CN114023347A - Directional sound pickup method and device, electronic equipment and storage medium - Google Patents
Directional sound pickup method and device, electronic equipment and storage medium Download PDFInfo
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- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1785—Methods, e.g. algorithms; Devices
- G10K11/17853—Methods, e.g. algorithms; Devices of the filter
- G10K11/17854—Methods, e.g. algorithms; Devices of the filter the filter being an adaptive filter
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
- G10L21/0216—Noise filtering characterised by the method used for estimating noise
- G10L2021/02161—Number of inputs available containing the signal or the noise to be suppressed
- G10L2021/02166—Microphone arrays; Beamforming
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
- H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
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Abstract
The application relates to a directional sound pickup method, a directional sound pickup device, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring a microphone array; determining a delay summation beam former weight of a microphone receiving signal and a target direction according to the microphone array; determining a near-end signal and a far-end signal according to the microphone receiving signal and the delay summation beam former weight in 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 detects the output signal of the adaptive filter, if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal; calculating the integral direction of arrival of the cached voice signals; and judging whether the overall direction of arrival of the cached voice signal is in the pickup area or not, and processing the cached voice signal according to a judgment result. The method and the device introduce the self-adaptive filter to realize strong suppression of the interference noise, and judge whether the recognition result is effective or not by combining the integral direction of arrival, so that the false recognition is greatly suppressed.
Description
Technical Field
The present application relates to the field of directional sound pickup technologies, and in particular, to a directional sound pickup method and apparatus, an electronic device, and a storage medium.
Background
A super-directional beam former is designed for a specified direction, and a voice signal in the direction is obtained by weighting and summing signals received by a microphone, but the interference suppression capability is weak, and the residual interference signal is easy to trigger false recognition.
Disclosure of Invention
Based on the problems that the interference suppression capability is weak, and the residual interference signal is easy to trigger false recognition, the application provides a directional sound pickup method, electronic equipment and a storage medium.
In a first aspect, an embodiment of the present application provides a directional sound pickup method, including:
acquiring a microphone array;
determining a delay summation beam former weight of a microphone receiving signal and a target direction according to the microphone array;
determining a near-end signal and a far-end signal according to the microphone receiving signal and the delay summation beam former weight in 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 detects the output signal of the adaptive filter, if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal;
calculating the integral direction of arrival of the cached voice signals;
and judging whether the overall direction of arrival of the cached voice signal is in the pickup area or not, and processing the cached voice signal according to a judgment result.
Further, the directional sound pickup method further includes:
calculating the instantaneous direction of arrival of the current frame signal according to the microphone received signal,
and determining whether to update the parameters of the self-adaptive cancellation filter according to the difference value of the instantaneous direction of arrival and the target direction.
Further, in the above directional sound pickup method, determining delay-sum beamformer weights of a microphone receiving signal and a target direction according to a microphone array includes:
determining a microphone receiving signal and a reference microphone according to the microphone array, establishing a microphone coordinate, and recording a target direction and a pickup range;
calculating the time delay of the microphones relative to the reference microphone for receiving the target direction signal according to the microphone coordinates;
and calculating a steering vector of the microphone array according to the time delay of the target direction signals received by the microphones relative to the reference microphone, thereby obtaining the delay summation beam former weight of the target direction.
Further, in the above directional sound pickup method, determining a near-end signal and a far-end signal according to the microphone received signal and the delay-sum beamformer weight of the target direction includes:
weighting the delay summation beam former weight value of the target direction to a plurality of microphone receiving signals, and summing to obtain an enhanced target direction voice signal which is a near-end signal;
and subtracting the received signals of the microphones and the received signals of the reference microphones pairwise to obtain a multi-channel interference signal for inhibiting the target direction signal, wherein the multi-channel interference signal for inhibiting the target direction signal is a far-end signal.
Further, the directional sound pickup method further includes:
if the difference value between the instantaneous direction of arrival and the target direction is within a first pickup range, not updating the parameters of the self-adaptive cancellation filter;
and if the difference value between the instantaneous direction of arrival and the target direction is not in the first pickup range, updating the parameters of the self-adaptive cancellation filter.
Further, in the above directional sound pickup method, determining whether the overall arrival direction of the buffered speech signal is within the sound pickup area includes:
if the difference value between the overall direction of arrival of the cached voice signals and the target direction is within a first pickup range, the overall direction of arrival of the cached voice signals is within a pickup area;
and if the difference value between the overall direction of arrival of the cached voice signals and the target direction is not in the first pickup range, the overall direction of arrival of the cached voice signals is not in the pickup area.
