Array pickup method and device with steplessly adjustable pickup direction

Abstract

The invention discloses an array pickup method and device with a steplessly adjustable pickup direction, and the method comprises the steps: receiving a first audio of a unidirectional microphone and a second audio of a non-directional microphone, carrying out the calculation of a gain coefficient, and carrying out the gain processing of the first audio according to the gain coefficient, thereby obtaining a first gain audio, and carrying out delay alignment on the second audio to obtain an auxiliary audio, carrying out sound mixing processing on the first gain audio and the auxiliary audio according to the proportion value to obtain a sound mixing audio, and carrying out noise reduction processing on the sound mixing audio according to the noise reduction strategy and the gain coefficient to obtain a corresponding target audio. The method is used in combination with the array pickup device capable of adjusting the pickup directivity in a stepless gradual change manner, the pickup array is formed by two or more microphones with different pickup directivity, large-range stepless adjustment of the pickup directivity is realized by using a specific microphone array algorithm, and meanwhile, the array post-processing noise reduction algorithm is combined, so that the noise reduction effect of the pickup directivity is improved. And a noise reduction function which is stronger than that of the traditional single microphone or simple array pickup is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of audio processing, and in particular to an array sound pickup method and device with steplessly adjustable sound pickup direction. Background Art

[0002] In order to meet the application requirements of different sound pickup directions, some professional microphones can change their sound pickup directions through peripheral circuits (such as being able to switch to cardioid pickup directions or bidirectional pickup directions through peripheral circuits), and some microphone devices can use circuits to switch different sound pickup direction devices to achieve changes in the overall output sound pickup direction. Overall, the existing methods and devices for changing the sound pickup direction of microphones all use a certain switching method (hardware or software) to select different sound pickup devices, thereby achieving changes in the output direction of the microphone. Its disadvantages are: 1. The output direction of the microphone is limited by the directivity of the original pickup device. Considering the overall volume of the microphone, it is generally impossible to integrate more microphone capsules with different directivities to achieve multiple directivity outputs; 2. Its output direction cannot exceed the directivity range of the original pickup device: for example, a combination of a cardioid and an omnidirectional type, its output can only be cardioid or omnidirectional, and super-cardioid or bidirectional directivity cannot be achieved; 3. The change in its directivity is a discrete switching, and it is impossible to achieve a gradual change in directivity, which makes it difficult to meet the usage scenarios that require fine adjustment of the microphone's directivity; 4. This type of microphone only uses one pickup device at the same time, does not effectively utilize the array pickup characteristics formed by multiple microphones, and has poor post-processing noise reduction performance.

[0003] Another type of microphone array based on differential array can adjust the sound pickup direction of the array by adjusting the delayed differential mixing ratio of different array elements, but it generally uses array elements with uniform directivity (usually omnidirectional microphones) to implement the array, and its disadvantage is that it is difficult to achieve strong directivity when the number of array elements is small. Therefore, the microphone array used for sound pickup in the prior art method has the problem of poor sound pickup directivity. Summary of the invention

[0004] The embodiments of the present invention provide an array sound pickup method and device with steplessly adjustable sound pickup direction, aiming to solve the problem of poor sound pickup directionality of a microphone array used for sound pickup in the prior art method.

[0005] In a first aspect, an embodiment of the present invention provides an array sound pickup method with steplessly adjustable sound pickup direction, wherein the method is applied to a sound pickup controller, the sound pickup controller is communicatively connected to a sound pickup array with adjustable directivity, the sound pickup array with adjustable directivity is composed of a unidirectional microphone and a non-directional microphone, and the method comprises:

[0006] If a first audio frequency from the unidirectional microphone and a second audio frequency from the non-directional microphone are received, a gain coefficient corresponding to the first audio frequency and the second audio frequency is calculated according to a preset audio gain strategy;

[0007] Performing gain processing on the first audio according to the gain coefficient to obtain a corresponding first gain audio;

[0008] Performing delay alignment on the second audio according to a preset delay duration to obtain a corresponding auxiliary audio;

[0009] Mixing the first gain audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio;

[0010] The mixed audio is subjected to noise reduction processing according to a preset noise reduction strategy and the gain coefficient to obtain a corresponding target audio.

[0011] In a second aspect, an embodiment of the present invention further provides an array sound pickup device with a continuously adjustable sound pickup direction, wherein the device comprises a device body, a sound pickup controller and a sound pickup array with adjustable directivity, and the sound pickup controller is used to execute the array sound pickup method with a continuously adjustable sound pickup direction as described in the first aspect above;

[0012] The sound pickup controller is arranged in the device body;

[0013] The directivity adjustable sound pickup array is composed of a unidirectional microphone and an omnidirectional microphone; the unidirectional microphone and the omnidirectional microphone are both arranged on the same outer surface of the device body; the pickup direction of the unidirectional microphone is away from the omnidirectional microphone;

[0014] The sound pickup controller is respectively connected to the unidirectional microphone and the non-directional microphone for communication.

