ultrasound. [Background technology]

[0002] In recent years, technology has been developed that uses ultrasound to create sound fields to present tactile sensations in mid-air, making it possible to provide experiences that involve tactile changes linked to video and audio.

[0003] This technology provides value to customers by improving the sense of immersion in video, music, and games. In addition, the recent COVID-19 pandemic has created a demand for contactless user interfaces, and the value of mid-air haptic feedback is increasing as a corresponding function.

[0004] The technology described in Patent Document 1 uses an ultrasonic transducer containing piezoelectric ceramics as an ultrasonic source. A phased array, which controls the phase of an array in which multiple transducers are mounted, is used to exert acoustic radiation force on a target in the air, thereby creating a tactile sensation on human skin.

[0005] On the other hand, the combination of airborne tactile sensation and thermal sensation has also been studied as follows. The technology described in Non-Patent Document 1 uses a plurality of ultrasonic transducers to form a sound field by ultrasonic waves focused in the air, thereby promoting the cooling effect of mist.

[0006] The technology described in Patent Document 2 uses multiple ultrasonic transducers to form a sound field by converging ultrasonic waves in the air, and generates a heating effect by acoustic energy. This technology utilizes a mesh to effectively convert acoustic energy into heat. The technology described in Patent Document 3 enables simulated experiences of aerial tactile sensations using ultrasound, as well as the sensation of spraying water, coldness from a cooler / air conditioner, and heat from a heater. The technology described in Patent Document 4 presents a system that includes a directional speaker in addition to an aerial tactile sensation using ultrasound. The system is equipped with a warm sensation presentation function using an infrared laser and a cool sensation presentation function using a Peltier element. The technology described in Patent Document 5 presents a non-contact skin stimulation system that is intended to provide aerial tactile sensations using ultrasound, as well as warm sensations using infrared rays or cool sensations using spray. The technology described in Patent Document 6 presents a system that enhances the sense of realism by presenting smells, warmth, coldness, and tactile sensations. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 6906027 [Patent Document 2] Japanese Patent Publication No. 2023-050191 [Patent Document 3] Special Publication No. 2022-518274 [Patent Document 4] Patent No. 6934618 [Patent Document 5] Japanese Patent Application Publication No. 2023-030298 [Patent Document 6] Patent No. 7021281 [Non-patent literature]

[0008] [Non-Patent Document 1] Mitsuru Nakajima, Keisuke Hasegawa, Yasutoshi Makino, Hiroyuki Shinoda, "Spatiotemporal Pinpoint Cooling Sensation Produced by Ultrasound-Driven Mist Vaporization on Skin", IEEE Transactions on haptics, vol.14, No.4 874-884,2021 Summary of the Invention [Problem to be solved by the invention]

[0009] However, the above-described conventional technology has a problem in that the temperature sensation preferred by the user changes depending on the user's psychological state and the surrounding environment such as the temperature. The present invention has been made in consideration of the above-mentioned problems, and aims to provide a sensation presentation system that can present a temperature sensation suited to the user's psychological state and surrounding environment. [Means for solving the problem]

[0010] The present invention is a sensory presentation system comprising: an ultrasonic transducer that emits ultrasonic waves; a psychological information acquisition unit that acquires psychological information related to the psychological state of a user; a fluid generation unit that generates a fluid for presenting a set temperature sensation to a target area of the user; a fluid control unit that sets a temperature sensation corresponding to the psychological state of the user based on the psychological information acquired by the psychological information acquisition unit and controls the fluid generation unit to generate a fluid for presenting the set temperature sensation to the target area; a fluid emission unit that is arranged in close proximity to the ultrasonic transducer and emits the fluid generated by the fluid generation unit into a space on the ultrasonic wave emission side of the ultrasonic transducer; a position detection unit that detects the position of the target area; and a drive control unit that controls the drive of the ultrasonic transducer based on the position of the target area detected by the position detection unit so that the fluid emitted from the fluid emission unit reaches the periphery of the target area by the radiation pressure of the ultrasonic waves.

[0011] In the above configuration, the device further includes an environmental information acquisition unit that acquires environmental information regarding the user's surrounding environment, and the fluid control unit can set a temperature sensation corresponding to the user's psychological state and surrounding environment based on the environmental information acquired by the environmental information acquisition unit in addition to the psychological information, and control the fluid generation unit to generate a fluid that presents the set temperature sensation. In the above configuration, the drive control unit can control the drive of the ultrasonic transducer so as to present a tactile sensation in addition to the temperature sensation to the target area by the radiation pressure of the ultrasonic waves emitted by the ultrasonic transducer.

[0012] In the above configuration, a first ultrasonic transducer is provided for presenting the temperature sensation and a second ultrasonic transducer for presenting the tactile sensation, and the drive control unit can control the drive of the first ultrasonic transducer when presenting the temperature sensation to the target area, and can control the drive of the second ultrasonic transducer when presenting the tactile sensation to the target area.

[0013] In the above configuration, a plurality of the ultrasonic transducers are arranged in an array, and the drive control unit can control the drive of the ultrasonic transducers so that the plurality of ultrasonic transducers form a focus on the surface or periphery of the target area. In the above configuration, the psychological information acquisition unit acquires voice information or image information including the face of the user, and the drive control unit can determine the psychological state of the user based on the voice information or the image information.

[0014] In the above configuration, the fluid generation unit includes a hot air generation mechanism that generates hot air and a cold air generation mechanism that generates cold air, and the fluid control unit can select one of the hot air generation mechanism and the cold air generation mechanism that presents a temperature sensation that corresponds to the psychological state and the surrounding environment, and control the selected mechanism. In the above configuration, the fluid control unit can control the temperature of the fluid generated by the selected mechanism from the hot air generating mechanism and the cold air generating mechanism to a temperature that corresponds to the psychological state and the surrounding environment. In the above configuration, the fluid generating section can generate a fluid containing mist.

[0015] In the above configuration, the fluid generating unit generates a room temperature fluid containing mist as a fluid that presents a cooling sensation, which is one type of temperature sensation, and the drive control unit can further control the drive of the ultrasonic transducer so that the mist that reaches the vicinity of the target area is vaporized by the ultrasonic waves. In the above configuration, the drive control unit can control the radiation position and radiation pressure of the ultrasonic waves from the ultrasonic transducer.

[0016] The above configuration includes an aroma generation unit capable of emitting multiple types of aromas, an aroma control unit that controls the aroma generation unit to emit a predetermined aroma corresponding to the psychological state and the contents of the surrounding environment, and a fluid mixing unit that mixes the aroma generated by the aroma generation unit with the fluid generated by the fluid generation unit, and the fluid emission unit can be configured to be able to emit the mixed fluid mixed in the fluid mixing unit.

[0017] In the above configuration, a temperature sensation information storage unit is provided in which temperature sensation information indicating a temperature sensation of warmth or coldness is stored in correspondence with a combination of the psychological state and the ambient environment, the psychological state, or the ambient environment, and the fluid control unit is capable of acquiring temperature sensation information corresponding to the acquired information from the temperature sensation information storage unit based on the combination of the psychological information and the environmental information acquired by the psychological information acquisition unit and the environmental information acquisition unit, the psychological information acquired by the psychological information acquisition unit, or the environmental information acquired by the environmental information acquisition unit, and controlling the fluid generation unit to generate a fluid for presenting a warmth or coldness corresponding to the acquired temperature sensation information.

[0018] In the above configuration, a temperature sensation information storage unit is provided in which temperature sensation information indicating what temperature temperature sensation is to be presented in correspondence with a combination of the psychological state and the ambient environment, or the psychological state, or the ambient environment is stored, and the fluid control unit can acquire temperature sensation information corresponding to the acquired information from the temperature sensation information storage unit based on the combination of the psychological information and the environmental information acquired by the psychological information acquisition unit and the environmental information acquisition unit, the psychological information acquired by the psychological information acquisition unit, or the environmental information acquired by the environmental information acquisition unit, and control the fluid generating unit to generate a fluid at a temperature corresponding to the acquired temperature sensation information.

[0019] The present invention is a sensory presentation system comprising: an ultrasonic transducer that emits ultrasonic waves; an environmental information acquisition unit that acquires environmental information related to the user's surrounding environment; a fluid generation unit that generates a fluid for presenting a set temperature sensation to a target part of the user; a fluid control unit that sets a temperature sensation corresponding to the user's surrounding environment based on the environmental information acquired by the environmental information acquisition unit and controls the fluid generation unit to generate a fluid for presenting the set temperature sensation to the target part; a fluid emission unit that is arranged in close proximity to the ultrasonic transducer and emits the fluid generated by the fluid generation unit into a space on the ultrasound emission side; a position detection unit that detects the position of the target part; and a drive control unit that controls the drive of the ultrasonic transducer based on the position of the target part detected by the position detection unit so that the fluid emitted from the fluid emission unit reaches the periphery of the target part by the radiation pressure of the ultrasonic waves. [Effects of the Invention]

[0020] According to the present invention, it is possible to present a temperature sensation suited to the user's psychological state and the surrounding environment. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1A is a side view showing a schematic configuration example of an AI speaker according to a first embodiment, and FIG. 1B is a perspective view. [Figure 2]FIG. 2 is a top view of the AI speaker of FIG. 1. [Figure 3] FIG. 1A is a diagram showing a specific configuration of a presentation position measurement unit, and FIG. 1B is a diagram showing a specific configuration of an ultrasonic transducer array. [Figure 4] FIG. 2 is a diagram showing the internal configuration of an AI speaker. [Figure 5] FIG. 2 is a functional block diagram showing the functional configuration of a control unit 30 according to the first embodiment. [Figure 6] 10 is a flowchart showing a sensation providing process according to the first embodiment. [Figure 7] FIG. 10 is a top view of an AI speaker 1A according to a second embodiment. [Figure 8] FIG. 10 is a functional block diagram showing the functional configuration of a control unit 30 according to a second embodiment. [Figure 9] 10 is a flowchart showing a sensation providing process according to the second embodiment. [Figure 10] 10(a) and 10(b) are top views of AI speakers 1B and 1C according to modified examples. [Figure 11] 10(a) to 10(f) are plan views showing ultrasonic wave generating units 12D to 12I according to modified examples. DETAILED DESCRIPTION OF THE INVENTION

[0022] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiment described below is an example of a means for realizing the present invention, and should be appropriately modified or changed depending on the configuration of the device to which the present invention is applied and various conditions, and the present invention is not limited to the embodiment described below.