Further, in the above directional sound pickup method, processing the buffered speech signal according to the determination result includes:
if the overall direction of arrival of the cached voice signals is in the pickup area, adopting the cached voice signals;
and if the overall arrival direction of the buffered voice signal is not in the sound pickup area, discarding the buffered voice signal.
In a second aspect, an embodiment of the present application provides a directional sound pickup apparatus, including:
an acquisition module: for acquiring a microphone array;
a first determination module: the delay summation beam former weight is used for determining the microphone receiving signals and the target direction according to the microphone array;
a second determination module: the delay summation beam former is used for determining a near-end signal and a far-end signal according to a microphone receiving signal and a delay summation beam former weight value of a target direction;
an input-output module: the adaptive cancellation filter is used for inputting the near-end signal and the far-end signal into the adaptive cancellation filter to output an adaptive filter output signal;
the detection cache module: the method is used for VAD detection of the output signal of the adaptive filter, and if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal;
a calculation module: calculating the integral direction of arrival of the cached voice signals;
the judgment module and the processing module: and the voice processing module is used for judging whether the overall direction of arrival of the cached voice signals is in the pickup area or not and processing the cached voice signals according to the judgment result.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor and a memory;
the processor is used for executing the directional pickup method by calling the program or the instructions stored in the memory.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to perform the above directional sound pickup method.
The embodiment of the application has the advantages that: the application relates to a directional sound pickup method, a directional sound pickup device, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring a microphone array; determining a delay summation beam former weight of a microphone receiving signal and a target direction according to the microphone array; determining a near-end signal and a far-end signal according to the microphone receiving signal and the delay summation beam former weight in 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 detects the output signal of the adaptive filter, if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal; calculating the integral direction of arrival of the cached voice signals; and judging whether the overall direction of arrival of the cached voice signal is in the pickup area or not, and processing the cached voice signal according to a judgment result. The application introduces the adaptive filter to realize strong suppression on interference noise, and utilizes instantaneous DOA to control the updating of the parameters of the adaptive filter to protect the signal in the sound pickup area from being damaged, and simultaneously, the voice section data integral direction of arrival can be obtained by combining VAD, whether the recognition result is effective or not is further judged, the recognition caused by interference residue is prevented from being adopted, and the misrecognition is greatly suppressed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a first schematic diagram illustrating a directional sound pickup method according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating a directional sound pickup method according to an embodiment of the present application;
fig. 3 is a third schematic view of a directional sound pickup method according to an embodiment of the present application;
fig. 4 is a schematic view of a directional sound pickup apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic block diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiment in many different forms than that described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and therefore should not be limited to the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a first schematic diagram illustrating a directional sound pickup method according to an embodiment of the present disclosure.
In a first aspect, an embodiment of the present application provides a directional sound pickup method, which, with reference to fig. 1, includes seven steps S101 to S107:
s101: acquiring a microphone array;
specifically, in the embodiment of the present application, the microphone array may be any array type microphone array.
S102: and determining the delay summation beam former weight of the microphone receiving signal and the target direction according to the microphone array.
Specifically, in the embodiment of the present application, the delay-sum beamformer weight for determining the microphone receiving signal and the target direction according to the microphone array is described below with reference to specific steps.
S103: and determining a near-end signal and a far-end signal according to the microphone receiving signals and the delay summation beam former weight value of the target direction.
Specifically, in the embodiment of the present application, the weights of the delay and sum beamformer in the target direction are weighted to the received signals of the multiple microphones, and an enhanced target direction voice signal is obtained by summing, where the enhanced target direction voice signal is a near-end signal; and subtracting the received signals of the microphones and the received signals of the reference microphones pairwise to obtain a multi-channel interference signal for inhibiting the target direction signal, wherein the multi-channel interference signal for inhibiting the target direction signal is a far-end signal.
S104: the near-end signal and the far-end signal are input into an adaptive cancellation filter to output an adaptive filter output signal.
Specifically, in the embodiment of the present application, a near-end signal and a far-end signal are respectively used as a near-end signal and a far-end signal and are sent to a self-adaptive cancellation filter, so that strong suppression on interference noise is realized.