[0015] The embodiment of the present invention provides an array sound pickup method and device with steplessly adjustable sound pickup direction, the method comprising: receiving a first audio of a unidirectional microphone and a second audio of a non-directional microphone and calculating a gain coefficient, performing gain processing on the first audio according to the gain coefficient to obtain a first gain audio, performing delay alignment on the second audio to obtain an auxiliary audio, performing mixing processing on the first gain audio and the auxiliary audio according to a ratio value to obtain a mixed audio, and performing noise reduction processing on the mixed audio according to a noise reduction strategy and the gain coefficient to obtain a corresponding target audio. The above method is used in combination with an array sound pickup device that can steplessly and gradually adjust the sound pickup direction, using two or more microphone heads with different sound pickup directions to form a sound pickup array, and using a specific microphone array algorithm to achieve a wide range of stepless adjustment of the sound pickup directionality, and at the same time combined with an array post-processing noise reduction algorithm to achieve a stronger noise reduction function than traditional single microphones or simple array sound pickup. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0017] Figure 1 A method flow chart of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of an application scenario of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of an audio processing flow of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a local audio processing flow of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of the effect of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of another audio processing flow of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0023] Figure 7 Another method flow chart of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0024] Figure 8 A schematic diagram of another application scenario of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0025] Fig. 9 A schematic diagram of another audio processing flow of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0026] Fig.10 A schematic diagram of another audio processing flow of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0027] Fig.11 A further method flow chart of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0028] Fig.12A schematic diagram of another application scenario of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0029] Fig.13 A schematic diagram of the latter audio processing flow of the array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0030] Fig.14 A flowchart of another method of an array sound pickup method with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0031] Fig.15 A schematic block diagram of an array sound pickup device with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0032] Fig.16 Another schematic block diagram of an array sound pickup device with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0033] Fig.17 Another schematic block diagram of an array sound pickup device with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0034] Fig.18 Another schematic block diagram of an array sound pickup device with steplessly adjustable sound pickup direction provided by an embodiment of the present invention;

[0035] Fig.19 It is a schematic block diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0038] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0039] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] See also Figure 1 As shown in the figure, the embodiment of the present invention provides an array sound pickup method with stepless adjustable sound pickup direction, which is applied to a sound pickup controller and is executed by application software installed in the sound pickup controller. Figure 2 and Fig.15 As shown, the sound pickup controller 10 establishes a communication connection with the adjustable directivity sound pickup array 20, which is composed of a unidirectional microphone 21 and a non-directional microphone 22. The sound pickup controller 10 can establish a wired connection or a wireless connection with each microphone head. For example, the sound pickup controller 10 can establish a Bluetooth / RF wireless connection with the microphone head, or establish a wired connection through a data transmission line. Figure 1 As shown, the method includes steps S110 to S150.

[0041] S110: If a first audio signal from the unidirectional microphone and a second audio signal from the non-directional microphone are received, gain coefficients corresponding to the first audio signal and the second audio signal are calculated according to a preset audio gain strategy.

[0042] The omnidirectional microphone is also called the omnidirectional microphone. The omnidirectional microphone and the unidirectional microphone are located in the same physical pickup component. Their relative positions are fixed. The unidirectional microphone is the main pickup microphone. Its pickup direction is the main pickup direction. It mainly picks up the human voice in this direction. The omnidirectional microphone is the auxiliary pickup microphone. It can pick up more environmental noise. A pickup array composed of omnidirectional microphones and unidirectional microphones is shown as follows: Figure 2 shown.

[0043] When directional sound pickup is required, the array algorithm can further enhance the sound in the main pickup direction, while suppressing noise in other directions, achieving better directivity and sidelobe suppression than the supercardioid microphone; the output of the array enhancement and the output of the omnidirectional microphone are delayed and aligned, mixed in proportion, and noise reduction is performed to obtain the final audio output. For the directional adjustable pickup array, its DSP (Digital Signal Processor) processing flow chart is as follows Figure 3As shown. The unidirectional microphone input is x1(t), and the non-directional microphone input is x2(t). After A / D sampling and quantization, they become digital signal sequences x1(n) and x2(n); the digital signal sequence x1(n) is also the digital signal sequence corresponding to the first audio, and x2(n) is also the digital signal sequence corresponding to the second audio. First, the digital signal sequence corresponding to the first audio and the digital signal sequence corresponding to the second audio can be array enhanced by the audio gain strategy.

[0044] In a specific embodiment, step S110 includes sub-steps: respectively calculating a first energy function and a second energy function corresponding to the first audio and the second audio according to the average amplitude function in the audio gain strategy; calculating the first energy function and the second energy function according to the gain calculation formula in the audio gain strategy to obtain a gain coefficient corresponding to the current audio frame.

[0045] Array enhancement processing may be performed on x1(n) and x2(n) first. In a specific embodiment, a time domain difference array processing method based on a short-time energy function may be used to perform array enhancement processing. The specific processing flow is as follows: Figure 4 Here, x1′(n) and x2′(n) obtained after the gain calibration process can be used for calculation, then x1′(n) is the digital signal sequence after the gain calibration process is performed on x1(n) through the calibration coefficient, and x2′(n) is the digital signal sequence after the gain calibration process is performed on x2(n) through the calibration coefficient.

[0046] The first energy function E1′(n) and the second energy function E2′(n) corresponding to x1′(n) and x2′(n) are calculated respectively by the average amplitude function. The calculation formula of the short-time energy function E is shown in formula (1):

[0047]

[0048] Among them, m is the summation variable of the sth frame data, N is the frame length, and n is the sample point number of the current audio frame.

[0049] Furthermore, the first energy function and the second energy function obtained can be calculated according to the gain calculation formula to obtain the gain coefficient corresponding to the current audio frame. The gain calculation formula is shown in formula (2):

[0050]

[0051] Among them, Δ is a minimum value, which is used to prevent excessive output in the Mask gain calculation. Mask0 is the normalized gain value, which is the value that makes the mean value of Mask(n) 1 when the sound source at 0.5m in the main pickup direction makes sound.

[0052] In another embodiment, step S110 includes sub-steps: performing short-time Fourier transform on the first audio and the second audio respectively according to the transformation calculation formula in the audio gain strategy to obtain corresponding first frequency domain signals and second frequency domain signals; calculating first energy functions and second energy functions corresponding to the first frequency domain signals and the second frequency domain signals respectively according to the average amplitude function in the audio gain strategy; calculating the first energy function and the second energy function according to the gain calculation formula in the audio gain strategy to obtain a gain coefficient corresponding to the current audio frame.