[0023] In addition, in the following description of the drawings, the same or similar parts are designated by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the vertical and horizontal dimensions and scales of the components or parts may differ from those of the actual parts. Therefore, the specific dimensions and scales should be determined by taking into consideration the following explanation. Furthermore, it goes without saying that the dimensional relationships and ratios may differ between the drawings.

[0024] [First embodiment] First, a first embodiment of the present invention will be described, with reference to Figures 1 to 6 showing the first embodiment. 〔composition〕 In the first embodiment, a case where the sensory presentation system according to the present invention is applied to an AI speaker will be described. The AI speaker is a speaker with a function for performing contactless operations such as playing music by speaking or waving a hand. In the first embodiment, the speaker can be operated by voice or waving a hand, and also has a function for presenting temperature sensations, scents, etc. corresponding to the user's psychological state and the surrounding environment to the hand that is held over.

[0025] FIG. 1(a) is a side view showing a schematic configuration example of an AI speaker 1 to which the sensory presentation system according to the first embodiment is applied, and FIG. 1(b) is a perspective view of the AI speaker 1 of FIG. 1 tilted forward. FIG. 2 is a plan view of the AI speaker 1 of FIG. 1 viewed from above. FIG. 3(a) is a diagram showing a specific configuration of the presentation position measurement unit 14, and FIG. 3(b) is a diagram showing a specific configuration of the ultrasonic transducer array 122. FIG. 4 is a diagram showing the internal configuration of the AI speaker 1.

[0026] [Hardware configuration] As shown in Figure 1(a), the height direction of the AI speaker 1 is the Z direction, the width direction is the X direction, and the direction perpendicular to the Z direction and the X direction is the Y direction. This also applies to Figures 2 and onwards. 1(a) and 1(b) and 2, the AI speaker 1 includes a hollow cylindrical housing 10, an ultrasound generator 12, a presentation position measurement unit 14, a psychological information acquisition unit 16, an environmental information acquisition unit 18, an operation unit 20, and a speaker 22. Three presentation position measurement units 14 are shown in the figure as an example to explain the embodiment in which there are three units. The AI speaker 1 further includes a sound card 24, a control unit 30, and a sensory presentation mechanism 40, all of which are provided inside the housing 10. The ultrasound generating unit 12, the three presentation position measuring units 14, the psychological information acquiring unit 16, and the operation unit 20 are provided on the top surface 10u of the housing 10.

[0027] 2 and 3, the ultrasonic wave generating unit 12 is provided at a position closer to the +X side in the center of the Y direction on the top surface 10u of the housing 10. The ultrasonic wave generating unit 12 includes a circuit board 120 that is square in plan view, and two temperature sensation transducer arrays 122A and two ultrasonic tactile transducer arrays 122B that are provided on the circuit board 120. Hereinafter, the temperature sensation transducer array 122A will be referred to as the "temperature sensation array 122A," and the ultrasonic tactile transducer array 122B will be referred to as the "ultrasonic tactile array 122B."

[0028] A through-hole 126 for inserting a nozzle 47 (described later) is provided in the center of the circuit board 120 in the X and Y directions. Although not shown, another through-hole is also provided in the upper surface 10u at a position overlapping with the through-hole 126 for inserting the nozzle 47 from the inside to the outside of the housing 10.

[0029] The temperature sensation array 122A is an ultrasonic transducer array for presenting a temperature sensation to a target part of the user. Hereinafter, the target part of the user to which the temperature sensation is presented is referred to as the "presentation target part." Furthermore, the ultrasonic tactile array 122B is an ultrasonic transducer array for presenting a tactile sensation to the presentation target part. Here, as shown by the dashed lines in FIG. 2, it is assumed that the circuit board 120 is divided into four small square sections by imaginary lines passing through the center in the X direction and the center in the Y direction.

[0030] One of the two temperature sensation arrays 122A is arranged in a small section on the +X and +Y direction sides of the circuit board 120, and the other is arranged in a small section on the -X and -Y direction sides of the circuit board 120. Furthermore, one of the two ultrasonic tactile arrays 122B is arranged in a small section on the -X and +Y direction sides of the circuit board 120, and the other is arranged in a small section on the +X and -Y direction sides of the circuit board 120. That is, the two temperature sensory arrays 122A and the two ultrasonic tactile arrays 122B are arranged in small sections on the circuit board 120, respectively, on diagonal lines. For ease of explanation, the temperature sensation arrays 122A and the ultrasonic tactile arrays 122B are distinguished by different shading and symbols, but they have the same configuration. Therefore, hereinafter, when there is no need to distinguish between them, they will be collectively referred to as "arrays" 122, and the specific configurations will be described.

[0031] The array 122 includes a substrate 122a that is square in shape when viewed from above, and a plurality of ultrasonic transducers 122b arranged in an array on the substrate 122a. Here, "array" does not necessarily mean that the transducers are arranged in a matrix. They may also be arranged randomly when viewed from above.

[0032] The ultrasonic transducer 122b has a structure in which a layer of a piezoelectric material sandwiched between a pair of electrodes is supported at its periphery or in part, and can be configured to create a sound field in the air by vibrating this layer. For example, it can be configured from a transducer made of piezoelectric ceramics, or a piezoelectric micromachined ultrasonic transducer (pMUT) using a piezoelectric material fabricated by MEMS technology. In the first embodiment, as an example, the ultrasonic transducer 122b is configured from a pMUT.

[0033] In a pMUT, a gap is provided in the substrate, and a laminated film including a piezoelectric layer is placed on top of the gap. When an AC voltage is applied between a pair of electrodes sandwiching the piezoelectric layer, distortion occurs in the piezoelectric layer due to the inverse piezoelectric effect. This causes the laminated film to vibrate vertically. This vibration is repeated, emitting ultrasound.

[0034] The three presentation position measurement units 14 are arranged at equal intervals along the circumferential direction on the upper surface 10u and measure information for detecting the position of a presentation target part of a user approaching the upper surface 10u. The presentation target part is, for example, a palm. The presentation position measurement unit 14 calculates the direction and distance of the user from, for example, ultrasound reflected from the user, and identifies the position of the presentation target part. For example, the position is identified from information received by each of the three presentation position measurement units 14. The ultrasound emitted from the presentation position measurement unit 14 can be directional, allowing the position of a presentation target part such as a palm to be identified. One or more presentation position measurement units 14 may be provided. In the example shown in FIG. 2, the presentation position measurement units 14 are arranged at approximately 90° intervals along the circumferential direction on the periphery of the upper surface 10u. The presentation position measuring unit 14 can be configured, for example, by an ultrasonic sensor, an optical sensor, a camera, etc. The ultrasonic sensor can be configured, for example, by a transducer made of piezoelectric ceramics, a pMUT, etc. In the first embodiment, as an example, the presentation position measuring unit 14 is configured from an ultrasonic sensor that is configured from a pMUT.

[0035] That is, the presentation position measuring unit 14 includes a substrate 14a that is square in plan view, and an ultrasonic sensor 14b provided in the center of the substrate 14a. The ultrasonic sensor 14b is configured to emit directional ultrasonic waves, and when the ultrasonic waves are blocked by a presentation target part, such as when the user holds out his / her hand, the ultrasonic sensor 14b receives the reflected waves. The psychological information acquiring unit 16 acquires psychological information relating to the psychological state of the user, and in the example shown in FIG. 2, is provided adjacent to the ultrasonic wave generating unit 12 on the upper surface 10u on the +X direction side. The psychological information acquiring unit 16 acquires psychological information relating to the user's psychological state, such as the user's voice information, image information, heart rate, etc. After acquiring data such as the user's voice information, image information, and heart rate, the psychological information acquiring unit 16 may determine and acquire the user's psychological state, such as "tired," "happy," "angry," or "anxious," based on predetermined criteria.

[0036] The psychological information acquisition unit 16 may include, for example, a microphone for acquiring the user's voice information, a camera for acquiring image information including the user's face, and a wireless communication device for acquiring the user's heart rate information. It may also be configured to include a combination of a microphone and a camera, or any combination of these. Furthermore, the heart rate information may be acquired via wireless communication from a smartwatch worn by the user. In other words, the heart rate measurement function of the smartwatch is utilized.

[0037] From the user's voice information, for example, utterances such as "I'm tired," "I'm exhausted," "Ahhh," and sighing sounds can be analyzed, and the user's psychological state, such as feeling depressed, can be determined from the analysis results. Furthermore, the psychological state can be determined not only from the content of the utterance and sighing, but also from the intonation, modulation, and speed of the voice, for example. Furthermore, image information including the face can be used to determine the user's facial expressions, such as smiles, wrinkles between the eyebrows, and bags under the eyes, so that the user's psychological state, such as being depressed, happy, or angry, can be determined from the facial expressions. Furthermore, the user's psychological state, such as whether they are tired or nervous, can be determined from the heart rate information.

