CN107086033B - Cloud computing system - Google Patents
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- CN107086033B CN107086033B CN201710084722.3A CN201710084722A CN107086033B CN 107086033 B CN107086033 B CN 107086033B CN 201710084722 A CN201710084722 A CN 201710084722A CN 107086033 B CN107086033 B CN 107086033B
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/36—Accompaniment arrangements
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/36—Accompaniment arrangements
- G10H1/361—Recording/reproducing of accompaniment for use with an external source, e.g. karaoke systems
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to a cloud computing system, which comprises a cloud computing server, an audience noise analysis device, an instant playback device, an action recognition device and a playback starting device, wherein the playback starting device is respectively connected with the instant playback device and the action recognition device, for detecting the action of a tennis player to determine whether to start an instant playback device, wherein the audience noise analysis device, the instant playback device, the action recognition device and the playback start device are respectively connected with a cloud computing server through a convergence device to perform data processing, the cloud computing server comprises a processing server, a network access device, an input/output device and a power supply device, the processing server, the network access equipment and the input and output equipment are respectively connected with the power supply equipment, and the network access equipment and the input and output equipment are respectively connected with the processing server.
Description
Technical Field
The invention relates to the field of servers, in particular to a cloud computing system.
Background
In recent years, with the continuous progress of internet technology, networks are slowly permeating the aspects of work and life of people, and all trades are advancing with time, and a new development direction is actively developed. The internet has many advantages, such as resource integration, high information exchange efficiency, fast update speed, low cost, etc., and how to apply these advantages of the internet to the field of audio and video technology is a problem to be solved in the industry.
The inventor of the present invention has found that, currently, the precision of the instant replay system needs to be further improved to adapt to more ball games, wherein, how to improve the precision and the adaptive degree of various image processing techniques, so as to improve the performance of the instant replay system while maintaining the equipment scale and the existing cost, in addition, the function of the instant replay system is still relatively single, the control level is still relatively low, and various requirements of field athletes and referees cannot be met, and even more, the situation and the order of the match field can not be maintained. The processing of the data is too complicated, and the cloud computing system is expected to solve the problem.
Disclosure of Invention
In order to solve the above problems, the present invention provides a cloud computing system including a cloud computing server, an auditorium brouhaha analysis device, an instant playback device, a motion recognition device, and a playback start device, the playback start device being connected to the instant playback device and the motion recognition device respectively, for detecting the action of a tennis player to determine whether to start an instant playback device, wherein the audience noise analysis device, the instant playback device, the action recognition device and the playback start device are respectively connected with a cloud computing server through a convergence device to perform data processing, the cloud computing server comprises a processing server, a network access device, an input/output device and a power supply device, the processing server, the network access equipment and the input and output equipment are respectively connected with the power supply equipment, and the network access equipment and the input and output equipment are respectively connected with the processing server.
Detailed Description
Accordingly, the present invention provides a cloud computing system comprising a cloud computing server, an auditorium brouhaha analysis device, an instant playback device, a motion recognition device, and a playback start device, the playback start device being connected to the instant playback device and the motion recognition device respectively, for detecting the action of a tennis player to determine whether to start an instant playback device, wherein the audience noise analysis device, the instant playback device, the action recognition device and the playback start device are respectively connected with a cloud computing server through a convergence device to perform data processing, the cloud computing server comprises a processing server, a network access device, an input/output device and a power supply device, the processing server, the network access equipment and the input and output equipment are respectively connected with the power supply equipment, and the network access equipment and the input and output equipment are respectively connected with the processing server.
In a first aspect, the power supply device includes a switching device and a power device.
In a second aspect, the electrical energy device is a grid power supply device.
In a third aspect, the auditorium brouhaha analysis device is used to detect a particular location in an auditorium where a brouhaha sound is made.
In a fourth aspect, the auditorium brouhaha analysis device comprises an audio acquisition device and an audio analysis device.
In a fifth aspect, an audio denoising device is connected between the audio collecting device and the audio analyzing device, and the audio denoising device is included in the auditorium noisy analysis device.