[0053] In another embodiment, the audio gain strategy may also be a strategy corresponding to an array processing algorithm based on the frequency domain or sub-band. Specifically, firstly, the first audio and the second audio may be subjected to short-time Fourier transform respectively according to the transformation calculation formula, that is, x1′(n) and x2′(n) are first transformed into frequency domain signals X1′(k,n) and X2′(k,n) by STFT short-time Fourier transform, where the k in the brackets represents the sub-band number; then X1′(k,n) is the first frequency domain signal corresponding to the digital signal sequence of the first audio, and X2′(k,n) is the second frequency domain signal corresponding to the numerical signal sequence of the second audio. The first energy function E1′(k,n) corresponding to X1′(k,n) is calculated by formula (1), and the second energy function E2′(k,n) corresponding to X2′(k,n) is calculated by formula (1); then the corresponding gain coefficient is calculated in each ERB frequency band by the gain calculation formula, and the gain coefficient is also the Mask(k,n) value. The specific calculation process is shown in formula (6):

[0054]

[0055] In the subsequent steps, audio processing is performed based on the gain coefficient Mask(k,n), and applied to X1(k,n) to obtain the array enhanced frequency domain signal Y(k,n), that is, the first gain audio is obtained. The specific process is Y(k,n)=X1′(k,n)×Mask ERB (k,n). Then, it is proportionally mixed with the spectrum signal X2′(k,n-τ) of the auxiliary audio after delay alignment and phase calibration to obtain the spectrum output signal Y′(k,n) with adjustable directivity. The specific process is: Y′(k,n)=k×Y(k,n)+(1-k)×X2′(k,n-τ), k∈[0,1]. At this time, Y′(k,n) is further processed with noise reduction as the mixed audio to obtain the target audio, that is, frequency domain noise reduction is performed on each ERB frequency band to obtain Z(k,n). The specific process is: Z(k,n)=F DRC (Mask ERB (k,n),n)×Y′(k,n),F DRC (Mask ERB(n),n) is the DRC processing function, and finally Z(k,n) is transformed by ISTFT (inverse short-time Fourier transform) to obtain the final time domain signal z(n). The obtained z(n) is also the target audio. The specific process of the above audio processing is as follows: Figure 6 shown.

[0056] The time domain processing and frequency domain processing methods of the present invention each have advantages and disadvantages. The time domain processing method has almost no delay, but the directivity characteristics and noise reduction effect are slightly poor; the frequency domain processing method has good directivity characteristics and excellent noise reduction effect, but the processing delay is slightly large.

[0057] In a specific embodiment, before step S110, the step is also included: obtaining a first test audio and a second test audio obtained by collecting audio from a sound source at a predetermined position by the microphone; the predetermined position is a position in the normal direction of a line connected to the microphone and a distance from the line connected to the microphone is a preset distance; the line connected to the microphone is a line between the unidirectional microphone and the non-directional microphone or a line between the unidirectional microphone and the composite pickup microphone; and distributing and configuring calibration coefficients corresponding to the unidirectional microphone and the other microphone according to the volume of the first test audio and the second test audio, so that the average output volumes of the first test audio and the second test audio after being calibrated by the calibration coefficients are equal.

[0058] Furthermore, since the sensitivity of the omnidirectional microphone and the unidirectional microphone in the above embodiment is not necessarily the same, in order to improve the quality of the audio obtained by picking up sound, a gain calibration process can also be performed before the first audio and the second audio are officially used and collected. Specifically, the point sound source can be set to be located in the normal direction of the microphone line, and the distance from the microphone line is d, that is, the preset distance is d; by adjusting the calibration coefficient, the average output volume of the two omnidirectional microphones and the unidirectional microphones after calibration is equal, that is, the two microphones are calibrated by the calibration coefficient so that the average output amplitude of the two microphones is the same, and different microphones are configured with different calibration coefficients. For example, the calibration coefficient of the unidirectional microphone is 0.8, and the calibration coefficient of the omnidirectional microphone is 1.1. Then, the audio loudness collected by the unidirectional microphone is multiplied by 0.8 to obtain the calibrated audio; the audio loudness collected by the omnidirectional microphone is multiplied by 1.1 to obtain the calibrated audio. The value of d depends on the usage scenario of the microphone. For example, a handheld microphone generally takes d=0.5m-1m. The microphone output signals after gain calibration are x1′(n) and x2′(n). In the subsequent processing steps, the audio obtained after gain calibration processing on the audio collected by the omnidirectional microphone can be used as the second audio, and the audio obtained after gain calibration processing on the audio collected by the unidirectional microphone can be used as the first audio.

[0059] S120: Perform gain processing on the first audio according to the gain coefficient to obtain a corresponding first gain audio.

[0060] The first audio is gain-processed according to the obtained gain coefficient to obtain the first gain audio, which is also the array enhanced output y(n). The specific calculation process is shown in formula (3):

[0061] y(n) = x1′(n) × Mask(n) (3);

[0062] S130: Perform delay alignment on the second audio according to a preset delay duration to obtain a corresponding auxiliary audio.

[0063] The second audio can be delayed aligned according to the preset delay time, that is, x2′(n) is delayed aligned, and the specific expression of the auxiliary audio is x2′(t-τ), where t is the audio frame time of the second audio and τ is the delay time. The value of τ in the above formula depends on the spacing and sampling rate between the unidirectional microphone and the omnidirectional microphone, and its purpose is to make the two microphone heads have the same phase when picking up the sound in the main pickup direction.

[0064] S140: Mix the first gain audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio.