[0038] In the first embodiment, the psychological information acquisition unit 16 is configured to include a microphone that acquires the user's voice information. In addition to acquiring the voice information as psychological information, the microphone also serves as a microphone for voice input to operate the AI speaker 1. The environmental information acquisition unit 18 is provided on the side of the housing 10 and is used to acquire environmental information around the user. The environmental information acquisition unit 18 can be configured, for example, by a temperature sensor that acquires temperature information around the user, a humidity sensor that acquires humidity information around the user, and the like. In the first embodiment, the environmental information acquisition unit 18 is configured from a temperature sensor. In the example shown in Figures 1 and 2, the operation unit 20 is composed of, for example, a push button, and by pressing the button, a signal can be sent to the control unit 30 to perform processes such as turning the power on and off, adjusting the volume, and turning the sensory presentation on and off. The speaker 22 is a known speaker that converts the acoustic signal from the sound card 24 into sound and outputs it. The sound card 24 has a function of amplifying an acoustic signal from the control unit 30 and transmitting it to the speaker 22. In addition, it has a function of converting an analog audio signal input from a microphone constituting the psychological information acquisition unit 16 into a digital audio signal and inputting it to the control unit 30. Although not shown, the control unit 30 includes a microcomputer and a drive unit. Hereinafter, the microcomputer will be referred to as a "micon."

[0039] Although not shown in the figure, the microcomputer is composed of a CPU (Central Processing Unit) that controls calculations and the entire device based on a control program, a ROM (Read Only Memory) that stores the CPU's control program and other information in advance in a specified area, a RAM (Random Access Memory) for storing data read from the ROM and other information and calculation results required in the CPU's calculation process, and an I / F (Interface) that mediates the input and output of data to and from external devices.These components are connected to each other and capable of sending and receiving data by a bus, which is a signal line for transferring data. The driving unit drives the array 122 by applying an AC voltage to each ultrasonic transducer 122b in response to a control signal from the microcomputer. Each of the individual ultrasonic transducers 122b is routed with wiring and connected to a driving unit. In addition to controlling the driving of the temperature sense array 122A and the tactile sense array 122B, the control unit 30 also controls the operation of the sensation providing mechanism 40 and various controls in response to signals from the operation unit 20. As shown in FIG. 4, the sensation providing mechanism 40 includes a fluid generating unit 43, an aroma generating unit 45, and a nozzle 47.

[0040] The fluid generating unit 43 is a device that generates a fluid containing gas or liquid for providing a warm or cool temperature sensation to a target part of the user in response to a command from the control unit 30. Hereinafter, the fluid for providing a warm or cool temperature sensation will be referred to as a "temperature sensation fluid." An example of the carrier gas for the temperature sensation fluid is air, such as the atmosphere. Note that the carrier gas is not limited to air, and a specific type of gas, such as nitrogen alone, may also be used. The fluid generating unit 43 can be configured, for example, to include a hot air generating mechanism that heats the air in a tank connected to the nozzle 47 to generate hot air, and a cold air generating mechanism that cools the air in the tank to generate cold air. The hot air generating mechanism and the cold air generating mechanism each include a tank that stores heated air or cooled air, and a fan that discharges the air in the tank to the outside through nozzle 47. Note that a pump may be provided instead of the fan. The tank may be one tank common to both hot air and cold air, or two separate tanks for hot air and cold air. The hot air generating mechanism can be, for example, one that uses compressed air like a conventional air conditioner, or one that uses a heat transfer heater or a Peltier element, etc. The tank may be temporarily sealed when heating. The cool air generating mechanism can be configured, for example, as in a conventional air conditioner, using compressed air, or as a Peltier element.

[0041] Furthermore, in order to prevent the device from becoming too large, the fluid generating unit 43 may not directly cool or heat air, but may instead atomize room-temperature water to generate mist. In this case, the generated mist is delivered to the vicinity of the target presentation area of the user by ultrasonic waves, and the mist is cooled and vaporized to provide a cooling effect. Alternatively, the mist is delivered to the vicinity of the target presentation area of the user by ultrasonic waves, and the mist is heated by ultrasonic waves or a laser to provide a warming effect. Furthermore, the fluid generating section 43 can be configured to generate mist and heat or cool the generated mist, thereby generating a temperature sensation fluid made up of heated or cooled mist.

[0042] The hot air generating mechanism and the cold air generating mechanism can be configured to control the temperature of the hot air and the cold air to a temperature set by the control unit 30. In this case, a compressor, heater, Peltier element, or the like that can heat and cool the air in the tank is used. The fragrance generating unit 45 is a device capable of generating multiple types of fragrance, and is driven and controlled by the control unit 30 to generate a type of fragrance from among the multiple types of fragrance according to the settings.

[0043] The aroma generating unit 45 is equipped with multiple cylinders storing multiple types of aroma components, and emits the aroma containing the aroma components in mist form from the emission port. The emission port of each cylinder is connected to a tank that stores the heated air or cooled air from the fluid generating unit 43. The emitted aroma is then allowed to flow into the tank and be mixed with the heated or cooled air. Examples of the multiple types of scents include peppermint, which is a scent that gives a cool feeling, and cinnamon, lavender, ginger, and the like, which are scents that give a warm feeling. The fragrance generating unit 45 may be configured to mix multiple types of basic fragrance components to generate a desired fragrance.

[0044] The nozzle 47 is configured as a cylindrical pipe having one end connected to the tank of the fluid generating unit 43 and the other end protruding to the outside of the housing 10. That is, the opening of the nozzle 47 is configured to be exposed to the outside of the housing 10. Specifically, the opening of the nozzle 47 is located at a position protruding to the outside of the housing 10 through a through-hole 126 that penetrates the center of the circuit board 120 of the ultrasonic generating unit 12. With this configuration, the warm air HA, the cold air CA or the mist generated by the fluid generating unit 43 is moved inside the tank by the fan inside the tank, passes through the inside of the nozzle 47 and is released to the outside from the opening. Here, in the example shown in Figure 4, the two temperature sensation arrays 122A are driven and controlled by the control unit 30 to slightly differ in phase for each of the multiple ultrasonic transducers 122b, thereby concentrating the sound field at a single point and forming a focal point F in space.

[0045] Furthermore, this focal point F can be moved. Warm air, cold air, or mist emitted from the nozzle 47 is guided to the position where this focal point F is formed. Therefore, by forming focal point F on the surface of or near the target presentation part of the user, it is possible to present a warm or cool sensation to the target presentation part. Furthermore, the two tactile arrays 122B form focal points F on the surface of the presentation target site under the driving control of the control unit 30. This makes it possible to present a tactile sensation to the presentation target site.

[0046] Although not shown, the AI speaker 1 also has a built-in storage device for storing music and a network card for connecting to the Internet. The storage device may be a hard disk, flash memory, or the like. It is not limited to a built-in storage device; it may also be configured to include a USB port or a card-type memory slot to connect a USB memory or card-type memory. The AI speaker 1 can connect to a music server on the Internet via a network card and download music. The downloaded music is then played back by the sound card 24 and output from the speaker 22.

[0047] [Functional configuration] Next, the functional configuration of the control unit 30 will be described with reference to Fig. 5. Fig. 5 is a functional block diagram showing the functional configuration of the control unit 30 according to the first embodiment.

[0048] 5, the control unit 30 includes, as functional blocks realized by executing a control program on a CPU, a presentation target position detection unit 301, a presentation control unit 303, a temperature sense drive control voltage calculation unit 305, and a temperature sense drive control unit 307. The control unit 30 further includes a sensory presentation mechanism drive control voltage calculation unit 309, a sensory presentation mechanism control unit 311, a tactile drive control voltage calculation unit 313, and a tactile drive control unit 315. The presentation target position detection unit 301 has a function of detecting the position of the presentation target part of the user based on the measurement data from the three presentation position measurement units 14.

[0049] Specifically, when the presentation position measurement unit 14 is an ultrasonic sensor, the presentation target position detection unit 301 acquires information on the time of ultrasound emission and the time of reception of the reflected waves from measurement information data, such as ultrasound transmission information and reception information, from the three presentation position measurement units 14. Then, it calculates the time taken from emission to reception from the emission time and reception time. From this calculation result, it calculates the distance to the presentation target part. Furthermore, from the time information of each ultrasound wave sent to the three presentation position measurement units 14, it detects whether the ultrasound is reflected by the user's presentation target part and the direction of the presentation target part. Then, from these detection results, it detects the position of the presentation target part. Then, the detected position is set as the focal position of the ultrasound. If the presentation position measurement unit 14 is an optical sensor, it detects the position using an optical method; if it is a magnetic sensor, it detects the position by changes in the magnetic field; and if it is a camera, it detects the position from images or videos taken by, for example, two or more cameras. The presentation control unit 303 sets the content of the temperature sensation to be presented to the user's presentation target area and the content of the fragrance to be presented to the user based on the user's psychological information acquired by the psychological information acquisition unit 16 and the environmental information around the user acquired by the environmental information acquisition unit 18.

[0050] Although not shown, a psychological state table in which the user's psychological state is registered in association with the content of psychological information is stored in advance in the ROM of the control unit 30. Examples of psychological states include depressed, happy, angry, excited, sensitive to heat, sensitive to cold, etc.