In a sixth aspect, the system comprises:
the audio acquisition equipment is positioned in the tennis court and used for acquiring audio data of auditorium of the tennis court to output auditorium audio signals;
the audio denoising device is positioned in the tennis court, connected with the audio acquisition device and used for receiving the auditorium audio signal and performing noise removal processing on the auditorium audio signal to obtain a denoising audio signal;
the audio analysis device is positioned in the tennis court, connected with the audio denoising device and used for receiving the denoising audio signal and carrying out data analysis on the denoising audio signal to determine whether the denoising audio signal contains a noisy signal;
the audio positioning device is positioned in the tennis court, is connected with the audio analysis device, and is used for receiving the denoising audio signal and the noise signal, determining the occurrence direction of the noise signal in the denoising audio signal as a target direction, and determining audience areas matched with the target direction as target audience areas based on the field distance between the audio acquisition device and each audience area, wherein each audience area consists of each audience area;
the high-definition camera array comprises a plurality of high-definition cameras, the high-definition cameras are respectively arranged at different positions of a tennis court, and each high-definition camera comprises a brightness compensation device, a CMOS (complementary metal oxide semiconductor) sensing device, a histogram equalization device, an edge enhancement device, a wavelet filtering device, a distortion type detection device, a distortion processing device, a reference point selection device, a distortion coordinate mapping device, a distortion gray level mapping device, a target identification device and a target coordinate extraction device;
the camera calibration equipment is connected with each high-definition camera and is used for acquiring internal parameters of each high-definition camera and external parameters of each high-definition camera, the internal parameters of each high-definition camera comprise the focal length of the high-definition camera, the size of the CMOS sensing equipment and the distortion degree of a camera lens, and the external parameters of each high-definition camera comprise the relative position of the high-definition camera relative to the tennis court and the shooting direction of the high-definition camera;
the coordinate mapping equipment is connected with the camera calibration equipment and used for receiving the internal parameters of each high-definition camera and the external parameters of each high-definition camera and determining the mapping relation between the pixel point coordinates and the three-dimensional world coordinates in the image space of each high-definition camera based on the internal parameters of each high-definition camera and the external parameters of each high-definition camera;
the three-dimensional coordinate fitting equipment is used for being connected with the target coordinate extracting equipment of the high-definition cameras respectively, receiving the plane coordinate parameters, receiving the mapping relation between the pixel point coordinates in the image space of the high-definition cameras and the three-dimensional world coordinates respectively, fitting the three-dimensional coordinates of the tennis target in the three-dimensional world coordinate system based on the plane coordinate parameters and the mapping relation corresponding to the high-definition cameras by the three-dimensional coordinate fitting equipment and outputting the three-dimensional coordinates as the three-dimensional target coordinates;
the environment reconstruction equipment is connected with each high-definition camera and used for receiving a plurality of geometric calibration images from the plurality of high-definition cameras respectively and reconstructing the environment of the tennis court based on the geometric calibration images so as to obtain and output a virtual scene of the tennis court;
the scene fusion equipment is respectively connected with the environment reconstruction equipment and the three-dimensional coordinate fitting equipment and is used for fusing the motion position of the tennis target into the virtual scene based on the three-dimensional target coordinate so as to obtain and output a fused image frame;
the scene fusion device is connected with the scene fusion device to receive and play back the fusion image frame, and the scene playback device comprises a liquid crystal display, a display driver and a display cache;
the action recognition device is positioned right below the field playback device, carries out image acquisition on a scene right below the field playback device to obtain a lower image, detects the posture of the player on the tennis court based on the lower image to determine whether the player sends a challenge action, outputs a starting challenge signal when determining that the player sends the challenge action, and outputs an un-starting challenge signal when determining that the player does not send the challenge action;
the device comprises a scene fusion device, a ball track detection device, a scene fusion device and a scene fusion device, wherein the scene fusion device is used for fusing image frames and acquiring a plurality of ball videos;
the display driver is respectively connected with the action recognition device, the ball track detection device and the display cache and used for pushing the latest ball video to the display cache so as to facilitate playback display of the liquid crystal display when the starting challenge signal is received.
In a seventh aspect, wherein the determining, by the audio positioning device, the target orientation-matched audience area as the target audience area based on the live distances of the audio acquisition devices from the respective audience areas comprises: matching each field distance with the target direction one by one, and taking the audience area corresponding to the successfully matched field distance as a target audience area;
the display driver is further connected to the audio positioning device and the audio analyzing device, respectively, and is configured to push text information corresponding to the target audience area and text information corresponding to the noise to the display cache when receiving the signal indicating that the noise exists, so as to facilitate displaying on the liquid crystal display.