[0065] The first gain audio and the auxiliary audio are mixed according to a preset ratio value, the ratio value is also the mixing ratio coefficient p, the value range of p is [0,1], the higher the p value, the higher the output ratio of the array enhancement algorithm, the better the pickup directionality, the lower the p value, the higher the output ratio of the omnidirectional microphone, and more sounds from other directions can be picked up. The specific process of mixing is shown in formula (4):

[0066] y′(n)=p×y(n) + (1-p) × x2′(t-τ) (4);

[0067] The resulting mixed audio is y′(n); in the above formula, p is the mixing ratio. The larger the value of p, the greater the proportion in the output y(n), and thus the stronger the directivity of the output y′(n), and vice versa.

[0068] S150: Perform noise reduction processing on the mixed audio according to a preset noise reduction strategy and the gain coefficient to obtain a corresponding target audio.

[0069] Finally, the mixed audio is subjected to noise reduction processing according to the noise reduction strategy and the above-mentioned gain coefficient, that is, y′(n) is subjected to noise reduction processing to obtain z(n), and z(n) is the target audio obtained; the purpose of noise reduction processing is to further enhance the difference between the signal in the main pickup direction and the ambient noise in other directions. In this embodiment, a nonlinear compression method similar to dynamic range compression control (DRC) is used to achieve noise reduction processing. The difference from the traditional DRC to implement the noise gate processing is that the instantaneous gain of the traditional DRC depends on the input envelope amplitude of the current signal, while the instantaneous gain in this embodiment depends on the Mask gain of the current frame. The specific noise reduction processing process is shown in formula (5):

[0070] z(n) = f DRC (Mask(n),n) × y′(n) (5);

[0071] Among them, f DRC (Mask(n),n) is the DRC processing function, and its function curve is as follows Figure 5 As shown, Mask(n) is used as the input of the function, f DRC (Mask(n),n) as output.

[0072] See also Figure 7 As shown in the figure, the embodiment of the present invention provides an array sound pickup method with stepless adjustable sound pickup direction, which is applied to a sound pickup controller and is executed by application software installed in the sound pickup controller. Figure 8 and Fig.16 As shown, the sound pickup controller 10 establishes a communication connection with the composite differential sound pickup array 30, and the composite differential sound pickup array 30 is composed of a composite sound pickup microphone 31 and an omnidirectional microphone 22, and the composite sound pickup microphone 31 is a symmetrical combination of two omnidirectional microphones. Figure 7 As shown, the method includes steps S210 to S260.

[0073] S210: If a first sub-audio and a second sub-audio from the composite pickup microphone and a second audio from the omnidirectional microphone are received, the first sub-audio and the second sub-audio are composited according to a preset directivity adjustment parameter to obtain a corresponding first audio.

[0074] Two omnidirectional microphones are stacked to obtain a composite pickup microphone and replace the unidirectional microphone in the above embodiment, thereby obtaining the following: Figure 8 The composite differential pickup array shown in FIG. 1 has a time domain-based processing algorithm flow as follows: Fig. 9 shown.

[0075] Since the composite pickup microphone can collect the first sub-audio and the second sub-audio correspondingly through its two internal omnidirectional microphones, it is necessary to introduce a directivity adjustment parameter Pdir, through which the directivity of the output of the differential array can be controlled, so that the final output of the pickup device obtains a larger directivity adjustment range, and dual-directional pickup can be achieved.

[0076] S220. Calculate the gain coefficients corresponding to the first audio and the second audio according to the preset audio gain strategy. S230. Perform gain processing on the first audio according to the gain coefficient to obtain the corresponding first gain audio. S240. Perform delay alignment on the second audio according to the preset delay duration to obtain the corresponding auxiliary audio. S250. Perform mixing processing on the first gain audio and the auxiliary audio according to the preset ratio value to obtain the corresponding mixed audio. S260. Perform noise reduction processing on the mixed audio according to the preset noise reduction strategy and the gain coefficient to obtain the corresponding target audio.

[0077] The specific process of calculating the gain coefficients corresponding to the first audio and the second audio according to the preset audio gain strategy can also be implemented based on the time domain processing method or the frequency domain processing method, wherein the processing process based on the frequency domain processing method is as follows: Fig.10 As shown in the figure, the processing process based on time domain processing is as follows Fig. 9 The actual processing of steps S220 to S260 is similar to the processing of steps S110 to S150, and will not be described in detail here.

[0078] See also Fig.11 As shown in the figure, the embodiment of the present invention provides an array sound pickup method with stepless adjustable sound pickup direction, which is applied to a sound pickup controller and a signal processor, and is executed by application software installed in the sound pickup controller and the signal processor. Fig.12 and Fig.17 As shown, the sound pickup controller 10 is connected to the adjustable directivity sound pickup array 20 and the signal processor 41 respectively. The adjustable directivity sound pickup array 20 is composed of a unidirectional microphone 21 and an omnidirectional microphone 22. The sound pickup controller 10 can establish a wired or wireless communication connection with the signal processor 41, and the signal processor 41 is connected to the independent omnidirectional microphone 42 to obtain the corresponding independent sound pickup audio from the independent omnidirectional microphone 42. Fig.11 As shown, the method includes steps S310 to S380.

[0079] S310, if the sound pickup controller receives the first audio from the unidirectional microphone and the second audio from the non-directional microphone, the first audio is sent to the signal processor; S320, the sound pickup controller calculates the gain coefficient corresponding to the first audio and the second audio according to the preset audio gain strategy; S330, the sound pickup controller performs gain processing on the first audio according to the gain coefficient to obtain the corresponding first gain audio and sends it to the signal processor; S340, the sound pickup controller performs delay alignment on the second audio according to the preset delay time to obtain the corresponding auxiliary audio; S350, the signal processor performs delay alignment on the second audio according to the preset blocking matrix The first audio and the independent sound pickup audio collected by the independent non-directional microphone are subjected to blocking filtering processing to obtain corresponding blocking audio with the target direction of the original audio removed; S360, the signal processor adaptively filters and enhances the first gain audio according to a preset filtering enhancement strategy and the blocking audio, obtains the corresponding first filtered audio and filter coefficients and sends them to the sound pickup controller; S370, the sound pickup controller mixes the first filtered audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio; S380, the sound pickup controller post-filters the mixed audio according to the filter coefficients to obtain corresponding target audio.

