Directional sound pickup method, device, electronic device and storage medium

Abstract

The present application relates to a directional sound pickup method, device, electronic device and storage medium, the method comprising: obtaining a microphone array; determining the delayed sum beamformer weights of the microphone received signal and the target direction according to the microphone array; determining the near-end signal and the far-end signal according to the delayed sum beamformer weights of the microphone received signal and the target direction; inputting the near-end signal and the far-end signal into an adaptive cancellation filter to output an adaptive filter output signal; VAD detecting the adaptive filter output signal, if the detection result is that speech is detected, caching to obtain a cached speech signal; calculating the overall arrival direction of the cached speech signal; judging whether the overall arrival direction of the cached speech signal is within the sound pickup area, and processing the cached speech signal according to the judgment result. The present application introduces an adaptive filter to achieve strong suppression of interference noise, and judges whether the recognition result is valid in combination with the overall arrival direction, so that misrecognition is greatly suppressed.

Description

Technical Field

[0001] The present application relates to the technical field of directional sound pickup, and in particular to a directional sound pickup method, device, electronic device and storage medium. Background Art

[0002] A super-directional beamformer is designed for a specified direction, and the weighted sum of the microphone receiving signals is used to obtain the speech signal in that direction. However, the interference suppression capability is weak, and the residual interference signal can easily trigger misrecognition. Summary of the invention

[0003] Based on the problem that the interference suppression capability is weak and the residual interference signal is easy to trigger misidentification, the present application provides a directional sound pickup method, an electronic device and a storage medium.

[0004] In a first aspect, an embodiment of the present application provides a directional sound pickup method, comprising:

[0005] Get the microphone array;

[0006] Determining delay-sum beamformer weights of microphone received signals and target directions based on the microphone array;

[0007] Determine near-end signal and far-end signal according to the microphone received signal and the delay-sum beamformer weight in the target direction;

[0008] Inputting the near-end signal and the far-end signal into an adaptive cancellation filter and outputting an adaptive filter output signal;

[0009] VAD detects the output signal of the adaptive filter, and if the detection result is that speech is detected, caches it to obtain a cached speech signal;

[0010] Calculate the overall direction of arrival of the buffered speech signal;

[0011] It is determined whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and the buffered voice signal is processed according to the determination result.

[0012] Furthermore, the above-mentioned directional sound pickup method also includes:

[0013] Calculate the instantaneous direction of arrival of the current frame signal based on the microphone received signal.

[0014] Whether to update the parameters of the adaptive cancellation filter is determined according to the difference between the instantaneous arrival direction and the target direction.

[0015] Furthermore, in the above-mentioned directional sound pickup method, determining the delay-sum beamformer weight of the microphone receiving signal and the target direction according to the microphone array includes:

[0016] Determine the microphone receiving signal and reference microphone according to the microphone array and establish the microphone coordinates, record the target direction and pickup range;

[0017] Calculate the time delay of receiving the target direction signal by the plurality of microphones relative to the reference microphone according to the microphone coordinates;

[0018] The steering vector of the microphone array is calculated according to the time delay of the multiple microphones receiving the target direction signal relative to the reference microphone, so as to obtain the delay sum beamformer weight in the target direction.

[0019] Furthermore, in the above-mentioned directional sound pickup method, determining the near-end signal and the far-end signal according to the microphone receiving signal and the delay-sum beamformer weight in the target direction includes:

[0020] The delayed sum beamformer weights in the target direction are weighted to the received signals of the multiple microphones, and the sum can obtain an enhanced speech signal in the target direction, where the enhanced speech signal in the target direction is a near-end signal;

[0021] The received signals of the multiple microphones are subtracted from the received signals of the reference microphones in pairs to obtain a multi-path interference signal that suppresses the target direction signal. The multi-path interference signal that suppresses the target direction signal is a far-end signal.

[0022] Furthermore, the above-mentioned directional sound pickup method further includes:

[0023] If the difference between the instantaneous arrival direction and the target direction is within the first sound pickup range, the parameters of the adaptive cancellation filter are not updated;

[0024] If the difference between the instantaneous arrival direction and the target direction is not within the first sound pickup range, the parameters of the adaptive cancellation filter are updated.