S105: and the VAD detects the output signal of the adaptive filter, and if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal.
Specifically, in the embodiment of the present application, the output signal of the adaptive cancellation filter is used
After VAD judgment, if the VAD detects voice, the corresponding original time-frequency domain signal is cached until the VAD detects the voice.
S106: the overall direction of arrival of the buffered speech signal is calculated.
S107: and judging whether the overall direction of arrival of the cached voice signal is in the pickup area or not, and processing the cached voice signal according to a judgment result.
Specifically, in the embodiment of the present application, the overall direction of arrival of the buffered voice signal is calculated, whether the overall direction of arrival of the buffered voice signal is in the pickup area is determined, the buffered voice signal is processed according to the determination result, the DOA of the voice segment data can be obtained by combining VAD, whether the recognition result is valid is further determined, recognition caused by interference residue is prevented from being adopted, and therefore misrecognition is greatly suppressed.
Fig. 2 is a schematic diagram illustrating a directional sound pickup method according to an embodiment of the present application.
Further, the directional sound pickup method described above with reference to fig. 2 further includes two steps S201 to S202:
s201: calculating the instantaneous direction of arrival of the current frame signal according to the microphone received signal,
s202: and determining whether to update the parameters of the self-adaptive cancellation filter according to the difference value of the instantaneous direction of arrival and the target direction.
Specifically, in the present application, the instantaneous direction of arrival is used to control the updating of the adaptive filter parameters to protect the signals in the pickup area from being damaged.
Fig. 3 is a third schematic diagram of a directional sound pickup method according to an embodiment of the present application.
Further, in the above directional sound pickup method, determining the delay-sum beamformer weight of the microphone receiving signal and the target direction according to the microphone array, with reference to fig. 3, includes three steps S301 to S303:
s301: determining a microphone receiving signal and a reference microphone according to the microphone array, establishing a microphone coordinate, and recording a target direction and a pickup range;
s302: calculating the time delay of the microphones relative to the reference microphone for receiving the target direction signal according to the microphone coordinates;
s303: and calculating a steering vector of the microphone array according to the time delay of the target direction signals received by the microphones relative to the reference microphone, thereby obtaining the delay summation beam former weight of the target direction.
Specifically, in the embodiment of the present application, after the microphone array is obtained, the fixed reference microphone is determined and a rectangular plane coordinate system is established, the target direction is recorded as phi, the sound pickup range is phi ± δ, and the time delay of each microphone for receiving signals in different directions relative to the reference microphone can be obtained according to the microphone coordinates, so that the steering vector of the microphone array can be obtained, and the weight of the delay-sum beam former in the target direction can be obtained.
Further, the directional sound pickup method further includes:
if the difference value between the instantaneous direction of arrival and the target direction is within the first pickup range, the parameters of the self-adaptive cancellation filter are not updated;
specifically, in the embodiment of the present application, if the difference between the instantaneous direction of arrival and the target direction is within the first sound pickup range, the adaptive cancellation filter does not perform parameter update, so as to protect the near-end signal from being damaged.
And if the difference value between the instantaneous direction of arrival and the target direction is not in the first pickup range, updating the parameters of the self-adaptive cancellation filter.
Specifically, in the embodiment of the present application, if the difference between the instantaneous direction of arrival 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.
Further, in the above directional sound pickup method, determining whether the overall arrival direction of the buffered speech signal is within the sound pickup area includes:
if the difference value between the overall direction of arrival of the cached voice signals and the target direction is within a first pickup range, the overall direction of arrival of the cached voice signals is within a pickup area;
and if the difference value between the overall direction of arrival of the cached voice signals and the target direction is not in the first pickup range, the overall direction of arrival of the cached voice signals is not in the pickup area.
Specifically, in the embodiment of the present application, it is determined whether the overall direction of arrival of the buffered voice signal is within the pickup area by determining the difference between the overall direction of arrival of the buffered voice signal and the target direction.
Further, in the above directional sound pickup method, processing the buffered speech signal according to the determination result includes:
if the overall direction of arrival of the cached voice signals is in the pickup area, adopting the cached voice signals;
and if the overall arrival direction of the buffered voice signal is not in the sound pickup area, discarding the buffered voice signal.
Specifically, in the embodiment of the present application, whether the overall direction of arrival of the buffered voice signal is in the pickup area is determined, and the buffered voice signal is determined to be adopted or discarded, so that recognition caused by interference residue is prevented from being adopted, and misrecognition is greatly suppressed.