[0080] In this embodiment, the device corresponding to the independent omnidirectional microphone can be used as an independent sound pickup microphone, and the independent omnidirectional microphone is used as microphone 2, and the directivity adjustable sound pickup array is used as microphone 1. The distance and relative position between the microphone 2 and the microphone 1 are not fixed, and the microphone 1 and the microphone 2 can form a distributed sound pickup array to form a better noise reduction effect. Fig.12 Microphone 2 is usually an accessory device of microphone 1 rather than a completely independent device. For example, when microphone 1 is a wireless microphone, microphone 2 may be located at the receiver of microphone 1 (i.e. Fig.12 The auxiliary microphone on the microphone 2) in the figure is used to receive more ambient sound, which can further enhance the noise reduction effect when receiving sound in a unidirectional manner, and can more evenly pick up sounds in all directions when receiving sound in an omnidirectional manner. The DSP processing flow executed by the sound pickup controller and the signal processor is as follows: Fig.13As shown in the figure, compared with the above embodiment of only setting the directional adjustable sound pickup array, a first-level TF-GSC array processing is added. Among them, TF-GSC is also a (transfer function based generalized sidelobe canceller, Transfer Function Generalized Sidelobe Canceler). The difference from the traditional GSC (Generalized Sidelobe Canceler) algorithm is that since the external independent omnidirectional microphone is actually set on microphone 2 (microphone 2 serves as the receiver of microphone 1), Fig.13 The TF-GSC array in is actually located on a signal processor that is in communication with an independent non-directional microphone. The signal processor obtains the first gain audio of microphone 1 (that is, the array enhanced output y(k)) as the main input, obtains the independent sound pickup audio collected by the independent non-directional microphone itself as the auxiliary input, and outputs C(k) as the first filtered audio after TF-GSC processing. The first filtered audio C(k) and the auxiliary audio X(2) are mixed in proportion based on a preset ratio value, and then subjected to frequency domain post-filtering. The post-filtering here is not the aforementioned DRC-based noise reduction algorithm, but the classic log-MMSE post-filtering algorithm, so as to obtain the corresponding target audio. Among them, the original audio in the target direction in step S350 is the original audio with the same direction as the target audio finally obtained, and the original audio in the target direction is the original audio corresponding to the target audio that has not been processed from S360 to step S380.

[0081] See also Fig.14 As shown in the figure, the embodiment of the present invention provides an array sound pickup method with stepless adjustable sound pickup direction, which is applied to a sound pickup controller and a signal processor, and is executed by application software installed in the sound pickup controller and the signal processor. Fig.18 As shown, the sound pickup controller 10 is connected to the composite differential sound pickup array 30 and the signal processor 41 respectively. The composite differential sound pickup array 30 is composed of a composite sound pickup microphone 31 and an omnidirectional microphone 22. The composite sound pickup microphone 31 is a symmetrical combination of two omnidirectional microphones. The signal processor 41 is connected to the independent omnidirectional microphone 42 to obtain the corresponding independent sound pickup audio from the independent omnidirectional microphone 42. Fig.14 As shown, the method includes steps S410 to S480.

[0082] S410, if the sound pickup controller receives the first sub-audio and the second sub-audio from the composite sound pickup microphone, and the second audio from the omnidirectional microphone, the first sub-audio and the second sub-audio are audio-compounded according to the preset directivity adjustment parameters to obtain the corresponding first audio and send it to the signal processor; S420, the sound pickup controller calculates the gain coefficient corresponding to the first audio and the second audio according to the preset audio gain strategy; S430, the sound pickup controller performs gain processing on the first audio according to the gain coefficient to obtain the corresponding first gain audio and send it to the signal processor; S440, the sound pickup controller performs delay alignment on the second audio according to the preset delay time to obtain the corresponding auxiliary audio; S450, the signal processor performs blocking filtering processing on the first audio and the independent sound pickup audio collected by the independent non-directional microphone according to a preset blocking matrix, and obtains the corresponding blocked audio with the target direction of the original audio removed; S460, the signal processor performs adaptive filtering enhancement on the first gain audio according to a preset filtering enhancement strategy and the blocked audio, obtains the corresponding first filtered audio and filter coefficients and sends them to the sound pickup controller; S470, the sound pickup controller performs mixing processing on the first filtered audio and the auxiliary audio according to a preset ratio value, and obtains the corresponding mixed audio; S480, the sound pickup controller performs post-filtering processing on the mixed audio according to the filter coefficients, and obtains the corresponding target audio.

[0083] in addition, Fig.12 The unidirectional microphone in the same way can also be replaced by a composite differential pickup array. In this case, in addition to adding audio composite processing of the first sub-audio and the second sub-audio obtained by the two non-directional microphones of the composite differential pickup array, the processing process of other parts is the same as Fig.13 Totally consistent.

[0084] In the array sound pickup method with steplessly adjustable sound pickup direction disclosed in the above embodiment, the method includes: receiving a first audio of a unidirectional microphone and a second audio of a non-directional microphone and calculating a gain coefficient, performing gain processing on the first audio according to the gain coefficient to obtain a first gain audio, performing delay alignment on the second audio to obtain an auxiliary audio, performing mixing processing on the first gain audio and the auxiliary audio according to a ratio value to obtain a mixed audio, and performing noise reduction processing on the mixed audio according to a noise reduction strategy and the gain coefficient to obtain a corresponding target audio. The above method is used in combination with an array sound pickup device that can steplessly and gradually adjust the sound pickup direction, using two or more microphone heads with different sound pickup directions to form a sound pickup array, and using a specific microphone array algorithm to achieve a wide range of stepless adjustment of the sound pickup directionality, and at the same time combined with an array post-processing noise reduction algorithm to achieve a stronger noise reduction function than traditional single microphones or simple array sound pickup.