[0051] Furthermore, a temperature sensation table is stored in advance in which the contents of the temperature sensation to be presented are registered in association with the combination of the psychological state and the ambient environment, and with the ambient environment alone. The contents of the temperature sensation include, for example, whether the presented temperature sensation is a warm sensation or a cold sensation, and the temperature of the temperature sensation fluid that occurs when the presented temperature sensation is a warm sensation or a cold sensation.

[0052] Furthermore, although not shown, a tactile information table is pre-stored in the ROM of the control unit 30. The tactile information table registers the content of the tactile sensation to be presented in association with a combination of the user's psychological state and the surrounding environment, and with the surrounding environment alone. Here, the content of the tactile sensation may include, for example, the strength of the tactile sensation, the periodic strength and weakness of the tactile sensation, etc.

[0053] Here, the ambient environment refers to, for example, numerical information itself, such as temperature X°C determined from the measurement value of a temperature sensor or humidity Y% determined from the measurement value of a humidity sensor, or information indicating the state of the ambient environment, such as hot, cold, damp, or dry, which can be determined from this numerical information.

[0054] Furthermore, although not shown, an aroma information table is pre-stored in the ROM of the control unit 30. The aroma information table registers the types of aromas to be presented in association with combinations of the user's psychological state and the ambient environment, and with the ambient environment alone. Examples of aromas include the aroma of lavender, which has a relaxing effect when you are feeling down, and the aroma of peppermint, which provides a cooling sensation when the ambient temperature is high. Furthermore, although not shown in the figure, a music information table is pre-stored in the ROM of the control unit 30, in which music information is registered in association with combinations of the user's psychological state and surrounding environment, and with the surrounding environment alone.

[0055] Here, the contents of the music include, for example, music that has a relaxing effect, music that has an uplifting effect, etc. Furthermore, when, for example, an automatic playback mode is set, these music pieces are selected from the music information table and played by downloading them from a music server. The AI speaker 1 may include an output device 80 other than the speaker 22, or may be connected to an external output device 80 other than the speaker 22. In this case, although not shown in the figure, an output information table is pre-registered in the ROM of the control unit 30, in which the contents of information to be output by the output device 80 are registered in correspondence with combinations of the user's psychological state and surrounding environment, and with the surrounding environment alone, respectively. Here, the output device 80 can be configured, for example, from a video display, a hot / cold sensation display, an olfactory display, or the like. When the display control unit 303 is set to perform sensory display using both the psychological state and the surrounding environment, the display control unit 303 first determines the psychological state corresponding to the psychological information acquired from the psychological state table.

[0056] The ambient environment is the temperature and humidity acquired by a temperature sensor, humidity sensor, etc., so the ambient environment can be the temperature alone or a combination of temperature and humidity. Furthermore, for example, the ambient environment can be a rough indication of the temperature and humidity, such as hot, muggy, slightly hot, slightly cold, cold, or dry and cold. In this case, a separate table can be created. Furthermore, the type of scent in the room can be determined from values acquired by a scent sensor, for example. In this case, a separate table can also be created. By determining the type of scent, it is possible to control the type of scent so that the original scent in the room does not interfere with the scent generated by AI speaker 1, for example.

[0057] The presentation control unit 303 sets the content of the temperature sensation and touch to be presented to the content of the temperature sensation and touch that corresponds to the determined psychological state and the surrounding environment, which are registered in the temperature sensation table and the touch information table. In addition, if the setting is to present an aroma, the content of the aroma to be presented is set to the content of the aroma that corresponds to the determined psychological state and the surrounding environment, which are registered in the aroma information table.

[0058] If psychological information cannot be acquired and only environmental information can be acquired, the temperature sensation, touch, and aroma contents to be presented are set to the temperature sensation, touch, and aroma contents corresponding to the determined surrounding environment, which are registered in the temperature sensation table, touch information table, and aroma information table.

[0059] In addition, when the setting is such that sensory presentation is performed using only psychological states, the presentation control unit 303 sets the temperature sensation, touch, and aroma content to be presented to the temperature sensation, touch, and aroma content corresponding to the determined psychological state, which are registered in the temperature sensation table, touch information table, and aroma information table.

[0060] In addition, when the presentation control unit 303 is set to present sensations using only the surrounding environment, it determines the temperature sensation, tactile sensation, and aroma content to be presented to be the temperature sensation, tactile sensation, and aroma content corresponding to the determined surrounding environment, which are registered in the temperature sensation table, tactile information table, and aroma information table. Furthermore, the above settings can be changed, for example, by operating the operation unit 20 or by voice instructions via a microphone. Information on the set focal position is provided to the temperature sensation drive control voltage calculation unit 305 via RAM, etc., and the set temperature sensation and fragrance contents are provided to the sensory presentation mechanism drive control voltage calculation unit 309 and the output device 80 via RAM, etc. Furthermore, information on the set focal position and the content of the haptic sensation are provided to the haptic sensation drive control voltage calculation unit 313 via a RAM or the like. The temperature sense drive control voltage calculation unit 305 calculates the phase and drive voltage value for driving and controlling each ultrasonic transducer of the two temperature sense arrays 122A based on the set focal position.

[0061] The temperature sense drive control unit 307 drives and controls each ultrasonic transducer 122b of the two temperature sense arrays 122A based on the phase and drive voltage value calculated by the temperature sense drive control voltage calculation unit 305. Note that each ultrasonic transducer 122b is driven, for example, after the temperature sense fluid or a mixed fluid of the temperature sense fluid and aroma is released from the nozzle 47 of the sensation presentation mechanism 40.

[0062] As a result, ultrasonic waves are emitted from the ultrasonic transducers 122b of the two temperature sensation arrays 122A, and the emitted ultrasonic waves converge at the focal position, whereby the temperature sensation fluid or mixed fluid discharged from the nozzle 47 is guided toward the focal point by the radiation pressure of the ultrasonic waves.

[0063] Meanwhile, the sensory presentation mechanism drive control voltage calculation unit 309 calculates a control voltage for controlling the content of the temperature sensation fluid generated by the fluid generation unit 43 of the sensory presentation mechanism 40 based on the content of the set temperature sensation. Furthermore, it calculates a control voltage for controlling the content of the fragrance generated by the fragrance generation unit 45 of the sensory presentation mechanism 40 based on the content of the set fragrance. The sensation providing mechanism control unit 311 controls the driving of the fluid generating unit 43 and the fragrance generating unit 45 based on the control voltage value calculated by the sensation providing mechanism driving control voltage calculation unit 309 . As a result, a mixed fluid containing a temperature sensation fluid corresponding to the set temperature sensation content and a fragrance corresponding to the set fragrance content is released from the nozzle 47.

[0064] In addition, when it is possible to set whether or not to present a fragrance, if the setting is set to not present a fragrance, the process of calculating the control voltage value that controls the content of the fragrance is not executed. Furthermore, since the process of driving and controlling the fragrance generation unit 45 is not executed, only the temperature sensation fluid corresponding to the set content of the temperature sensation is emitted from the nozzle 47. Furthermore, the tactile drive control voltage calculation unit 313 calculates the phase and drive voltage value for driving and controlling each of the ultrasonic transducers 122b of the two tactile arrays 122B based on the set focal position and tactile content. The tactile drive control section 315 controls the drive of each ultrasonic transducer 122b of the two tactile arrays 122B based on the phase and drive voltage value calculated by the tactile drive control voltage calculation section 313. As a result, ultrasonic waves are emitted from the ultrasonic transducers 122b of the two tactile arrays 122B, and the emitted ultrasonic waves are converged at the focal position.

[0065] [Sensory presentation processing] Next, the sensation presentation process executed by the control unit 30 of the AI speaker 1 will be described. FIG. 6 is a flowchart showing the sensation providing process according to the first embodiment. The CPU of the control unit 30 starts a control program stored in a predetermined area of the ROM, and executes the sensation providing process shown in the flowchart of FIG. 6 in accordance with the program. When the sensation presentation process is executed by the CPU, as shown in FIG. 6, the process first proceeds to step S100. In step S100, the presentation control unit 303 acquires the psychological information data acquired by the psychological information acquisition unit 16 and the environmental information data acquired by the environmental information acquisition unit 18, and then the process proceeds to step S102.

[0066] In the first embodiment, the psychological information acquisition unit 16 is a microphone, so the presentation control unit 303 acquires voice information data uttered by the user as the psychological information. Furthermore, in the first embodiment, the environmental information acquisition unit 18 is a temperature sensor, so the presentation control unit 303 acquires temperature information data around the user as the environmental information. In step S102, the presentation object position detection unit 301 acquires measurement data measured by the three presentation position measurement units 14. Thereafter, the process proceeds to step S104.

[0067] In step S104, the presentation control unit 303 determines the user's psychological state from the psychological state table based on the psychological information and environmental information data acquired in step S100. Furthermore, the presentation target position detection unit 301 detects the position of the user's sensation presentation target part based on the measurement data acquired in step S102. Then, the process proceeds to step S106.

[0068] In the first embodiment, the three presentation position measurement units 14 are configured with ultrasonic sensors. Therefore, when the ultrasonic waves emitted from the three presentation position measurement units 14 are blocked by the user's presentation target part, the reception time of the received waves changes. In other words, measurement data that changes depending on whether the ultrasonic waves are blocked or not is acquired. From this measurement data, the direction and distance of the presentation target part can be determined, and the position of the presentation target part can be detected. Here, the presentation target part is the user's hand.

