CN108491533A - Data fusion method, device, data processing system and storage medium - Google Patents
Data fusion method, device, data processing system and storage medium Download PDFInfo
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Abstract
A kind of data fusion method of present invention proposition, device, data processing system and computer readable storage medium.Wherein data fusion method includes：The data information of multichannel data is received, the data information includes data generated time；According to the data generated time of the multichannel data, according to the data processing needs of data processing module data are chosen from the multichannel data, the difference of the data generated time of any two data in the selection data is set to be less than or equal to preset time difference threshold value, so that the data processing module carries out data processing.The embodiment of the present invention extracts data fusion function from data processing module, provides unified data fusion device for each function module of data processing system, reduces the redundancy of code；Simultaneously so that data processing module focuses more on data processing algorithm, module coupling degree is reduced, the system expandability is improved.
Description
Technical field
The present invention relates to information technology field more particularly to a kind of data fusion method, device, data processing system and meters
Calculation machine readable storage medium storing program for executing.
Background technology
The data processing system of the prior art can usually be divided by function as different function modules, such as unmanned vehicle
The typical module of system has vehicle location, barrier perception, prediction, path planning, vehicle control etc..Wherein each function module
Will receive data, handle data, output data, and be under normal conditions need to receive multichannel data to be handled, such as
The typical input data of barrier sensing module is：Camera review data, radar data.These data include generate when
Between information (timestamp), before module process data, need according to self-demand, carrying out certain fusion according to timestamp is aligned.
The method of the prior art carries out alone data fusion alignment after generally receiving data by each function module.Existing skill
Art has the following disadvantages：
1, coupling is high：Module should be paid close attention to carries out fusion alignment to the data of input, pays close attention to data processing again
The realization of algorithm；
2, redundancy is high：Each module is required for oneself realizing that fusion alignment strategy, code redundancy are high；
3, scalability is low：When module needs to change convergence strategy, can only modify one by one, processing is inconvenient.
Invention content
A kind of data fusion method of offer of the embodiment of the present invention, device, data processing system and computer-readable storage medium
Matter, at least to solve one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a kind of data fusion methods, including：Receive the data letter of multichannel data
Breath, the data information includes data generated time；According to the data generated time of the multichannel data, according to data processing mould
The data processing needs of block choose data from the multichannel data, make the number of any two data in the selection data
It is less than or equal to preset time difference threshold value according to the difference of generated time, so that the data processing module carries out data processing.
With reference to first aspect, for the present invention in the first embodiment of first aspect, the data information further includes number
According to theme, wherein the Data subject is that the data type belonging to each circuit-switched data in the multichannel data is pre-set
's；And the method further includes：The data processing needs from the data processing module, the data are received in advance
Process demand includes the data processing module processing required at least one Data subject of data.
The first embodiment with reference to first aspect, the present invention are described in second of embodiment of first aspect
Data processing needs include：The required implementation strategy that data are chosen from the multichannel data of the data processing module.
Second of embodiment with reference to first aspect, the present invention are described in the third embodiment of first aspect
Implementation strategy includes the first strategy, wherein includes described in two or more in the data processing needs in first strategy
In the case of Data subject, data are chosen from the multichannel data, make to correspond to the described of more than two Data subjects
The difference of any two is less than or equal to preset time difference threshold value in data generated time.
Second of embodiment with reference to first aspect, the present invention are described in the 4th kind of embodiment of first aspect
Data processing needs further include master data, and the master data is the data processing module in processing data required at least one
The data information corresponding to a Data subject specified in a Data subject；The implementation strategy includes the second strategy, wherein
In second strategy, pre-set time window, the time window be receive time of the data information after；
Data are chosen in the data information received in pre-set time window, in the master data received described in selection
Data generated time newest data information；In other data in addition to the master data received, correspond to each
Data subject chooses the data generated time oldest data information.Second of embodiment with reference to first aspect, this hair
It is bright in the 5th kind of embodiment of first aspect, the data processing needs further include master data, and the master data is described
The number corresponding to a Data subject that data processing module is specified in handling the required at least one Data subject of data
It is believed that breath；The implementation strategy includes third strategy, wherein in the third strategy, time window is pre-set, when described
Between window be receive time of the data information after；It is selected in the data information received in pre-set time window
It is newest to choose the data generated time from the corresponding data information of each subject data received for access evidence
Data information.