[0085] The embodiment of the present invention further provides an array sound pickup device with a continuously adjustable sound pickup direction, the array sound pickup device with a continuously adjustable sound pickup direction comprises a device body 1, a sound pickup controller 10 and a sound pickup array 20 with adjustable directivity. The sound pickup controller 10 in the array sound pickup device with a continuously adjustable sound pickup direction is used to execute the method steps in the aforementioned array sound pickup method with a continuously adjustable sound pickup direction that correspond to the sound pickup array 20 with adjustable directivity and can be executed in the sound pickup controller 10. Specifically, please refer to Fig.15 , Fig.15 A schematic block diagram of an array sound pickup device with steplessly adjustable sound pickup direction provided by an embodiment of the present invention.

[0086] like Fig.15 As shown, the sound pickup controller 10 is arranged in the device body 1; the directivity adjustable sound pickup array 20 consists of a unidirectional microphone 21 and an omnidirectional microphone 22; the unidirectional microphone 21 and the omnidirectional microphone 22 are both arranged on the same outer surface of the device body 1; the pickup direction of the unidirectional microphone 21 is away from the omnidirectional microphone 22; the sound pickup controller 10 is communicated with the unidirectional microphone 21 and the omnidirectional microphone 22 respectively.

[0087] Among them, the array sound pickup device with steplessly adjustable sound pickup direction can be a small sound pickup microphone, a sound pickup pen, a wireless collar microphone, a sound pickup earphone box, a sound pickup watch and other devices.

[0088] exist Fig.15 By adding an independent sound pickup device 40 to the array sound pickup device, the following can be obtained: Fig.17 The array sound pickup device structure shown in the figure, wherein the independent sound pickup device 40 includes a signal processor 41 and an independent non-directional microphone 42 for communication connection, the signal processor 41 is in communication connection with the sound pickup controller 42; the signal processor 41 is in communication connection with the sound pickup controller 10; the device body 1 is provided with a fixing component for fixing the independent sound pickup device 40; when in use, the independent sound pickup device 40 is disassembled from the device body 1 to perform independent sound pickup and be used in combination with the device body 1. Then the signal processor 41 in the independent sound pickup device 40 can be used to execute the method steps corresponding to the directional adjustable sound pickup array 20 in the aforementioned array sound pickup method with stepless adjustable sound pickup direction and can be executed in the signal processor 41. The independent sound pickup device 40 can be set as an independent small microphone, and the independent sound pickup device 40 can be detachably assembled on the device body 1. When it is needed, the independent sound pickup device 40 can be disassembled from the device body 1 and used for independent sound pickup.

[0089] The embodiment of the present invention further provides an array sound pickup device with a continuously adjustable sound pickup direction, the array sound pickup device with a continuously adjustable sound pickup direction comprises a device body 1, a sound pickup controller 10 and a composite differential sound pickup array 30, the sound pickup controller 10 in the array sound pickup device with a continuously adjustable sound pickup direction is used to execute the method steps in the aforementioned array sound pickup method with a continuously adjustable sound pickup direction that correspond to the composite differential sound pickup array 30 and can be executed in the sound pickup controller 10. Specifically, please refer to Fig.16 , Fig.16 A schematic block diagram of an array sound pickup device with steplessly adjustable sound pickup direction provided by an embodiment of the present invention.

[0090] like Fig.16 As shown, the sound pickup controller 10 is arranged in the device body 1; the composite differential sound pickup array 30 is composed of a composite sound pickup microphone 31 and an omnidirectional microphone 22, and the composite sound pickup microphone 31 is a symmetrical combination of two omnidirectional microphones; the composite sound pickup microphone 31 and the omnidirectional microphone 22 are both arranged on the same outer surface of the device body 1; the three omnidirectional microphones 22 are arranged in the same straight line, and the distance between the two omnidirectional microphones in the composite sound pickup microphone 31 is smaller than the distance between the composite sound pickup microphone 31 and the separately arranged omnidirectional microphone 22; the sound pickup controller 10 is respectively connected to the three omnidirectional microphones 22 for communication.

[0091] exist Fig.16 By adding an independent sound pickup device 40 to the array sound pickup device, the following can be obtained: Fig.18 The array sound pickup device structure shown in the figure, wherein the independent sound pickup device 40 includes a signal processor 41 and an independent non-directional microphone 42 for communication connection, the signal processor 41 is in communication connection with the sound pickup controller 42; the signal processor 41 is in communication connection with the sound pickup controller 10; the device body 1 is provided with a fixing component for fixing the independent sound pickup device 40; when in use, the independent sound pickup device 40 is disassembled from the device body 1 to perform independent sound pickup and be used in combination with the device body 1. Then the signal processor 41 in the independent sound pickup device 40 can be used to execute the method steps corresponding to the composite differential sound pickup array 30 in the aforementioned array sound pickup method with stepless adjustable sound pickup direction and can be executed in the signal processor 41.

[0092] The array sound pickup device with steplessly adjustable sound pickup direction provided in the embodiment of the present invention applies the above-mentioned array sound pickup method with steplessly adjustable sound pickup direction, receives the first audio of the unidirectional microphone and the second audio of the non-directional microphone and calculates the gain coefficient, performs gain processing on the first audio according to the gain coefficient to obtain the first gain audio, performs delay alignment on the second audio to obtain the auxiliary audio, performs mixing processing on the first gain audio and the auxiliary audio according to the ratio value to obtain the mixed audio, and performs noise reduction processing on the mixed audio according to the noise reduction strategy and the gain coefficient to obtain the corresponding target audio. The above-mentioned method is used in combination with an array sound pickup device that can adjust the sound pickup direction in a stepless and gradual manner, and uses two or more microphone heads with different sound pickup directions to form a sound pickup array, and uses a specific microphone array algorithm to achieve a large range of stepless adjustment of the sound pickup directionality. At the same time, combined with the array post-processing noise reduction algorithm, a stronger noise reduction function is achieved than the traditional single microphone or simple array sound pickup.