Fig. 4 is a schematic view of a directional sound pickup apparatus according to an embodiment of the present disclosure.
In a second aspect, an embodiment of the present application provides a directional sound pickup apparatus, including:
the acquisition module 401: for acquiring a microphone array.
Specifically, in this embodiment of the application, the microphone array acquired by the acquisition module 401 may be any array type microphone array.
The first determination module 402: delay-and-sum beamformer weights for determining the microphone receive signal, target direction from a microphone array.
Specifically, in the embodiment of the present application, the first determining module 402 determines the delay-sum beamformer weight values of the microphone receiving signals and the target direction according to the microphone array by using the specific steps as described above.
The second determination module 403: for determining the near-end signal and the far-end signal according to the microphone received signal, the delay-sum beamformer weight of the target direction.
Specifically, in this embodiment of the application, the second determining module 403 weights the delay-sum beamformer weights in the target direction to the multiple microphone received signals, and sums the signals to obtain an enhanced target direction voice signal, where the enhanced target direction voice signal is a near-end signal; and subtracting the received signals of the microphones and the received signals of the reference microphones pairwise to obtain a multi-channel interference signal for inhibiting the target direction signal, wherein the multi-channel interference signal for inhibiting the target direction signal is a far-end signal.
Input-output module 404: for inputting the near-end signal and the far-end signal into the adaptive cancellation filter and outputting the output signal of the adaptive filter.
Specifically, in this embodiment of the 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 to the output signal of the adaptive cancellation filter, so as to realize strong suppression of interference noise.
The detection cache module 405: and the adaptive filter is used for VAD detection of the output signal of the adaptive filter, and if the detection result is that the voice is detected, the buffer memory is carried out to obtain a buffer memory voice signal.
Specifically, in the embodiment of the present application, the detection buffer module 405 outputs the output signal of the adaptive cancellation filter
After VAD judgment, if the VAD detects voice, the corresponding original time-frequency domain signal is cached until the VAD detects the voice.
The calculation module 406: the overall direction of arrival of the buffered speech signal is calculated.
The judging module 407 and the processing module 408: and the voice processing module is used for judging whether the overall direction of arrival of the cached voice signals is in the pickup area or not and processing the cached voice signals according to the judgment result.
Specifically, in this embodiment of the application, the calculating module 406 calculates the overall direction of arrival of the buffered voice signal, the determining module 407 determines whether the overall direction of arrival of the buffered voice signal is in the pickup area, the processing module 408 processes the buffered voice signal according to the determination result, and the overall direction of arrival of the voice segment data can be obtained by combining VAD, so as to further determine whether the recognition result is valid, prevent recognition caused by interference residue from being adopted, and greatly suppress misrecognition.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor and a memory;
the processor is used for executing the directional pickup method by calling the program or the instructions stored in the memory.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to perform the above directional sound pickup method.
Fig. 5 is a schematic block diagram of an electronic device provided by an embodiment of the present disclosure.
As shown in fig. 5, the electronic apparatus 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 by a bus system 504. A communication interface 503 for information transmission with an external device. It is understood that the bus system 504 is used to enable communications among the components. The bus system 504 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 504 in fig. 5.
It will be appreciated that the memory 502 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 502 stores elements, executable units or data structures, or a subset thereof, or an expanded set thereof as follows: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs, including various application programs such as a Media Player (Media Player), a Browser (Browser), etc., are used to implement various application services. A program for implementing any one of the directional sound pickup methods provided in the embodiments of the present application may be included in an application program.
In this embodiment of the present application, the processor 501 is configured to execute the steps of the embodiments of a directional sound pickup method provided by the embodiments of the present application by calling a program or an instruction stored in the memory 502, which may be specifically a program or an instruction stored in an application program.
Acquiring a microphone array;
determining a delay summation beam former weight of a microphone receiving signal and a target direction according to the microphone array;
determining a near-end signal and a far-end signal according to the microphone receiving signal and the delay summation beam former weight in 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 detects the output signal of the adaptive filter, if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal;
calculating the integral direction of arrival of the cached voice signals;
and judging whether the overall direction of arrival of the cached voice signal is in the pickup area or not, and processing the cached voice signal according to a judgment result.