With reference to first aspect, the first embodiment of first aspect, second of embodiment, the first party of first aspect
The third embodiment in face, the 4th of first aspect the kind of embodiment, the 5th kind of embodiment of first aspect, the present invention exist
In 6th kind of embodiment of first aspect, selected from the multichannel data according to the data processing needs of data processing module
After, the method further includes for access：The notice ready for data to the data processing module；And/or it will be from described
The data chosen in multichannel data are sent to the data processing module.
Second aspect, an embodiment of the present invention provides a kind of data fusion devices, including：Receiving unit is more for receiving
The data information of circuit-switched data, the data information include data generated time；Alignment unit is merged, for according to the multichannel number
According to data generated time, choose data from the multichannel data according to the data processing needs of data processing module, make institute
The difference for stating the data generated time of any two data in selection data is less than or equal to preset time difference threshold value, with
Data processing is carried out for the data processing module.
In conjunction with second aspect, for the present invention in the first embodiment of second aspect, the data information further includes number
According to theme, wherein the Data subject is that the data type belonging to each circuit-switched data in the multichannel data is pre-set
's；And described device further includes the first module interactive unit, is used for：It receives in advance from described in the data processing module
Data processing needs, the data processing needs include the data processing module processing required at least one data of data
Theme.
In conjunction with the first embodiment of second aspect, the present invention is described in second of embodiment of second aspect
Data processing needs include：The required implementation strategy that data are chosen from the multichannel data of the data processing module.
In conjunction with second of embodiment of second aspect, the present invention is described in the third embodiment of second aspect
Implementation strategy includes the first strategy；The fusion alignment unit includes the first execution subelement, for according to first strategy
Choose data；Wherein, include the feelings of more than two Data subjects in the data processing needs in first strategy
Under condition, data are chosen from the multichannel data, make the data generated time for corresponding to more than two Data subjects
The difference of middle any two is less than or equal to preset time difference threshold value.
In conjunction with second of embodiment of second aspect, the present invention is described in the 4th kind of embodiment of second aspect
Data processing needs further include master data, and the master data is the data processing module in processing data required at least one
The data information corresponding to a Data subject specified in a Data subject；The fusion alignment unit further includes time window
Preset subelement, is used for：Pre-set time window, the time window be receive time of the data information after；Institute
It includes the second strategy to state implementation strategy；The fusion alignment unit further includes the second execution subelement, for according to described second
Strategy chooses data；Wherein, it in second strategy, is selected in the data information received in pre-set time window
Access evidence, chooses the data generated time newest data information in the master data received；It is removed what is received
In other data except the master data, the data generated time oldest data letter is chosen corresponding to each Data subject
Breath.
In conjunction with second of embodiment of second aspect, the present invention is described in the 5th kind of embodiment of second aspect
Data processing needs further include master data, and the master data is the data processing module in processing data required at least one
The data information corresponding to a Data subject specified in a Data subject；The fusion alignment unit further includes time window
Preset subelement, is used for：Pre-set time window, the time window be receive time of the data information after；Institute
It includes third strategy to state implementation strategy；The fusion alignment unit further includes that third executes subelement, for according to the third
Strategy chooses data；Wherein, it in the third strategy, is selected in the data information received in pre-set time window
It is newest to choose the data generated time from the corresponding data information of each subject data received for access evidence
Data information.
The first embodiment, second of embodiment, the second party of second aspect in conjunction with second aspect, second aspect
The third embodiment in face, the 4th of second aspect the kind of embodiment, the 5th kind of embodiment of second aspect, the present invention exist
In 6th kind of embodiment of second aspect, described device further includes the second module interactive unit, is used for：It is aligned in the fusion
Unit is according to data generated time of the multichannel data, according to the data processing needs of data processing module from the multichannel number
After middle selection data, the notice ready for data to the data processing module, and/or, the fusion is aligned single
The data that member is chosen are sent to the data processing module.