[0025] Furthermore, in the above-mentioned directional sound pickup method, determining whether the overall arrival direction of the buffered voice signal is within the sound pickup area includes:

[0026] If the difference between the overall arrival direction of the buffered voice signal and the target direction is within the first sound pickup range, then the overall arrival direction of the buffered voice signal is within the sound pickup area;

[0027] If the difference between the overall arrival direction of the buffered voice signal and the target direction is not within the first sound pickup range, then the overall arrival direction of the buffered voice signal is not within the sound pickup area.

[0028] Furthermore, in the above-mentioned directional sound pickup method, the buffered voice signal is processed according to the judgment result, including:

[0029] If the overall arrival direction of the buffered voice signal is within the sound pickup area, the buffered voice signal is adopted;

[0030] If the overall arrival direction of the buffered voice signal is not within the sound pickup area, the buffered voice signal is discarded.

[0031] In a second aspect, an embodiment of the present application provides a directional sound pickup device, comprising:

[0032] Acquisition module: used to acquire microphone array;

[0033] A first determination module: used to determine the delay-sum beamformer weights of the microphone receiving signal and the target direction according to the microphone array;

[0034] A second determination module: used for determining a near-end signal and a far-end signal according to a microphone received signal and a delay-sum beamformer weight in a target direction;

[0035] Input-output module: used to input the near-end signal and the far-end signal into the adaptive cancellation filter and output the adaptive filter output signal;

[0036] Detection cache module: used for VAD detection of adaptive filter output signal. If the detection result is that speech is detected, the cache is performed to obtain a cached speech signal.

[0037] Calculation module: calculates the overall direction of arrival of the cached voice signal;

[0038] The judgment module and the processing module are used to judge whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and process the buffered voice signal according to the judgment result.

[0039] In a third aspect, an embodiment of the present application further provides an electronic device, characterized in that it includes: a processor and a memory;

[0040] The processor is used to execute the above-mentioned directional sound pickup method by calling the program or instruction stored in the memory.

[0041] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a program or instruction, and the program or instruction enables the computer to implement the above-mentioned directional sound pickup method.

[0042] The advantages of the embodiments of the present application are: the present application relates to a directional sound pickup method, device, electronic device and storage medium, the method comprising: obtaining a microphone array; determining the delayed sum beamformer weights of the microphone receiving signal and the target direction according to the microphone array; determining the near-end signal and the far-end signal according to the delayed sum beamformer weights of the microphone receiving signal and the target direction; inputting the near-end signal and the far-end signal into an adaptive cancellation filter to output an adaptive filter output signal; VAD detecting the adaptive filter output signal, if the detection result is that speech is detected, caching to obtain a cached speech signal; calculating the overall direction of arrival of the cached speech signal; judging whether the overall direction of arrival of the cached speech signal is within the sound pickup area, and processing the cached speech signal according to the judgment result. The present application introduces an adaptive filter to achieve strong suppression of interference noise, and uses instantaneous DOA to control the update of the adaptive filter parameters to protect the signal in the sound pickup area from being damaged. At the same time, combined with VAD, the overall direction of arrival of the speech segment data can be obtained, and further judgment can be made on whether the recognition result is valid, so as to prevent the recognition caused by residual interference from being adopted, and greatly suppress misrecognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A directional sound pickup method provided in an embodiment of the present application is shown in FIG. Figure 1 ;

[0045] Figure 2 A directional sound pickup method provided in an embodiment of the present application is shown in FIG. Figure 2 ;

[0046] Figure 3 A directional sound pickup method provided in an embodiment of the present application is shown in FIG. Figure 3 ;

[0047] Figure 4 A schematic diagram of a directional sound pickup device provided in an embodiment of the present application;

[0048] Figure 5 It is a schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0051] Figure 1 A directional sound pickup method provided in an embodiment of the present application is shown in FIG. Figure 1 .