Any one of the directional sound pickup methods provided in the embodiments of the present application may be applied to the processor 501, or implemented by the processor 501. The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 501. The Processor 501 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of any one of the directional sound pickup methods provided by the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 502, and a processor 501 reads information in the memory 502 and completes the steps of a directional sound pickup method in combination with hardware thereof.
Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments.
Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of directional sound pickup, comprising:
acquiring a microphone array;
determining delay summation beam former weight values of the microphone receiving signals and the target direction according to the microphone array;
determining a near-end signal and a far-end signal according to the microphone receiving signal and the delay summation beam former weight of 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 detects the output signal of the adaptive filter, if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal;
calculating the integral direction of arrival of the cached voice signals;
and judging whether the overall direction of arrival of the cached voice signals is in the pickup area or not, and processing the cached voice signals according to the judgment result.
2. The method of claim 1, further comprising:
calculating the instantaneous direction of arrival of the current frame signal according to the microphone receiving signal,
and determining whether to update the parameters of the self-adaptive cancellation filter according to the difference value between the instantaneous direction of arrival and the target direction.
3. The method of claim 1, wherein the determining the delay-sum beamformer weights of the microphone received signals and the target direction according to the microphone array comprises:
determining a microphone receiving signal and a reference microphone according to the microphone array, establishing a microphone coordinate, and recording a target direction and a pickup range;
calculating time delay of a plurality of microphones relative to the reference microphone for receiving target direction signals according to the microphone coordinates;
and calculating a steering vector of the microphone array according to the time delay of the target direction signals received by the microphones relative to the reference microphone, thereby obtaining the delay summation beam former weight of the target direction.
4. The method of claim 1, wherein the determining the near-end signal and the far-end signal according to the received microphone signals and the delay-sum beamformer weights of the target direction comprises:
weighting the delay summation beam former weight value of the target direction to a plurality of microphone receiving signals, and summing to obtain an enhanced target direction voice signal which is a near-end signal;
and subtracting the received signals of the microphones and the received signals of the reference microphones pairwise to obtain a multi-channel interference signal for inhibiting the target direction signal, wherein the multi-channel interference signal for inhibiting the target direction signal is a far-end signal.
5. A method of directional sound pickup according to claim 2, wherein the method further comprises:
if the difference value between the instantaneous direction of arrival and the target direction is within a first pickup range, not updating the parameters of the self-adaptive cancellation filter;
and if the difference value between the instantaneous direction of arrival and the target direction is not in the first pickup range, updating the parameters of the self-adaptive cancellation filter.
6. The method of claim 1, wherein the determining whether the overall arrival direction of the buffered speech signal is within a pickup area comprises:
if the difference value between the overall direction of arrival of the cached voice signals and the target direction is within a first pickup range, the overall direction of arrival of the cached voice signals is within a pickup area;
and if the difference value between the overall direction of arrival of the cache voice signal and the target direction is not in the first pickup range, the overall direction of arrival of the cache voice signal is not in a pickup area.
7. The method according to claim 1, wherein the processing the buffered speech signal according to the determination result includes:
if the overall direction of arrival of the cached voice signal is in the pickup area, adopting the cached voice signal;
and if the overall arrival direction of the cache voice signal is not in the sound pickup area, discarding the cache voice signal.
8. A directional sound pickup apparatus, comprising:
an acquisition module: for acquiring a microphone array;
a first determination module: delay and sum beamformer weights for determining the microphone receive signals, target directions from the microphone array;
a second determination module: the delay summation beam former weight value of the target direction is used for determining a near-end signal and a far-end signal according to the microphone receiving signal;
an input-output module: for inputting the near-end signal and the far-end signal into an adaptive cancellation filter output adaptive filter output signal;
the detection cache module: the adaptive filter is used for VAD detection of the output signal of the adaptive filter, and if the detection result is that voice is detected, caching is carried out to obtain a cache voice signal;
a calculation module: calculating the integral direction of arrival of the cached voice signals;
the judgment module and the processing module: and the voice processing module is used for judging whether the integral direction of arrival of the cache voice signals is in the pickup area or not and processing the cache voice signals according to the judgment result.
9. An electronic device, comprising: a processor and a memory;
the processor is used for executing the directional sound pickup method according to any one of claims 1 to 7 by calling the program or the instructions stored in the memory.
10. A computer-readable storage medium storing a program or instructions for causing a computer to execute a directional sound pickup method according to any one of claims 1 to 7.
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