[0069] In step S106, the presentation control unit 303 determines whether the determined position of the presentation target part is within a preset presentation position range. If it is determined that it is within the presentation position range (Yes), the detected presentation target position is set as the focal position. Furthermore, information indicating the temperature sensation, tactile sensation, and aroma content corresponding to the determined psychological state of the user and the surrounding environment is obtained from the temperature sensation table, tactile information table, and aroma information table. The temperature sensation, tactile sensation, and aroma content are set to the obtained content, and the process proceeds to step S108. On the other hand, if it is determined that it is not within the presentation position range (No), the process proceeds to step S100. Here, the presentation position range is set to a range in which the temperature sensation and tactile sensation can be effectively presented. In the first embodiment, the presentation control unit 303 also acquires information indicating the contents of the temperature sensation, tactile sensation, and fragrance corresponding to the user's psychological state and the temperature around the user.

[0070] When the process proceeds to step S108, the temperature sense drive control voltage calculation unit 305 calculates the phase and drive voltage value for driving and controlling each ultrasonic transducer 122b of the two temperature sense arrays 122A based on the set focal position. Furthermore, the sensation presentation mechanism drive control voltage calculation unit 309 calculates the control voltage value for the fluid generation unit 41 for generating a temperature sense fluid corresponding to the set temperature sense, and the control voltage value for the aroma generation unit 45 for generating an aroma corresponding to the set aroma content. Then, the process proceeds to step S110.

[0071] In step S110, the tactile drive control voltage calculation unit 313 calculates the phase and drive voltage value for driving and controlling each ultrasonic transducer 122b of the two tactile arrays 122B based on the set focal position and tactile content. Then, the process proceeds to step S112. Here, the drive voltage value is calculated so that the intensity of the ultrasonic waves corresponds to the set tactile content. Note that the intensity is not limited to a constant intensity, and for example, a drive voltage value that periodically changes intensity may be calculated.

[0072] In step S112, the sensation providing mechanism control unit 311 controls the operation of the fluid generating unit 43 to generate a temperature sensation fluid corresponding to the set temperature sensation content. Furthermore, the operation of the aroma generating unit 45 controls the operation of the aroma generating unit 45 to generate an aroma corresponding to the set aroma content. As a result, a mixed fluid in which the temperature sensation fluid and the aroma are mixed is generated in the tank of the fluid generating unit 43. Then, the process proceeds to step S114.

[0073] For example, suppose that the microphone serving as the psychological information acquisition unit 16 acquires voice information in which the user utters "It's hot," and the temperature sensor serving as the environmental information acquisition unit 18 acquires information that the temperature is 25°C. In this case, the fluid generation unit 43 generates, for example, cool air to provide a cooling sensation as the temperature sensation fluid, and is driven and controlled so that the temperature is 20°C or lower, for example, 18°C. Furthermore, the aroma generation unit 45 is driven and controlled so that it generates, for example, a peppermint aroma that provides a cooling sensation.

[0074] On the other hand, for example, suppose that the microphone serving as the psychological information acquisition unit 16 acquires voice information in which the user utters "I'm tired," and the temperature sensor serving as the environmental information acquisition unit 18 acquires information that the temperature is 15°C. In this case, the fluid generation unit 43 generates, for example, warm air as the temperature sensation fluid to provide a sense of warmth, and controls the temperature to 20°C or higher, for example, 22°C. The fragrance generation unit 45 is also driven and controlled to generate, for example, a lavender fragrance that provides a sense of warmth and a relaxing effect.

[0075] In step S114, the sensation providing mechanism control unit 311 drives the fan in the fluid generating unit 43 to release a mixed fluid, which is a mixture of the temperature sensation fluid for providing a warm or cool sensation and the aroma from the aroma generating unit 45, from the nozzle 47. Then, the process proceeds to step S116.

[0076] In step S116, the thermal sense drive control unit 307 drives and controls each ultrasonic transducer 122b of the two thermal sense arrays 122A based on the phase and drive voltage value calculated by the thermal sense drive control voltage calculation unit 305. Furthermore, the tactile sense drive control unit 315 drives and controls each ultrasonic transducer 122b of the two tactile arrays 122B based on the phase and drive voltage value calculated by the tactile sense drive control voltage calculation unit 313. This causes the air or mixed fluid for presenting a warm or cool sensation emitted from the nozzle 47 to be sent to the focal position, which is the presentation target position, due to the radiation pressure of the ultrasonic waves emitted from each ultrasonic transducer 122b of the two thermal sense arrays 122A toward the focal position. Additionally, a focal point is formed at the focal position, which is the presentation target position, by the ultrasonic waves emitted from each ultrasonic transducer 122b of the two tactile arrays 122B. Then, the series of processes ends. This allows the user to feel a warm or cool sensation at the target presentation area according to the user's psychological state and the ambient temperature, as well as a tactile sensation.Furthermore, a fragrance according to the user's psychological state and the ambient temperature is presented around the target presentation area. Furthermore, when the AI speaker 1 is set to the automatic playback mode, it selects music that corresponds to the user's psychological state and the surrounding environment, and downloads the selected music from a music server and plays it. In addition, the output device 80 displays images, emits fragrances, or plays music corresponding to the temperature sensation content and fragrance content corresponding to the user's psychological state and the surrounding environment provided by the presentation control unit 303.

[0077] [Effects of the first embodiment] As described above, the AI speaker 1 to which the sensory presentation system of the first embodiment is applied is configured as a sensory presentation system comprising two temperature sensation arrays 122A, two tactile arrays 122B, a psychological information acquisition unit 16 that acquires psychological information related to the user's psychological state, an environmental information acquisition unit 18 that acquires environmental information around the user, a fluid generation unit 43 that generates a temperature sensation fluid to present a set temperature sensation to the user's presentation target area, a control unit 30, a nozzle 47 that is arranged in close proximity to the two temperature sensation arrays 122A and releases the temperature sensation fluid generated by the fluid generation unit 43 into the space on the ultrasound emission side of the two temperature sensation arrays 122A, and three presentation position measurement units 14 that measure the position information of the presentation target area.

[0078] Furthermore, the control unit 30 sets a temperature sensation corresponding to the user's psychological state and the surrounding environment based on the psychological information acquired by the psychological information acquisition unit 16 and the environmental information acquired by the environmental information acquisition unit 18, and controls the fluid generation unit 43 to generate a fluid for presenting the set temperature sensation to the presentation target area.

[0079] Furthermore, the control unit 30 detects the position of the user's presentation target part based on the measurement data measured by the presentation position measurement unit 14, and controls the drive of the two temperature sensation arrays 122A based on the detected position of the presentation target part so that the temperature sensation fluid emitted from the nozzle 47 reaches the periphery of the presentation target part by the radiation pressure of the ultrasound. Specifically, the drive of each ultrasonic transducer 122b of the two temperature sensation arrays 122A is controlled so that a focus is formed on the surface or periphery of the presentation target part. Here, the user's voice information is acquired as psychological information, and temperature information around the user is acquired as environmental information.

[0080] Furthermore, the control unit 30 sets tactile content corresponding to the user's psychological state and the surrounding environment, and controls the driving of each ultrasonic transducer 122b of the two tactile arrays 122B so that a tactile sensation according to the set content is presented to the presentation target part by the radiation pressure of ultrasonic waves based on the detected position of the presentation target part. Specifically, the control unit 30 controls the driving of each ultrasonic transducer 122b of the two tactile arrays 122B so that a focus is formed on the surface of the presentation target part.

[0081] With this configuration, it is possible to present a temperature sensation appropriate to the user's psychological state and the surrounding environment to the presentation target part of the user. That is, it is possible to present a cool or warm sensation of a temperature appropriate to the user's psychological state and the surrounding environment. In addition, it is possible to present a tactile sensation appropriate to the user's psychological state and the surrounding environment to the presentation target part of the user. That is, it is possible to present a tactile sensation of an intensity and period appropriate to the user's psychological state and the surrounding environment.

[0082] The sensory presentation system according to the first embodiment is configured to include an aroma generating unit 45 capable of generating multiple types of aromas. The control unit 30 controls the aroma generating unit 45 to generate aromas that are preset according to the psychological state and the surrounding environment. The aroma generated by the aroma generating unit 45 is mixed with the temperature sensation fluid generated by the fluid generating unit 43 in the tank of the fluid generating unit 43, and the mixed fluid is released from the nozzle 47. With this configuration, in addition to the thermal and tactile senses, it is possible to present to the user's olfactory sense an aroma that is appropriate for the user's psychological state and the surrounding environment.

[0083] The sensory presentation system of the first embodiment is configured to include a temperature sensation table in which the contents of the temperature sensation to be presented are registered, each corresponding to a combination of the user's psychological state and the ambient environment, and the ambient environment alone; a tactile information table in which the contents of the tactile sensation to be presented are registered, each corresponding to a combination of the user's psychological state and the ambient environment, and the ambient environment alone. Furthermore, the system is configured to include an aroma information table in which the contents of the aroma to be presented are registered, each corresponding to a combination of the user's psychological state and the ambient environment, and the ambient environment alone. Furthermore, the system is configured to allow for a setting to present a sensory presentation using both the psychological state and the ambient environment, or a setting to present a sensory presentation using only the psychological state.

[0084] With this configuration, it is possible to provide appropriate sensory presentation depending on the sensory presentation settings and the acquired information. For example, when psychological information cannot be acquired and only environmental information can be acquired, it is possible to provide appropriate sensory presentation for the user's surrounding environment. Furthermore, it is possible to provide sensory presentation that focuses only on the user's psychological state. [Correspondence in the first embodiment] In the first embodiment, the control unit 30 corresponds to the fluid control unit, drive control unit, and aroma control unit, the presentation position measurement unit 14, presentation target position detection unit 301, and step S102 correspond to the position detection unit, and the nozzle 47 corresponds to the fluid release unit. In the first embodiment, the temperature sense array 122A corresponds to the first ultrasonic transducer, the tactile array 122B corresponds to the second ultrasonic transducer, and the tank of the fluid generating unit 43 corresponds to the fluid mixing unit.