[0093] The array sound pickup method with stepless adjustable sound pickup direction can be implemented in the form of a computer program. The computer program can be used in Fig.19 Runs on the computer device shown.

[0094] See also Fig.19 , Fig.19 The computer device provided in the embodiment of the present invention is a schematic block diagram. The computer device may be an MCU chip for executing an array sound pickup method with a continuously adjustable sound pickup direction to realize an array sound pickup processing with a continuously adjustable sound pickup direction.

[0095] See also Fig.19 The computer device 500 includes a processor 502 , a memory and a communication interface 505 connected via a communication bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0096] The storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can execute an array sound pickup method with steplessly adjustable sound pickup direction, wherein the storage medium 503 can be a volatile storage medium or a non-volatile storage medium.

[0097] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0098] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute an array sound pickup method with steplessly adjustable sound pickup direction.

[0099] The communication interface 505 is used for network communication, such as providing data information transmission, etc. Those skilled in the art will appreciate that Fig.19 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 500 to which the solution of the present invention is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0100] The processor 502 is used to run the computer program 5032 stored in the memory to implement the corresponding functions in the above-mentioned array sound pickup method with stepless adjustable sound pickup direction.

[0101] Those skilled in the art will understand that Fig.19 The embodiments of the computer device shown in the figure do not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are the same as those of the embodiment of the present invention. Fig.19 The embodiments shown are consistent and will not be described again here.

[0102] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0103] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a volatile or non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps included in the array sound pickup method with steplessly adjustable sound pickup direction are implemented.

[0104] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, devices and units can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0105] In the several embodiments provided by the present invention, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be an electrical, mechanical or other form of connection.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0107] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a computer-readable storage medium, including a number of instructions for a computer device (which can be a circuit board, a data processing chip, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned computer-readable storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a magnetic disk or an optical disk.

[0109] The above is only a specific embodiment 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. An array sound pickup method with steplessly adjustable sound pickup direction, characterized in that: The method is applied to a sound pickup controller, the sound pickup controller is in communication connection with a sound pickup array with adjustable directivity, the sound pickup array with adjustable directivity consists of a unidirectional microphone and a non-directional microphone, and the method comprises: If a first audio frequency from the unidirectional microphone and a second audio frequency from the non-directional microphone are received, a gain coefficient corresponding to the first audio frequency and the second audio frequency is calculated according to a preset audio gain strategy; Performing gain processing on the first audio according to the gain coefficient to obtain a corresponding first gain audio; Performing delay alignment on the second audio according to a preset delay duration to obtain a corresponding auxiliary audio; Mixing the first gain audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio; The mixed audio is subjected to noise reduction processing according to a preset noise reduction strategy and the gain coefficient to obtain a corresponding target audio.

2. An array sound pickup method with steplessly adjustable sound pickup direction, characterized in that: The method is applied to a sound pickup controller, the sound pickup controller is in communication connection with a composite differential sound pickup array, the composite differential sound pickup array is composed of a composite sound pickup microphone and an omnidirectional microphone, the composite sound pickup microphone is a symmetrical combination of two omnidirectional microphones, and the method includes: If a first sub-audio and a second sub-audio from the composite pickup microphone and a second audio from the omnidirectional microphone are received, the first sub-audio and the second sub-audio are composited according to a preset directivity adjustment parameter to obtain a corresponding first audio; Calculating gain coefficients corresponding to the first audio and the second audio according to a preset audio gain strategy; Performing gain processing on the first audio according to the gain coefficient to obtain a corresponding first gain audio; Performing delay alignment on the second audio according to a preset delay duration to obtain a corresponding auxiliary audio; Mixing the first gain audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio; The mixed audio is subjected to noise reduction processing according to a preset noise reduction strategy and the gain coefficient to obtain a corresponding target audio.

3. The array sound pickup method with steplessly adjustable sound pickup direction according to claim 1 or 2, characterized in that: The method further comprises: Acquire a first test audio and a second test audio obtained by collecting audio from a sound source at a predetermined position by the microphone; the predetermined position is a position in a normal direction to a line connected to the microphone and a distance from the line connected to the microphone is a preset distance; the line connected to the microphone is a line between the unidirectional microphone and the non-directional microphone or a line between the unidirectional microphone and the composite pickup microphone; Calibration coefficients corresponding to the unidirectional microphone and the other microphone are allocated and configured according to the volume of the first test audio and the second test audio, so that the average output volumes of the first test audio and the second test audio after being calibrated by the calibration coefficients are equal.

4. The array sound pickup method with steplessly adjustable sound pickup direction according to claim 3 is characterized in that: The step of calculating the gain coefficients corresponding to the first audio and the second audio according to the preset audio gain strategy includes: Calculate a first energy function and a second energy function corresponding to the first audio and the second audio respectively according to the average amplitude function in the audio gain strategy; The first energy function and the second energy function are calculated according to the gain calculation formula in the audio gain strategy to obtain a gain coefficient corresponding to the current audio frame.

5. The array sound pickup method with steplessly adjustable sound pickup direction according to claim 3 is characterized in that: The step of calculating the gain coefficients corresponding to the first audio and the second audio according to the preset audio gain strategy includes: Performing short-time Fourier transform on the first audio and the second audio respectively according to the transformation calculation formula in the audio gain strategy to obtain corresponding first frequency domain signals and second frequency domain signals; Calculate a first energy function and a second energy function corresponding to the first frequency domain signal and the second frequency domain signal respectively according to the average amplitude function in the audio gain strategy; The first energy function and the second energy function are calculated according to the gain calculation formula in the audio gain strategy to obtain a frequency domain subband gain coefficient as a gain coefficient corresponding to the current audio frame.