[0052] In the first aspect, the present application provides a directional sound pickup method, combining Figure 1 , including seven steps from S101 to S107:

[0053] S101: Acquire a microphone array;

[0054] Specifically, in the embodiment of the present application, the microphone array may be a microphone array of any formation.

[0055] S102: Determine, according to the microphone array, a delayed-sum beamformer weight of a microphone received signal and a target direction.

[0056] Specifically, in an embodiment of the present application, a method for determining a delayed-sum beamformer weight of a microphone received signal and a target direction according to a microphone array is described below in conjunction with specific steps.

[0057] S103: Determine a near-end signal and a far-end signal according to a microphone received signal and a delay-sum beamformer weight in a target direction.

[0058] Specifically, in an embodiment of the present application, the delayed-sum beamformer weights of the target direction are weighted to multiple microphone received signals, and the sum can obtain an enhanced target direction speech signal, which is a near-end signal; the multiple microphone received signals are subtracted from the reference microphone received signals in pairs to obtain a multi-path interference signal that suppresses the target direction signal, and the multi-path interference signal that suppresses the target direction signal is a far-end signal.

[0059] S104: Input the near-end signal and the far-end signal into an adaptive cancellation filter to output an adaptive filter output signal.

[0060] Specifically, in the embodiment of the present application, the near-end signal and the far-end signal are respectively sent to the adaptive cancellation filter as the near-end signal and the far-end signal to achieve strong suppression of interference noise.

[0061] S105: VAD detects the output signal of the adaptive filter. If the detection result is that speech is detected, buffering is performed to obtain a buffered speech signal.

[0062] Specifically, in the embodiment of the present application, the output signal of the adaptive cancellation filter is After VAD judgment, if VAD detects speech, the corresponding original time-frequency domain signal is cached until VAD finishes detecting speech.

[0063] S106: Calculate the overall direction of arrival of the buffered speech signal.

[0064] S107: Determine whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and process the buffered voice signal according to the determination result.

[0065] Specifically, in the embodiment of the present application, the overall direction of arrival of the cached voice signal is calculated to determine whether the overall direction of arrival of the cached voice signal is within the pickup area. The cached voice signal is processed based on the determination result. Combined with VAD, the overall DOA of the voice segment data can be obtained to further determine whether the recognition result is valid, thereby preventing the recognition caused by residual interference from being adopted and greatly suppressing erroneous recognition.

[0066] Figure 2 A directional sound pickup method provided in an embodiment of the present application is shown in FIG. Figure 2 .

[0067] Furthermore, the above-mentioned directional sound pickup method is combined with Figure 2 , further comprising two steps S201 to S202:

[0068] S201: Calculate the instantaneous direction of arrival of the current frame signal according to the microphone received signal.

[0069] S202: Determine whether to update the parameters of the adaptive cancellation filter according to the difference between the instantaneous arrival direction and the target direction.

[0070] Specifically, in the example of the present application, the instantaneous direction of arrival is used to control the updating of the adaptive filter parameters to protect the pickup area signal from being damaged.

[0071] Figure 3 A directional sound pickup method provided in an embodiment of the present application is shown in FIG. Figure 3 .

[0072] Furthermore, in the above-mentioned directional sound pickup method, the delay-sum beamformer weights of the microphone receiving signal and the target direction are determined according to the microphone array, and combined with Figure 3 , including three steps from S301 to S303:

[0073] S301: Determine the microphone receiving signal and the reference microphone according to the microphone array and establish the microphone coordinates, and record the target direction and the sound pickup range;

[0074] S302: Calculating the time delay of multiple microphones receiving target direction signals relative to the reference microphone according to the microphone coordinates;

[0075] S303: Calculate the steering vector of the microphone array according to the time delay of the multiple microphones receiving the target direction signal relative to the reference microphone, so as to obtain the delay-sum-beamformer weight of the target direction.

[0076] Specifically, in the embodiment of the present application, after obtaining the microphone array, a reference microphone is determined and a plane rectangular coordinate system is established. The target direction is φ, and the pickup range is φ±δ. The time delay of each microphone receiving signals in different directions relative to the reference microphone can be obtained according to the microphone coordinates. From this, the steering vector of the microphone array can be obtained, and thus the delay-sum beamformer weight of the target direction can be obtained.