[0085] Second Embodiment Next, a second embodiment of the present invention will be described below. Figures 7 to 9 are diagrams showing the second embodiment. 〔composition〕 FIG. 7 is a top view of an AI speaker 1A according to the second embodiment. The second embodiment differs from the first embodiment in that the function of presenting tactile sensations is removed from the AI speaker 1 of the first embodiment, and temperature sensations are presented based on the user's surrounding environment without taking into account the user's psychological state. Hereinafter, the same components as those described in the first embodiment will be denoted by the same reference numerals and the description thereof will be omitted as appropriate, and only the parts that differ from the first embodiment will be described in detail.

[0086] [Hardware configuration] As shown in FIG. 7, the AI speaker 1A has a configuration in which the ultrasonic wave generating unit 12 in the AI speaker 1 of the first embodiment is replaced with an ultrasonic wave generating unit 12A.

[0087] The ultrasound generating unit 12A is configured to include two temperature sense arrays 122A instead of the two tactile arrays 122B in the ultrasound generating unit 12 of the first embodiment. That is, the ultrasound generating unit 12A includes four temperature sense arrays 122A arranged in four small sections divided by imaginary straight lines shown by dashed lines in Fig. 7.

[0088] [Functional configuration] Next, the functional configuration of the control unit 30 according to the second embodiment will be described with reference to Fig. 8. Fig. 8 is a functional block diagram showing the functional configuration of the control unit 30 according to the second embodiment. 8, the control unit 30 according to the second embodiment includes, as functional blocks realized by executing a control program on a CPU, a presentation target position detection unit 301, a presentation control unit 303, and a temperature sensation drive control voltage calculation unit 305. The control unit 30 further includes a temperature sensation drive control unit 307, a sensation presentation mechanism drive control voltage calculation unit 309, and a sensation presentation mechanism control unit 311. The presentation control unit 303 in the second embodiment sets the content of the temperature sensation to be presented to the user's presentation target area and the content of the fragrance to be presented to the user based on the environmental information around the user acquired by the environmental information acquisition unit 18. Although not shown, the ROM of the control unit 30 stores in advance a temperature sensation table in which the contents of the temperature sensation to be presented are registered in association with the user's surrounding environment. Furthermore, although not shown, the ROM of the control unit 30 stores in advance an aroma information table in which the contents of the aromas to be presented are registered in association with the user's surrounding environment. Furthermore, although not shown, the ROM of the control unit 30 stores in advance a music information table in which information about music is registered in association with the user's surrounding environment. The AI speaker 1 may include an output device 80 other than the speaker 22, or may be connected to an external output device 80 other than the speaker 22. In this case, although not shown, an output information table is registered in advance in the ROM of the control unit 30, in which the contents of information to be output by the output device 80 are registered in association with the user's surrounding environment.

[0089] The presentation control unit 303 sets the temperature sensation content to be presented to the temperature sensation content corresponding to the determined ambient environment, which is registered in the temperature sensation table. In addition, if fragrance emission is set, the presentation control unit 303 sets the fragrance content to be presented to the fragrance content corresponding to the determined ambient environment, which is registered in the fragrance information table.

[0090] Information about the focal position set by the presentation control unit 303 is provided to the temperature sensation drive control voltage calculation unit 305 via RAM, etc. Furthermore, the temperature sensation and fragrance details set by the presentation control unit 303 are provided to the sensation presentation mechanism drive control voltage calculation unit 309 and the output device 80 via RAM, etc. The temperature sense drive control voltage calculation unit 305 calculates the phase and drive voltage value for driving and controlling each of the ultrasonic transducers 122b of the four temperature sense arrays 122A based on the set focal position. The thermal sense drive control section 307 controls the drive of each of the ultrasonic transducers 122b of the four thermal sense arrays 122A based on the phase and drive voltage value calculated by the thermal sense drive control voltage calculation section 305.

[0091] As a result, ultrasonic waves are emitted from the ultrasonic transducers 122b of the four temperature sensation arrays 122A, and the emitted ultrasonic waves converge at the focal position, whereby the temperature sensation fluid or mixed fluid discharged from the nozzle 47 is guided toward the focal point by the radiation pressure of the ultrasonic waves.

[0092] Meanwhile, the sensory presentation mechanism drive control voltage calculation unit 309 calculates a control voltage value for controlling the content of the temperature sensation fluid generated by the fluid generation unit 43 of the sensory presentation mechanism 40 based on the set content of the temperature sensation. Furthermore, it calculates a control voltage value for controlling the content of the fragrance generated by the fragrance generation unit 45 of the sensory presentation mechanism 40 based on the set content of the fragrance. The sensation providing mechanism control unit 311 controls the driving of the fluid generating unit 43 and the fragrance generating unit 45 based on the control voltage value calculated by the sensation providing mechanism driving control voltage calculation unit 309 . As a result, a mixed fluid containing a temperature sensation fluid corresponding to the set temperature sensation content and a fragrance corresponding to the set fragrance content is released from the nozzle 47.

[0093] If the setting is such that no fragrance is provided, the process of calculating the control voltage value for controlling the content of the fragrance is not executed.Furthermore, since the process of driving and controlling the fragrance generating unit 45 is not executed, only the temperature sensation fluid corresponding to the set content of the temperature sensation is emitted from the nozzle 47. [Sensory presentation processing] Next, the sensation presentation process executed by the control unit 30 of the AI speaker 1A will be described. FIG. 9 is a flowchart showing the sensation providing process according to the second embodiment. The CPU of the control unit 30 starts a control program stored in a predetermined area of the ROM, and executes the sensation providing process shown in the flowchart of FIG. 9 in accordance with the program. When the sensation presentation process is executed by the CPU, as shown in FIG. 9, the process first proceeds to step S200. In step S200, the presentation control unit 303 acquires the environmental information data acquired by the environmental information acquisition unit 18, and the process proceeds to step S202. In step S202, the presentation object position detection unit 301 acquires measurement data measured by the three presentation position measurement units 14. Thereafter, the process proceeds to step S204.

[0094] In step S204, the presentation control unit 303 determines the user's surrounding environment based on the environmental information data acquired in step S200. Furthermore, the presentation target position detection unit 301 detects the position of the user's sensation presentation target part based on the measurement data acquired in step S202. Then, the process proceeds to step S206.

[0095] In step S206, the presentation control unit 303 determines whether the determined position of the presentation target part is within a preset presentation position range. If it is determined that it is within the presentation position range (Yes), the detected presentation target position is set as the focal position. Furthermore, information indicating the temperature sensation and aroma content corresponding to the determined ambient environment of the user is obtained from the temperature sensation table and aroma information table. The temperature sensation and aroma content are set to the content obtained from the tables, and the process proceeds to step S208. On the other hand, if it is determined that it is not within the presentation position range (No), the process proceeds to step S200.

[0096] If the process proceeds to step S208, the temperature sensation drive control voltage calculation unit 305 calculates the phase and drive voltage value for driving and controlling each ultrasonic transducer 122b of the four temperature sensation arrays 122A based on the set focal position. Furthermore, the sensation presentation mechanism drive control voltage calculation unit 309 calculates the control voltage value for the fluid generation unit 41 for generating a temperature sensation fluid corresponding to the set temperature sensation, and the control voltage value for the aroma generation unit 45 for generating an aroma corresponding to the set aroma content. Then, the process proceeds to step S210.

[0097] In step S210, the sensation providing mechanism control unit 311 controls the operation of the fluid generating unit 43 to generate a temperature sensation fluid corresponding to the set temperature sensation content. Furthermore, the operation of the aroma generating unit 45 controls the operation of the aroma generating unit 45 to generate an aroma corresponding to the set aroma content. As a result, a mixed fluid in which the temperature sensation fluid and the aroma are mixed is generated in the tank of the fluid generating unit 43. Then, the process proceeds to step S212.

[0098] For example, assume that the temperature sensor, which is the environmental information acquisition unit 18, acquires information indicating a temperature of 30°C. In this case, the fluid generation unit 43 generates, for example, cool air to provide a cooling sensation as the temperature sensation fluid, and is controlled to set the temperature to 24°C or lower, for example, 18°C. The aroma generation unit 45 is also controlled to generate, for example, a peppermint aroma that provides a cooling sensation.

[0099] On the other hand, for example, assume that the temperature sensor, which is the environmental information acquisition unit 18, acquires information that the temperature is 15°C. In this case, the fluid generation unit 43 generates, for example, warm air as the temperature sensation fluid to provide a warm feeling, and controls the temperature to 25°C or higher, for example, 27°C. Furthermore, the aroma generation unit 45 is controlled and driven to generate, for example, a ginger aroma that provides a warm feeling.

[0100] In step S212, the sensation providing mechanism control unit 311 drives the fan in the fluid generating unit 43 to release a mixed fluid, which is a mixture of the temperature sensation fluid for providing a warm or cool sensation and the aroma from the aroma generating unit 45, from the nozzle 47. Then, the process proceeds to step S214.

[0101] In step S214, the thermal sense drive control unit 307 drives and controls each of the ultrasonic transducers 122b of the four thermal sense arrays 122A based on the phase and drive voltage value calculated by the thermal sense drive control voltage calculation unit 305. As a result, the radiation pressure of the ultrasonic waves emitted from each of the ultrasonic transducers 122b of the four thermal sense arrays 122A toward the focal position causes the mixed fluid discharged from the nozzle 47 to be sent to the focal position, which is the presentation target position. Then, the series of processes ends. This allows the user to feel a warm or cool sensation at a presentation target area according to the temperature around the user. In addition, in the case of a mixed fluid, an aroma according to the temperature around the user is also presented around the presentation target area.