6. An array sound pickup method with steplessly adjustable sound pickup direction, characterized in that: The method is applied to a sound pickup controller and a signal processor, wherein the sound pickup controller is respectively connected to a sound pickup array with adjustable directivity and the signal processor, wherein the sound pickup array with adjustable directivity consists of a unidirectional microphone and an omnidirectional microphone, and the signal processor is connected to an independent omnidirectional microphone to obtain corresponding independent sound pickup audio from the independent omnidirectional microphone. The method comprises: If the sound pickup controller receives the first audio from the unidirectional microphone and the second audio from the non-directional microphone, the first audio is sent to the signal processor; The sound pickup controller calculates gain coefficients corresponding to the first audio and the second audio according to a preset audio gain strategy; The sound pickup controller performs gain processing on the first audio according to the gain coefficient to obtain a corresponding first gain audio and sends the first gain audio to the signal processor; The sound pickup controller performs delay alignment on the second audio according to a preset delay time to obtain a corresponding auxiliary audio; The signal processor performs blocking filtering on the first audio and the independent sound pickup audio collected by the independent non-directional microphone according to a preset blocking matrix to obtain corresponding blocking audio with the original audio in the target direction removed; The signal processor performs adaptive filtering enhancement on the first gain audio according to a preset filtering enhancement strategy and the blocked audio, obtains the corresponding first filtered audio and filter coefficients, and sends them to the sound pickup controller; The sound pickup controller performs mixing processing on the first filtered audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio; The sound pickup controller performs post-filtering processing on the mixed audio according to the filter coefficient to obtain the corresponding target audio.

7. An array sound pickup method with steplessly adjustable sound pickup direction, characterized in that: The method is applied to a sound pickup controller and a signal processor, wherein the sound pickup controller is respectively connected to a composite differential sound pickup array and the signal processor, wherein the composite differential sound pickup array is composed of a composite sound pickup microphone and an omnidirectional microphone, wherein the composite sound pickup microphone is a symmetrical combination of two omnidirectional microphones, and the signal processor is connected to an independent omnidirectional microphone to obtain corresponding independent sound pickup audio from the independent omnidirectional microphone. The method comprises: If the sound pickup controller receives the first sub-audio and the second sub-audio from the composite sound pickup microphone, and the second audio from the omnidirectional microphone, the first sub-audio and the second sub-audio are composited according to the preset directivity adjustment parameter to obtain the corresponding first audio and send it to the signal processor; The sound pickup controller calculates gain coefficients corresponding to the first audio and the second audio according to a preset audio gain strategy; The sound pickup controller performs gain processing on the first audio according to the gain coefficient to obtain a corresponding first gain audio and sends the first gain audio to the signal processor; The sound pickup controller performs delay alignment on the second audio according to a preset delay time to obtain a corresponding auxiliary audio; The signal processor performs blocking filtering on the first audio and the independent sound pickup audio collected by the independent non-directional microphone according to a preset blocking matrix to obtain corresponding blocking audio with the original audio in the target direction removed; The signal processor performs adaptive filtering enhancement on the first gain audio according to a preset filtering enhancement strategy and the blocked audio, obtains the corresponding first filtered audio and filter coefficients, and sends them to the sound pickup controller; The sound pickup controller performs mixing processing on the first filtered audio and the auxiliary audio according to a preset ratio value to obtain corresponding mixed audio; The sound pickup controller performs post-filtering processing on the mixed audio according to the filter coefficient to obtain the corresponding target audio.

8. An array sound pickup device with steplessly adjustable sound pickup direction, characterized in that: The device comprises a device body, a sound pickup controller and a sound pickup array with adjustable directivity, wherein the sound pickup controller is used to execute the array sound pickup method with steplessly adjustable sound pickup directivity as described in any one of claims 1, 3-5; The sound pickup controller is arranged in the device body; The directivity adjustable sound pickup array is composed of a unidirectional microphone and an omnidirectional microphone; the unidirectional microphone and the omnidirectional microphone are both arranged on the same outer surface of the device body; the pickup direction of the unidirectional microphone is away from the omnidirectional microphone; The sound pickup controller is respectively connected to the unidirectional microphone and the non-directional microphone for communication.

9. An array sound pickup device with steplessly adjustable sound pickup direction, characterized in that: The device comprises a device body, a sound pickup controller and a composite differential sound pickup array, wherein the sound pickup controller is used to execute the array sound pickup method with steplessly adjustable sound pickup direction as described in any one of claims 2 to 5; The sound pickup controller is arranged in the device body; The composite differential sound pickup array is composed of a composite sound pickup microphone and an omnidirectional microphone, and the composite sound pickup microphone is symmetrically composed of two omnidirectional microphones; the composite sound pickup microphone and the omnidirectional microphone are both arranged on the same outer surface of the device body; the three omnidirectional microphones are arranged in the same straight line, and the distance between the two omnidirectional microphones in the composite sound pickup microphone is smaller than the distance between the composite sound pickup microphone and the separately arranged omnidirectional microphone; The sound pickup controller is communicatively connected with the three non-directional microphones respectively.

10. The array sound pickup device with steplessly adjustable sound pickup direction according to claim 8 or 9, characterized in that: The device further comprises an independent sound pickup device, the independent sound pickup device comprises a signal processor and an independent non-directional microphone in communication connection, the signal processor is in communication connection with the sound pickup controller; The device body is provided with a fixing assembly for fixing the independent sound pickup device; when in use, the independent sound pickup device is detached from the device body to perform independent sound pickup and be used in combination with the device body.

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