In an eighth aspect, in each high-definition camera, a brightness compensation device is connected to the CMOS sensing device and configured to receive a high-definition image acquired by the CMOS sensing device, determine an average brightness of the high-definition image based on a gray value of each pixel in the high-definition image, compare the average brightness of the high-definition image with a preset brightness, perform brightness reduction adjustment on the high-definition image to obtain a brightness adjustment image when the average brightness of the high-definition image is greater than or equal to the preset brightness, and perform brightness enhancement adjustment on the high-definition image to obtain a brightness adjustment image when the average brightness of the high-definition image is less than the preset brightness; the CMOS sensing equipment is used for carrying out high-definition data acquisition on the tennis court to output a high-definition image; the histogram equalization equipment is connected with the brightness compensation equipment and used for receiving the brightness adjustment image and carrying out histogram equalization processing on the brightness adjustment image to obtain an equalized image; the edge enhancement equipment is connected with the histogram equalization equipment and used for receiving the equalization image and carrying out edge enhancement processing on the equalization image to obtain an enhanced image; the wavelet filtering device is connected with the edge enhancement device and used for receiving the enhanced image and performing wavelet filtering processing on the enhanced image to obtain a filtered image;
in each high-definition camera, distortion type detection equipment is connected with wavelet filtering equipment and used for receiving a filtering image, determining the overall dimension of the filtering image, and determining the distortion type of the filtering image based on the overall dimension of the filtering image and the overall dimension of a reference image, wherein the distortion type comprises distortion, radial distortion, affine transformation distortion, affine-like transformation distortion and projection transformation distortion, and the reference image is a distortion-free high-definition image output by carrying out high-definition data acquisition on a high-definition camera responsible area in advance; the distortion processing equipment is connected with the distortion type detection equipment, and when the received distortion type is distortion, radial distortion, affine transformation distortion or affine transformation-like distortion, different preset geometric transformation processing is carried out on the filtered image based on different distortion types so as to output a geometric calibration image; the reference point selection device is connected with the distortion type detection device and used for selecting 8 positions in the tennis court as calibration reference points when the received distortion type is projection transformation distortion, wherein the 8 positions are respectively 4 vertexes of a rectangle formed by two double-dotted lines and two bottom lines in the tennis court, a middle boundary point of each of the two bottom lines and a floor point of two ball columns of a net.
In the ninth aspect, in each high-definition camera, the distorted coordinate mapping device is connected to the reference point selection device and the distorted type detection device, and is configured to determine coordinates of 8 positions in the filtered image, determine coordinates of 8 positions in the reference image, determine a geometric coordinate transformation matrix based on the coordinates of 8 positions in the filtered image and the coordinates of 8 positions in the reference image, and perform geometric coordinate transformation on all pixel points of the filtered image based on the geometric coordinate transformation matrix to obtain a plurality of corresponding new pixel points, where horizontal coordinates and vertical coordinates of all pixel points of the filtered image are integers, and horizontal coordinates or vertical coordinates of the new pixel points are not necessarily integers; the distorted gray mapping equipment is connected with the distorted coordinate mapping equipment and used for receiving a plurality of new pixel points, when the horizontal coordinate and the vertical coordinate of each new pixel point are both integers, the gray value of each new pixel point is the gray value of the pixel point at the same coordinate position in the filtered image, when the horizontal coordinate or the vertical coordinate of each new pixel point is non-integer, the gray value of each new pixel point is calculated based on the gray values of the pixel points around the same coordinate position in the filtered image, and the geometric calibration image is output based on the gray values of the new pixel points;
in each high-definition camera, target identification equipment is respectively connected with distortion processing equipment and distortion gray mapping equipment and is used for receiving a geometric calibration image and identifying a tennis target in the geometric calibration image based on a preset reference tennis pattern; the target coordinate extraction device is connected with the target identification device and used for determining plane coordinate parameters of the tennis target based on the relative position of the identified tennis target in the whole geometric calibration image.
In a tenth aspect, the coordinate mapping device is located within a central control room of the tennis court.