[0102] [Effects of the second embodiment] As described above, the AI speaker 1A to which the sensory presentation system of the second embodiment is applied is configured to include, as a sensory presentation system, two temperature sensation arrays 122A, two tactile arrays 122B, an environmental information acquisition unit 18 that acquires environmental information around the user, a fluid generation unit 43 that generates a temperature sensation fluid to present a set temperature sensation to the user's presentation target area, a control unit 30, three presentation position measurement units 14 that measure the position information of the presentation target area, and a nozzle 47 that is arranged in close proximity to the two temperature sensation arrays 122A and releases the temperature sensation fluid generated by the fluid generation unit 43 into the space on the ultrasound emission side of the two temperature sensation arrays 122A. Furthermore, the control unit 30 sets a temperature sensation corresponding to the user's psychological state and the surrounding environment based on the environmental information acquired by the environmental information acquisition unit 18, and controls the fluid generation unit 43 to generate a fluid to present the set temperature sensation to the presentation target area.

[0103] Furthermore, the control unit 30 detects the position of the user's presentation target part based on the measurement data measured by the presentation position measurement unit 14, and controls the drive of the two temperature sensation arrays 122A based on the detected position of the presentation target part so that the temperature sensation fluid emitted from the nozzle 47 reaches the periphery of the presentation target part by the radiation pressure of the ultrasound. Specifically, the drive of each ultrasonic transducer 122b of the two temperature sensation arrays 122A is controlled so that a focus is formed on the surface or periphery of the presentation target part. Here, the user's voice information is acquired as psychological information, and temperature information around the user is acquired as environmental information.

[0104] Furthermore, the control unit 30 sets the content of the tactile sensation corresponding to the user's surrounding environment, and controls the driving of each ultrasonic transducer 122b of the two tactile arrays 122B so that a tactile sensation according to the set content is presented to the presentation target area by the radiation pressure of ultrasonic waves based on the detected position of the presentation target area. Specifically, the control unit 30 controls the driving of each ultrasonic transducer 122b of the two tactile arrays 122B so that a focus is formed on the surface of the presentation target area.

[0105] With this configuration, it is possible to present a temperature sensation appropriate to the user's surrounding environment to the presentation target part of the user. That is, it is possible to present a cool or warm sensation of a temperature appropriate to the surrounding environment. In addition, it is possible to present a tactile sensation appropriate to the user's surrounding environment to the presentation target part of the user. That is, it is possible to present a tactile sensation of an intensity and period appropriate to the surrounding environment. [Corresponding relationship in the second embodiment] In the second embodiment, the control unit 30 corresponds to the fluid control unit, drive control unit, and aroma control unit, the presentation position measurement unit 14, presentation target position detection unit 301, and step S202 correspond to the position detection unit, and the nozzle 47 corresponds to the fluid release unit. In the second embodiment, the temperature sense array 122A corresponds to the first ultrasonic transducer, the tactile array 122B corresponds to the second ultrasonic transducer, and the tank of the fluid generating unit 43 corresponds to the fluid mixing unit.

[0106] [Modification] In the above embodiment, the ultrasonic generator 12 is configured with two ultrasonic transducer arrays, namely, the temperature sense array 122A and the tactile sense array 122B, each of which is configured with a plurality of ultrasonic transducers arranged in an array. However, the configuration is not limited to this, and each of the temperature sense array and the tactile sense array may be configured with a single high-output ultrasonic transducer.

[0107] In the above embodiment and its modified examples, psychological information and environmental information are acquired, and based on this information, a temperature sensation, a tactile sensation, and a fragrance corresponding to the user's psychological state and the surrounding environment are presented. However, this is not a limitation. For example, a configuration may be adopted in which only psychological information is acquired, and a temperature sensation, a tactile sensation, and a fragrance corresponding to the user's psychological state are presented based on the acquired psychological information.

[0108] Furthermore, in the above embodiment and its modified examples, only the tactile array 122B may be provided, and ultrasonic waves emitted by the tactile array 122B may be used to present temperature sensation and fragrance in addition to the tactile sensation. That is, a temperature sensation fluid that presents a warm or cold sensation, or a mixed fluid obtained by mixing a temperature sensation fluid and an fragrance, may be presented to the presentation target site or its vicinity by the ultrasonic waves emitted by the tactile array 122B. Furthermore, in the above embodiment and its modified examples, the positions and numbers of the temperature sensation array 122A, the tactile array 122B and the presentation position measurement unit 14 are configured as shown in Figures 2 and 7, but this configuration is not limited to this and other configurations may also be used.

[0109] A specific example will be given below. 10(a) and 10(b) are top views of AI speakers 1B and 1C according to modified examples. 10(a), the AI speaker 1B has a configuration in which an ultrasonic wave generator 12A is provided instead of the ultrasonic wave generator 12 in the AI speaker 1 of the first embodiment. The ultrasonic wave generator 12A has a configuration in which a temperature sense array 122A is provided instead of the tactile array 122B provided in the small section on the -Y and -X sides of the four small sections on the circuit board 120 in the ultrasonic wave generator 12 of the first embodiment. Furthermore, one of the three presentation position measurement units 14, the presentation position measurement unit 14 on the -Y side, has been moved and placed in place of the tactile array 122B provided in the small section on the -Y and -X sides.

[0110] Furthermore, the AI speaker 1B is configured such that two additional temperature sense arrays 122A are arranged on the upper surface 10u of the housing 10 on the +Y direction side of the two temperature sense arrays 122A on the circuit board 120. Furthermore, the AI speaker 1B is configured such that one additional tactile array 122B is arranged on the upper surface 10u on the −Y direction side of the tactile array 122B on the circuit board 120. With this configuration, the AI speaker 1B has two additional temperature sensation arrays 122A compared to the AI speaker 1, so that the temperature sensation fluid or mixed fluid can be sent over a greater distance.

[0111] As shown in Figure 10(b), AI speaker 1C is configured such that ultrasonic generator 12B replaces ultrasonic generator 12A in AI speaker 1B. Ultrasound generator 12B is configured such that presentation position measurement unit 14, which was located in the small section on the -Y and -X direction sides of ultrasonic generator 12A, is returned to its original position on top surface 10u, and a tactile array 122B is placed in its place. In addition, AI speaker 1C is configured such that an additional tactile array 122B is placed on top surface 10u at the -Y direction side of tactile array 122B. With this configuration, AI speaker 1C has two additional tactile arrays 122B compared to AI speakers 1 and 1B, and therefore can create a spatial tactile sensation at a greater distance.

[0112] 10(a) and 10(b), for example, the positions of the thermal sense array 122A and the tactile array 122B may be interchanged, or the number of thermal sense arrays 122A and tactile arrays 122B on the circuit board 120 may be changed. Also, only the thermal sense array 122A or only the tactile array 122B may be arranged on the circuit board 120, or the number of thermal sense arrays 122A and tactile arrays 122B arranged on the upper surface 10u may be changed. Also, one or two thermal sense arrays 122A or tactile arrays 122B may be arranged on the circuit board 120, and presentation position measurement units 14 may be arranged in the remaining two or three small sections, respectively. Alternatively, the presentation position measurement unit 14 may be arranged in another position, such as straddling two small sections. Next, other examples of the arrangement of the temperature sense array 122A, the tactile array 122B, and the presentation position measuring unit 14 on the circuit board 120 will be described with specific examples. 11(a) to 11(f) are plan views showing ultrasonic wave generating units 12D to 12I according to modified examples.

[0113] 11(a), the ultrasonic wave generating unit 12D has a configuration in which, instead of the presentation position measuring unit 14 arranged in the small sections on the -Y direction side and the -X direction side in the ultrasonic wave generating unit 12B of FIG. 10(a), three presentation position measuring units 14A are arranged which are smaller versions of the presentation position measuring unit 14. With this configuration, the three presentation position measuring units 14 on the upper surface 10u can be removed.

[0114] 11(b), the ultrasound generator 12E has a configuration similar to that of the ultrasound generator 12D, except that the temperature sensation array 122A arranged in the small sections on the +Y and -X sides of the circuit board 120 has been removed. In addition, the three presentation position measuring units 14A have been moved to a position spanning two small sections aligned in the Y direction. With this configuration, the three presentation position measuring units 14A can be positioned near the nozzle 47, making it possible to more reliably deliver the temperature sensation fluid or mixed fluid toward the presentation target location.

[0115] As shown in FIG. 11(c), the ultrasound generator 12F is configured such that the temperature sense array 122A arranged in the small section on the +Y and -X sides of the ultrasound generator 12D is replaced with a tactile array 122B. Furthermore, instead of the three presentation position measurement units 14A arranged in the small section on the -Y and -X sides, one presentation position measurement unit 14A is arranged at a corner of the small section on the -Y and -X sides. Furthermore, a temperature sense array 122C, which is a smaller version of the temperature sense array 122A, is arranged at a corner on the +Y and +X sides of the presentation position measurement unit 14A of this small section. With this configuration, one presentation position measurement unit 14A can be left, and if the output of a single temperature sense array 122A is insufficient, the smaller temperature sense array 122C can be used to supplement the output.

