A sound pickup device includes a plurality of microphones, and at least one processor configured to implement stored instructions and execute a plurality of tasks, including: a first gain controlling task controlling a gain of each of the plurality of microphones, an adding task adding a sound signal to be output from the first gain controlling task with a predetermined gain, a second gain controlling task controlling a gain of the sound signal to be output from the adding task; and a gain setting task setting each gain of the first gain controlling task based on gain setting in the second gain controlling task.