According to the cloud computing system, the specific structure of the instant playback system in the prior art is improved in an auxiliary mode through big data computing, the precision of a preprocessed image is improved by introducing high-adaptive distortion elimination equipment and high-precision image filtering equipment, and the accuracy of subsequent ball target identification and motion trajectory judgment is guaranteed.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (5)
1. The cloud computing system is characterized by comprising a cloud computing server, an audience noise analysis device, an instant playback device, an action recognition device and a playback starting device, wherein the playback starting device is respectively connected with the instant playback device and the action recognition device, for detecting the action of a tennis player to determine whether to start an instant playback device, wherein the audience noise analysis device, the instant playback device, the action recognition device and the playback start device are respectively connected with a cloud computing server through a convergence device to perform data processing, the cloud computing server comprises a processing server, a network access device, an input/output device and a power supply device, the processing server, the network access equipment and the input and output equipment are respectively connected with the power supply equipment, and the network access equipment and the input and output equipment are respectively connected with the processing server;
the power supply equipment comprises switching equipment and electric energy equipment;
the electric energy equipment is power supply equipment of a power grid;
the audience noise analysis equipment is used for detecting the specific position of noise in the audience noise;
the audience noise analysis equipment comprises audio acquisition equipment and audio analysis equipment;
an audio denoising device is connected between the audio acquisition device and the audio analysis device, and the audio denoising device is included in the auditorium noisy analysis device;
the system further comprises:
the audio acquisition equipment is positioned in the tennis court and used for acquiring audio data of auditorium of the tennis court to output auditorium audio signals;
the audio denoising device is positioned in the tennis court, connected with the audio acquisition device and used for receiving the auditorium audio signal and performing noise removal processing on the auditorium audio signal to obtain a denoising audio signal;
the audio analysis device is positioned in the tennis court, connected with the audio denoising device and used for receiving the denoising audio signal and carrying out data analysis on the denoising audio signal to determine whether the denoising audio signal contains a noisy signal;
the audio positioning device is positioned in the tennis court, is connected with the audio analysis device, and is used for receiving the denoising audio signal and the noise signal, determining the occurrence direction of the noise signal in the denoising audio signal as a target direction, and determining audience areas matched with the target direction as target audience areas based on the field distance between the audio acquisition device and each audience area, wherein each audience area consists of each audience area;
the high-definition camera array comprises a plurality of high-definition cameras, the high-definition cameras are respectively arranged at different positions of a tennis court, and each high-definition camera comprises a brightness compensation device, a CMOS (complementary metal oxide semiconductor) sensing device, a histogram equalization device, an edge enhancement device, a wavelet filtering device, a distortion type detection device, a distortion processing device, a reference point selection device, a distortion coordinate mapping device, a distortion gray level mapping device, a target identification device and a target coordinate extraction device;
the camera calibration equipment is connected with each high-definition camera and is used for acquiring internal parameters of each high-definition camera and external parameters of each high-definition camera, the internal parameters of each high-definition camera comprise the focal length of the high-definition camera, the size of the CMOS sensing equipment and the distortion degree of a camera lens, and the external parameters of each high-definition camera comprise the relative position of the high-definition camera relative to the tennis court and the shooting direction of the high-definition camera;
the coordinate mapping equipment is connected with the camera calibration equipment and used for receiving the internal parameters of each high-definition camera and the external parameters of each high-definition camera and determining the mapping relation between the pixel point coordinates and the three-dimensional world coordinates in the image space of each high-definition camera based on the internal parameters of each high-definition camera and the external parameters of each high-definition camera;
the three-dimensional coordinate fitting equipment is used for being connected with the target coordinate extracting equipment of the high-definition cameras respectively, receiving the plane coordinate parameters, receiving the mapping relation between the pixel point coordinates in the image space of the high-definition cameras and the three-dimensional world coordinates respectively, fitting the three-dimensional coordinates of the tennis target in the three-dimensional world coordinate system based on the plane coordinate parameters and the mapping relation corresponding to the high-definition cameras by the three-dimensional coordinate fitting equipment and outputting the three-dimensional coordinates as the three-dimensional target coordinates;
the environment reconstruction equipment is connected with each high-definition camera and used for receiving a plurality of geometric calibration images from the plurality of high-definition cameras respectively and reconstructing the environment of the tennis court based on the geometric calibration images so as to obtain and output a virtual scene of the tennis court;
the scene fusion equipment is respectively connected with the environment reconstruction equipment and the three-dimensional coordinate fitting equipment and is used for fusing the motion position of the tennis target into the virtual scene based on the three-dimensional target coordinate so as to obtain and output a fused image frame;
the scene fusion device is connected with the scene fusion device to receive and play back the fusion image frame, and the scene playback device comprises a liquid crystal display, a display driver and a display cache;
the action recognition device is positioned right below the field playback device, carries out image acquisition on a scene right below the field playback device to obtain a lower image, detects the posture of the player on the tennis court based on the lower image to determine whether the player sends a challenge action, outputs a starting challenge signal when determining that the player sends the challenge action, and outputs an un-starting challenge signal when determining that the player does not send the challenge action;
the device comprises a scene fusion device, a ball track detection device, a scene fusion device and a scene fusion device, wherein the scene fusion device is used for fusing image frames and acquiring a plurality of ball videos;
the display driver is respectively connected with the action recognition device, the ball track detection device and the display cache and used for pushing the latest ball video to the display cache so as to facilitate playback display of the liquid crystal display when the starting challenge signal is received.