[0077] Furthermore, the above-mentioned directional sound pickup method further includes:

[0078] If the difference between the instantaneous direction of arrival and the target direction is within the first sound pickup range, the parameters of the adaptive cancellation filter are not updated;

[0079] Specifically, in the embodiment of the present application, if the difference between the instantaneous arrival direction and the target direction is within the first sound pickup range, the adaptive cancellation filter does not update parameters to protect the near-end signal from being damaged.

[0080] If the difference between the instantaneous arrival direction and the target direction is not within the first sound pickup range, the parameters of the adaptive cancellation filter are updated.

[0081] Specifically, in the embodiment of the present application, if the difference between the instantaneous arrival direction and the target direction is not within the first sound pickup range, it indicates that the current signal is not within the sound pickup range, and the filter is updated to suppress noise and interference.

[0082] Furthermore, in the above-mentioned directional sound pickup method, determining whether the overall arrival direction of the buffered voice signal is within the sound pickup area includes:

[0083] If the difference between the overall arrival direction of the buffered voice signal and the target direction is within the first sound pickup range, then the overall arrival direction of the buffered voice signal is within the sound pickup area;

[0084] If the difference between the overall arrival direction of the buffered voice signal and the target direction is not within the first sound pickup range, then the overall arrival direction of the buffered voice signal is not within the sound pickup area.

[0085] Specifically, in the embodiment of the present application, whether the overall arrival direction of the cached voice signal is within the sound pickup area is determined by determining the difference between the overall arrival direction of the cached voice signal and the target direction.

[0086] Furthermore, in the above-mentioned directional sound pickup method, the buffered voice signal is processed according to the judgment result, including:

[0087] If the overall arrival direction of the buffered voice signal is within the sound pickup area, the buffered voice signal is adopted;

[0088] If the overall arrival direction of the buffered voice signal is not within the sound pickup area, the buffered voice signal is discarded.

[0089] Specifically, in the embodiment of the present application, by determining whether the overall arrival direction of the cached voice signal is within the pickup area, it is determined whether to adopt the cached voice signal or discard the cached voice signal, thereby preventing the recognition caused by interference residue from being adopted, thereby greatly suppressing erroneous recognition.

[0090] Figure 4 A schematic diagram of a directional sound pickup device provided in an embodiment of the present application.

[0091] In a second aspect, an embodiment of the present application provides a directional sound pickup device, comprising:

[0092] Acquisition module 401: used to acquire a microphone array.

[0093] Specifically, in the embodiment of the present application, the microphone array acquired by the acquisition module 401 may be a microphone array of any formation.

[0094] The first determination module 402 is configured to determine the delay-sum beamformer weights of the microphone received signal and the target direction according to the microphone array.

[0095] Specifically, in the embodiment of the present application, the first determination module 402 determines the delay-sum beamformer weights of the microphone received signal and the target direction according to the microphone array. The determination method is introduced above in conjunction with specific steps.

[0096] The second determination module 403 is configured to determine the near-end signal and the far-end signal according to the microphone reception signal and the delay-sum beamformer weight in the target direction.

[0097] Specifically, in an embodiment of the present application, the second determination module 403 weights the delayed-sum beamformer weights of the target direction to multiple microphone received signals, and the sum can obtain an enhanced target direction speech signal, which is a near-end signal; the multiple microphone received signals are subtracted from the reference microphone received signals in pairs to obtain a multi-path interference signal that suppresses the target direction signal, and the multi-path interference signal that suppresses the target direction signal is a far-end signal.

[0098] Input-output module 404: used for inputting the near-end signal and the far-end signal into the adaptive cancellation filter and outputting the adaptive filter output signal.

[0099] Specifically, in the embodiment of the present application, the input-output module 404 inputs the near-end signal and the far-end signal as the near-end signal and the far-end signal respectively into the output signal of the adaptive cancellation filter, thereby achieving strong suppression of interference noise.