In a possible design, the structure of data fusion device includes processor and memory, the memory
For storing the program for supporting that data fusion device executes data fusion method in above-mentioned first aspect, the processor is configured
For for executing the program stored in the memory.
The third aspect, an embodiment of the present invention provides any one of a kind of data processing systems, including above-mentioned second aspect
The data fusion device and at least one data processing module, the number for being chosen according to the data fusion device
According to progress data processing.
In conjunction with the third aspect, the present invention in the first embodiment of the third aspect, also use by the data processing module
In：Data processing needs are sent to the data fusion device in advance, so that the data fusion device is according to the data
Process demand chooses data from multichannel data.
Fourth aspect, an embodiment of the present invention provides a kind of data processing systems, including：One or more processors；It deposits
Storage device, for storing one or more programs；When one or more of programs are executed by one or more of processors
When so that one or more of processors realize any method in above-mentioned first aspect.
5th aspect, an embodiment of the present invention provides a kind of computer readable storage mediums, are stored with computer program,
The program realizes above-mentioned first aspect any method when being executed by processor.
Above-mentioned technical proposal has the following advantages that or advantageous effect：Data fusion function is extracted from data processing module
Out, unified data fusion device is provided for each function module of data processing system, reduces the redundancy of code；Together
When make data processing module focus more on data processing algorithm, reduce module coupling degree, improve the system expandability.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Description of the drawings
In the accompanying drawings, unless specified otherwise herein, otherwise run through the identical reference numeral of multiple attached drawings and indicate same or analogous
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings are depicted only according to the present invention
Some disclosed embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the general frame figure of the data fusion method of the embodiment of the present invention；
Fig. 2 is a kind of step flow chart of preferred embodiment of data fusion method provided by the invention；
Fig. 3 is a kind of operational flow diagram of preferred embodiment of data fusion method provided by the invention；
Fig. 4 is the general frame figure of the data fusion device of the embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of preferred embodiment of data fusion device provided by the invention；And
Fig. 6 is the structural schematic diagram of another preferred embodiment of data fusion device provided by the invention.
Specific implementation mode
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be changed by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
An embodiment of the present invention provides a kind of data fusion methods.Fig. 1 is the data fusion method of the embodiment of the present invention
General frame figure.As shown in Figure 1, the data fusion method of the embodiment of the present invention, including：Step S110, receives multichannel data
Data information, the data information include data generated time；Step S120, when being generated according to the data of the multichannel data
Between, data are chosen from the multichannel data according to the data processing needs of data processing module, make to appoint in the selection data
The difference of the data generated time for two data of anticipating is less than or equal to preset time difference threshold value, for the data processing
Module carries out data processing.
Data processing system can usually be divided by function as different function modules, the i.e. data with different function
Processing module.Such as：The typical module of unmanned vehicle system has vehicle location, barrier perception, prediction, path planning, vehicle control
System etc.；Robot system may include voice module, light expression module, control module, drive module, video module etc..It is this kind of
Data processing system usually requires acquisition multichannel data, and needs to carry out multichannel data the pretreatment of fusion alignment, by melting
Closing the pretreatment of alignment makes the difference of the data generated time of any two in multichannel data be less than or equal to preset time difference
Threshold value.Such as the typical input data of barrier sensing module of unmanned vehicle system is：Camera review data, radar data.
Data fusion technique refers to being subject under certain criterion to several observation informations chronologically obtained using computer
It automatically analyzes, integrate, the information processing technology carried out with completing required decision and assessment task.Data fusion technique, packet
Acquisition, transmission, synthesis, filtering, correlation and the synthesis for including the useful information provided to various information sources, to assist carrying out state
Gesture/environment judgement, planning, detection, verification, diagnosis.If each function module of data processing system carries out alone data fusion
Alignment, not only the redundancy of code is high, but also the coupling between each function module is high, and the system expandability is low.
It is stripped out from each data processing module in view of this, data fusion is aligned by the present invention, forms one specially
The data fusion device of door.The data information of multichannel data is received by data fusion device, and obtains each data processing mould
The data processing needs of block need the input data received when data processing needs include the module process data；According to each
The data processing needs of data processing module choose data according to the data generated time of multichannel data from multichannel data, to the greatest extent
Amount chooses the smaller data of data generated time difference, to make multichannel data carry out time unifying, finally by fusion alignment
Multichannel data is supplied to data processing module to carry out data processing.