2. The cloud computing system of claim 1,
the audio positioning device determines the audience area with the matched target orientation as the target audience area based on the live distance between the audio acquisition device and each audience area, and comprises the following steps: matching each field distance with the target direction one by one, and taking the audience area corresponding to the successfully matched field distance as a target audience area;
the display driver is further connected to the audio positioning device and the audio analyzing device, respectively, and is configured to push text information corresponding to the target audience area and text information corresponding to the noise to the display cache when receiving the signal indicating that the noise exists, so as to facilitate displaying on the liquid crystal display.
3. The cloud computing system of claim 2,
in each high-definition camera, a brightness compensation device is connected with a CMOS sensing device and used for receiving a high-definition image acquired by the CMOS sensing device, determining the average brightness of the high-definition image based on the gray value of each pixel in the high-definition image, comparing the average brightness of the high-definition image with preset brightness, when the average brightness of the high-definition image is greater than or equal to the preset brightness, performing brightness reduction adjustment on the high-definition image to obtain a brightness adjustment image, and when the average brightness of the high-definition image is less than the preset brightness, performing brightness improvement adjustment on the high-definition image to obtain a brightness adjustment image; the CMOS sensing equipment is used for carrying out high-definition data acquisition on the tennis court to output a high-definition image; the histogram equalization equipment is connected with the brightness compensation equipment and used for receiving the brightness adjustment image and carrying out histogram equalization processing on the brightness adjustment image to obtain an equalized image; the edge enhancement equipment is connected with the histogram equalization equipment and used for receiving the equalization image and carrying out edge enhancement processing on the equalization image to obtain an enhanced image; the wavelet filtering device is connected with the edge enhancement device and used for receiving the enhanced image and performing wavelet filtering processing on the enhanced image to obtain a filtered image;
in each high-definition camera, distortion type detection equipment is connected with wavelet filtering equipment and used for receiving a filtering image, determining the overall dimension of the filtering image, and determining the distortion type of the filtering image based on the overall dimension of the filtering image and the overall dimension of a reference image, wherein the distortion type comprises distortion, radial distortion, affine transformation distortion, affine-like transformation distortion and projection transformation distortion, and the reference image is a distortion-free high-definition image output by carrying out high-definition data acquisition on a high-definition camera responsible area in advance; the distortion processing equipment is connected with the distortion type detection equipment, and when the received distortion type is distortion, radial distortion, affine transformation distortion or affine transformation-like distortion, different preset geometric transformation processing is carried out on the filtered image based on different distortion types so as to output a geometric calibration image; the reference point selection device is connected with the distortion type detection device and used for selecting 8 positions in the tennis court as calibration reference points when the received distortion type is projection transformation distortion, wherein the 8 positions are respectively 4 vertexes of a rectangle formed by two double-dotted lines and two bottom lines in the tennis court, a middle boundary point of each of the two bottom lines and a floor point of two ball columns of a net.
4. The cloud computing system of claim 3,
in each high-definition camera, distortion coordinate mapping equipment is respectively connected with reference point selection equipment and distortion type detection equipment and is used for determining coordinates of 8 positions in a filtering image, determining coordinates of 8 positions in a reference image, determining a geometric coordinate transformation matrix based on the coordinates of 8 positions in the filtering image and the coordinates of 8 positions in the reference image, and performing geometric coordinate transformation on all pixel points of the filtering image based on the geometric coordinate transformation matrix to obtain a plurality of corresponding new pixel points, wherein horizontal coordinates and vertical coordinates of all pixel points of the filtering image are integers, and the horizontal coordinates or the vertical coordinates of the new pixel points are not necessarily integers; the distorted gray mapping equipment is connected with the distorted coordinate mapping equipment and used for receiving a plurality of new pixel points, when the horizontal coordinate and the vertical coordinate of each new pixel point are both integers, the gray value of each new pixel point is the gray value of the pixel point at the same coordinate position in the filtered image, when the horizontal coordinate or the vertical coordinate of each new pixel point is non-integer, the gray value of each new pixel point is calculated based on the gray values of the pixel points around the same coordinate position in the filtered image, and the geometric calibration image is output based on the gray values of the new pixel points;
in each high-definition camera, target identification equipment is respectively connected with distortion processing equipment and distortion gray mapping equipment and is used for receiving a geometric calibration image and identifying a tennis target in the geometric calibration image based on a preset reference tennis pattern; the target coordinate extraction device is connected with the target identification device and used for determining plane coordinate parameters of the tennis target based on the relative position of the identified tennis target in the whole geometric calibration image.
5. The cloud computing system of claim 4,
the coordinate mapping device is located in a central control room of the tennis court.
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