[0100] The detection buffer module 405 is used for VAD detection of the output signal of the adaptive filter. If the detection result is that speech is detected, the signal is buffered to obtain a buffered speech signal.

[0101] Specifically, in the embodiment of the present application, the detection buffer module 405 adaptively cancels the output signal of the filter After VAD judgment, if VAD detects speech, the corresponding original time-frequency domain signal is cached until VAD finishes detecting speech.

[0102] Calculation module 406: Calculates the overall direction of arrival of the buffered speech signal.

[0103] The judgment module 407 and the processing module 408 are used to judge whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and process the buffered voice signal according to the judgment result.

[0104] Specifically, in the embodiment of the present application, the calculation module 406 calculates the overall arrival direction of the cached voice signal, the judgment module 407 judges whether the overall arrival direction of the cached voice signal is within the pickup area, and the processing module 408 processes the cached voice signal according to the judgment result. Combined with VAD, the overall arrival direction of the voice segment data can be obtained, and whether the recognition result is valid can be further judged to prevent the recognition caused by interference residue from being adopted, so that misrecognition can be greatly suppressed.

[0105] In a third aspect, an embodiment of the present application further provides an electronic device, characterized in that it includes: a processor and a memory;

[0106] The processor is used to execute the above-mentioned directional sound pickup method by calling the program or instruction stored in the memory.

[0107] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a program or instruction, and the program or instruction enables the computer to implement the above-mentioned directional sound pickup method.

[0108] Figure 5 It is a schematic block diagram of an electronic device provided by an embodiment of the present disclosure.

[0109] like Figure 5 As shown, the electronic device includes: at least one processor 501, at least one memory 502 and at least one communication interface 503. The various components in the electronic device are coupled together through a bus system 504. The communication interface 503 is used to transmit information between external devices. It can be understood that the bus system 504 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 504 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Figure 5 Various buses are labeled as bus system 504 .

[0110] It can be understood that the memory 502 in this embodiment can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0111] In some implementations, the memory 502 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system and application programs.

[0112] The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. A program that implements any method of a directional sound pickup method provided in an embodiment of the present application can be included in the application.

[0113] In the embodiment of the present application, the processor 501 calls the program or instruction stored in the memory 502, specifically, the program or instruction stored in the application, and the processor 501 is used to execute the steps of each embodiment of a directional sound pickup method provided in the embodiment of the present application.

[0114] Get the microphone array;

[0115] Determining delay-sum beamformer weights of microphone received signals and target directions based on the microphone array;

[0116] Determine near-end signal and far-end signal according to the microphone received signal and the delay-sum beamformer weight in the target direction;

[0117] Inputting the near-end signal and the far-end signal into an adaptive cancellation filter and outputting an adaptive filter output signal;

[0118] VAD detects the output signal of the adaptive filter, and if the detection result is that speech is detected, caches it to obtain a cached speech signal;

[0119] Calculate the overall direction of arrival of the buffered speech signal;

[0120] It is determined whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and the buffered voice signal is processed according to the determination result.

[0121] Any method in a directional sound pickup method provided in an embodiment of the present application can be applied to a processor 501, or implemented by a processor 501. The processor 501 can be an integrated circuit chip having signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 501 or an instruction in the form of software. The above processor 501 can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0122] The steps of any method in a directional sound pickup method provided in an embodiment of the present application can be directly embodied as being executed by a hardware decoding processor, or being executed by a combination of hardware and software units in a decoding processor. The software unit can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502, and completes the steps of a directional sound pickup method in combination with its hardware.

[0123] Those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present application and to form different embodiments.

[0124] Those skilled in the art will appreciate that the description of each embodiment has its own emphasis, and for parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A directional sound pickup method, characterized in that: include: Get the microphone array; Determining delay-sum beamformer weights of the microphone received signal and the target direction according to the microphone array; Determine a near-end signal and a far-end signal according to the microphone received signal and the delay-sum beamformer weight in the target direction; Input the near-end signal and the far-end signal into an adaptive cancellation filter to output an adaptive filter output signal; Calculate the instantaneous direction of arrival of the current frame signal according to the microphone receiving signal, Determining whether to update the parameters of the adaptive cancellation filter according to the difference between the instantaneous arrival direction and the target direction; VAD detects the output signal of the adaptive filter, and if the detection result is that speech is detected, caches it to obtain a cached speech signal; Calculating the overall direction of arrival of the buffered speech signal; It is determined whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and the buffered voice signal is processed according to the determination result.