[0116] 11(d), the ultrasound generating unit 12G has a configuration in which the two tactile arrays 122B in the ultrasound generating unit 12F are replaced with temperature sense arrays 122A. Furthermore, presentation position measuring units 14A are additionally arranged adjacent to the temperature sense array 122C on the -X and -Y directions, respectively. With this configuration, three presentation position measuring units 14A are arranged on the circuit board 120, eliminating the need to arrange a separate presentation position measuring unit 14A on the upper surface 10u.

[0117] 11(e), the ultrasound generating unit 12H is configured such that tactile arrays 122B are arranged in all four small sections on the circuit board 120. With this configuration, the four tactile arrays 122B can deliver the temperature sensation fluid or mixed fluid discharged from the opening of the nozzle 47 to the presentation target area and can also form a spatial tactile sensation.

[0118] As shown in FIG. 11(f), the ultrasonic generator 12I has a configuration in which the thermal sensation array 122A arranged in the small sections on the -Y and +X directions of the ultrasonic generator 12A of the second embodiment is replaced with a tactile array 122B. With this configuration, one thermal sensation array 122A is added compared to the AI speaker 1 of the first embodiment. This allows the thermal sensation fluid to be sent farther. Since one tactile array 122B is removed, the output can be supplemented by placing an auxiliary tactile array 122B on the top surface 10u.

[0119] Furthermore, in the above embodiment and its modified examples, one nozzle 47 is connected to the tank of the fluid generating unit 43, but the present invention is not limited to this configuration. For example, other configurations may be used, such as providing separate tanks for the fluid generating unit 43 for a warm sensation and a cool sensation, and providing individual nozzles for each tank.

[0120] In the above embodiment and its modified examples, the environmental information acquisition unit 18 may be configured to include a humidity sensor, and to emit a temperature sensation fluid mixed with mist when the humidity is low and dry. Additionally, when the humidity is high and damp, the temperature sensation fluid without mist or a dried temperature sensation fluid may be emitted.

[0121] Furthermore, in the above embodiment and its modified examples, the thermal sense array 122A and the tactile array 122B are configured to be provided on the circuit board 120, but this configuration is not limited to this. For example, a configuration may be adopted in which all of the thermal sense arrays 122A and the tactile arrays 122B are provided on the top surface 10u of the housing 10 without using the circuit board 120. Furthermore, they may be provided not only on the top surface 10u but also on the side surfaces.

[0122] Furthermore, in the above embodiment and its modified examples, the present invention has been described as being applied to an AI speaker, but the present invention is not limited to this configuration. For example, the present invention may be applied to other devices in which the presentation of airborne antennae and thermal sensations is effective, such as AI robots, movie theater seats, amusement facility performance devices, and facility check-in devices. Furthermore, the present invention may be realized by providing some of the functions described in the embodiment in a device separate from the AI speaker or other device to which the present invention is applied. [Explanation of symbols]

[0123] 1, 1A to 1C...AI speaker, 10...housing, 10u...top surface, 12, 12A to 12I...ultrasonic wave generating unit, 14, 14A...presentation position measuring unit, 14a, 122a...board, 14b...ultrasonic sensor, 16...psychological information acquiring unit, 18...environmental information acquiring unit, 20...operation unit, 22...speaker, 24...sound card, 30...control unit, 40...sensation presentation mechanism, 43...fluid generating unit, 45...aroma generating unit, 45...nozzle, 80...output device, 120...circuit board, 122...ultrasonic transducer Sensor array, 122a...substrate, 122b...ultrasonic transducer, 122A, 122C...thermal sensation transducer, 122B...tactile transducer, 126...through hole, 301...presentation target position detection unit, 303...presentation control unit, 305...thermal sensation drive control voltage calculation unit, 307...thermal sensation drive control unit, 309...sensory presentation mechanism drive control voltage calculation unit, 311...sensory presentation mechanism control unit, 313...tactile drive control voltage calculation unit, 315...tactile drive control unit

Claims

1. an ultrasonic transducer that emits ultrasonic waves; a psychological information acquisition unit that acquires psychological information related to a psychological state of a user; a fluid generating unit that generates a fluid for presenting a set temperature sensation to a target part of the user; a fluid control unit that sets a temperature sensation based on the psychological information acquired by the psychological information acquisition unit and controls the fluid generation unit to generate a fluid for presenting the set temperature sensation to the target area; a fluid discharge unit disposed adjacent to the ultrasonic transducer and configured to discharge the fluid generated by the fluid generation unit into a space on the ultrasonic wave emission side of the ultrasonic transducer; a position detection unit that detects the position of the target site; a drive control unit that controls the drive of the ultrasonic transducer based on the position of the target site detected by the position detection unit so that the fluid discharged from the fluid discharge unit reaches the periphery of the target site by the radiation pressure of the ultrasonic waves; A sensory presentation system comprising:

2. In claim 1, An environmental information acquisition unit that acquires environmental information related to the surrounding environment of the user, The fluid control unit sets a temperature sensation corresponding to the user's psychological state and the surrounding environment based on the psychological information as well as the environmental information acquired by the environmental information acquisition unit, and controls the fluid generation unit to generate a fluid to present the set temperature sensation.

3. In claim 1 or 2, The drive control unit is a sensory presentation system that controls the drive of the ultrasonic transducer so as to present a tactile sensation in addition to the temperature sensation to the target area by the radiation pressure of the ultrasonic waves emitted by the ultrasonic transducer.

4. In claim 3, a first ultrasonic transducer for presenting the temperature sensation and a second ultrasonic transducer for presenting the tactile sensation; The drive control unit controls the drive of the first ultrasonic transducer when presenting a temperature sensation to the target area, and controls the drive of the second ultrasonic transducer when presenting a tactile sensation to the target area.

5. In claim 1 or 2, a plurality of the ultrasonic transducers arranged in an array; The drive control unit controls the drive of the ultrasonic transducers so that the ultrasonic transducers form a focus on or around the surface of the target area.

6. In claim 1 or 2, the psychological information acquisition unit acquires voice information or image information including a face of the user, The drive control unit is a sensory presentation system that determines the psychological state of the user based on the audio information or the image information.

7. In claim 2, The fluid generating unit includes a hot air generating mechanism that generates hot air and a cold air generating mechanism that generates cold air, The fluid control unit is a sensation presentation system that selects one of the hot air generating mechanism and the cold air generating mechanism that presents a temperature sensation corresponding to the psychological state and the surrounding environment, and controls the selected mechanism.

8. In claim 7, The fluid control unit is a sensory presentation system that controls the temperature of the fluid generated by the selected mechanism from the hot air generation mechanism and the cold air generation mechanism to a temperature that corresponds to the psychological state and the surrounding environment.

9. In claim 1 or 2, The fluid generating unit is a sensory presentation system that generates a fluid including mist.

10. In claim 9, the fluid generating unit generates a room temperature fluid containing mist as a fluid that provides a cool sensation, which is one type of temperature sensation; The drive control unit further controls the drive of the ultrasonic transducer so that the mist that reaches the vicinity of the target area is vaporized by the ultrasonic waves.

11. In claim 1 or 2, The drive control unit is a sensory presentation system that controls the radiation position and radiation pressure of ultrasonic waves from the ultrasonic transducer.

12. In claim 2, an aroma generating unit capable of generating a plurality of different aromas; an aroma control unit that controls the aroma generating unit to generate an aroma that is preset in accordance with the psychological state and the content of the surrounding environment; a fluid mixing unit that mixes the aroma generated by the aroma generating unit with the fluid generated by the fluid generating unit, The fluid discharging unit is configured to be able to discharge the mixed fluid mixed in the fluid mixing unit.

13. In claim 2, a temperature sensation information storage unit that stores temperature sensation information indicating a temperature sensation of a warm sensation or a cold sensation in association with a combination of the psychological state and the ambient environment, the psychological state, or the ambient environment; The fluid control unit acquires temperature sensation information corresponding to the acquired information from the temperature sensation information storage unit based on a combination of the psychological information and the environmental information acquired by the psychological information acquisition unit and the environmental information acquisition unit, the psychological information acquired by the psychological information acquisition unit, or the environmental information acquired by the environmental information acquisition unit, and controls the fluid generation unit to generate a fluid to present a warm or cool sensation corresponding to the acquired temperature sensation information.

14. In claim 2, a temperature sensation information storage unit that stores temperature sensation information indicating what temperature sensation should be presented in association with a combination of the psychological state and the ambient environment, the psychological state, or the ambient environment; The fluid control unit acquires temperature sensation information corresponding to the acquired information from the temperature sensation information storage unit based on a combination of the psychological information and the environmental information acquired by the psychological information acquisition unit and the environmental information acquisition unit, the psychological information acquired by the psychological information acquisition unit, or the environmental information acquired by the environmental information acquisition unit, and controls the fluid generation unit to generate a fluid at a temperature corresponding to the acquired temperature sensation information.

15. an ultrasonic transducer that emits ultrasonic waves; an environmental information acquisition unit that acquires environmental information related to the user's surrounding environment; a fluid generating unit that generates a fluid for presenting a set temperature sensation to a target part of the user; a fluid control unit that sets a temperature sensation corresponding to the user's surrounding environment based on the environmental information acquired by the environmental information acquisition unit, and controls the fluid generation unit to generate a fluid for presenting the set temperature sensation to the target area; a fluid discharge unit disposed adjacent to the ultrasonic transducer and configured to discharge the fluid generated by the fluid generation unit into a space on the ultrasonic wave emission side; a position detection unit that detects the position of the target site; a drive control unit that controls the drive of the ultrasonic transducer based on the position of the target site detected by the position detection unit so that the fluid discharged from the fluid discharge unit reaches the periphery of the target site by the radiation pressure of the ultrasonic waves; A sensory presentation system comprising:

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