2. A directional sound pickup method according to claim 1, characterized in that: The method of determining the delayed sum beamformer weights of the microphone received signal and the target direction according to the microphone array includes: Determine the microphone receiving signal and the reference microphone according to the microphone array and establish the microphone coordinates, and record the target direction and the sound pickup range; Calculating the time delay of receiving the target direction signal by the plurality of microphones relative to the reference microphone according to the microphone coordinates; The steering vector of the microphone array is calculated according to the time delay of the multiple microphones receiving the target direction signal relative to the reference microphone, so as to obtain the delay-sum-beamformer weight of the target direction.

3. A directional sound pickup method according to claim 1, characterized in that: The method of determining a near-end signal and a far-end signal according to the microphone received signal and a delay-sum beamformer weight in a target direction comprises: The delayed sum beamformer weights of the target direction are weighted to the signals received by multiple microphones, and the sum can obtain an enhanced target direction speech signal, wherein the enhanced target direction speech signal is a near-end signal; The signals received by the multiple microphones are subtracted from the signals received by the reference microphones in pairs to obtain a multi-path interference signal that suppresses the target direction signal, wherein the multi-path interference signal that suppresses the target direction signal is a far-end signal.

4. A directional sound pickup method according to claim 1, characterized in that: The method further comprises: If the difference between the instantaneous arrival direction and the target direction is within the first sound pickup range, the parameters of the adaptive cancellation filter are not updated; If the difference between the instantaneous arrival direction and the target direction is not within the first sound pickup range, the parameters of the adaptive cancellation filter are updated.

5. A directional sound pickup method according to claim 1, characterized in that: The determining whether the overall arrival direction of the buffered voice signal is within the sound pickup area includes: If the difference between the overall arrival direction of the buffered voice signal and the target direction is within the first sound pickup range, then the overall arrival direction of the buffered voice signal is within the sound pickup area; If the difference between the overall arrival direction of the buffered voice signal and the target direction is not within the first sound pickup range, then the overall arrival direction of the buffered voice signal is not within the sound pickup area.

6. A directional sound pickup method according to claim 1, characterized in that: The processing of the buffered voice signal according to the judgment result includes: If the overall arrival direction of the buffered voice signal is within the sound pickup area, adopt the buffered voice signal; If the overall arrival direction of the buffered voice signal is not within the sound pickup area, the buffered voice signal is discarded.

7. A directional sound pickup device, characterized in that: include: Acquisition module: used to acquire microphone array; A first determination module: used to determine the delay-sum beamformer weights of the microphone received signal and the target direction according to the microphone array; A second determination module is used to determine a near-end signal and a far-end signal according to the microphone received signal and the delay-sum beamformer weight in the target direction; Input-output module: used for inputting the near-end signal and the far-end signal into an adaptive cancellation filter and outputting an adaptive filter output signal; Calculate the instantaneous direction of arrival of the current frame signal according to the microphone receiving signal, Determining whether to update the parameters of the adaptive cancellation filter according to the difference between the instantaneous arrival direction and the target direction; Detection cache module: used for VAD to detect the output signal of the adaptive filter, and if the detection result is that speech is detected, cache is performed to obtain a cached speech signal; Calculation module: calculates the overall direction of arrival of the buffered voice signal; The judgment module and the processing module are used to judge whether the overall arrival direction of the buffered voice signal is within the sound pickup area, and process the buffered voice signal according to the judgment result.

8. An electronic device, characterized in that: include: Processor and memory; The processor is used to execute a directional sound pickup method as claimed in any one of claims 1 to 6 by calling the program or instruction stored in the memory.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute a directional sound pickup method as claimed in any one of claims 1 to 6.

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