According to a kind of embodiment of data fusion method of the present invention, the data information includes but is not limited to data master
Topic, wherein the Data subject is that the data type belonging to each circuit-switched data in the multichannel data is pre-set；With
And the method further includes：The data processing needs from the data processing module, the data processing are received in advance
Demand includes the data processing module processing required at least one Data subject of data.
Multichannel data is divided into different Data subject (Topic) according to practical significance.Data subject Topic is mainly used
In the type for distinguishing data, as the data of acquired original may include location data (such as：From GPS), image data (such as：It comes from
Camera), radar data；It is also possible that the data crossed by resume module on the basis of the data of acquired original, such as passes through
Cross obstacle information data, traffic related information data, the position data of vehicle etc. obtained after sensing module processing；And vehicle
The control instruction data etc. that control module is sent.
In a data processing system, data are generated by collecting device or some data processing module, are passed by data channel
It is defeated to be melted before the input by data as the input data of another data processing module to another data processing module
Conjunction carries out fusion registration process.Data subject Topic is pre-set Data Identification, can be respectively multichannel according to data type
Numerical nomenclature.Data generate, merge registration process, input to module during, data processing module is inputted in advance
The Data subject Topic of data is sent to data fusion device, and data fusion device just obtains after receiving Data subject Topic
Know that the module needs which data to carry out fusion alignment to, data are chosen from multichannel data according to its demand, it is needed
Data carry out fusion registration process.
Specifically, data processing module receives the data of single or multiple Topic；Oneself is needed to connect by data processing module
The data Topic of receipts is registered to data fusion device；Data fusion device receives the Topic data of data processing module registration；
After the corresponding data of data Topic that data fusion device receives data processing module needs, fusion registration process is carried out；
After the completion of data fusion alignment, it is transferred to data processing module.In above-mentioned each transmission process, data are packaged into accordingly
The message of Topic is transmitted, and also includes the time (timestamp) when data generate in message.
When carrying out data fusion registration process, since multi-channel data acquisition or the frequency of generation are different, other each number
It is also different according to the demand of processing module, it is therefore desirable to different fusion alignment strategies.Data fusion device merges for multichannel data
Alignment provides a variety of tactful (Strategy).
According to a kind of embodiment of data fusion method of the present invention, the data processing needs further include：The data
The required implementation strategy that data are chosen from the multichannel data of processing module.Specifically, it is in advance each data fusion
It is aligned the different policy name of strategy setting；Each data processing module receives the data of single or multiple Topic, and has oneself
Desired data fusion alignment strategy Strategy；Oneself is needed the data Topic received and data to melt by data processing module
It closes alignment strategy Strategy and is registered to data fusion device；Data fusion device receives data processing module registration
After Topic data and data fusion are aligned strategy Strategy, fusion alignment is carried out according to Strategy；Data fusion has been aligned
Cheng Hou, notification data processing module carry out the processing of data.
Data fusion device provides following several fusion alignment strategies for multichannel Topic data：
Strategy one：Time synchronization equal strategy (TimeSyncEqual)：Multichannel data timestamp information is exactly the same.
Wherein, " multichannel data timestamp information is exactly the same " refers to that different themes Topic chooses synchronization and adopts as possible
The data of collection.Time error allowable range, such as the data acquisition time that different themes Topic chooses can be set no more than 1
Millisecond.Such as：There are two Data subject Topic for the input data of barrier sensing module registration, are camera review number respectively
According to and radar data, and (time synchronization is equal as tactful one by the fusion alignment strategy Strategy that registers of barrier sensing module
Strategy), no more than 1 millisecond of the data acquisition time that different themes Topic chooses is defined in strategy one, then data fusion
Device checks the time (timestamp) when data generate when choosing data, chooses the data of camera review data and radar data
The difference of acquisition time is less than 1 millisecond of data, is supplied to barrier sensing module.
According to a kind of embodiment of data fusion method of the present invention, the implementation strategy includes the first strategy, wherein
In first strategy, in the case where the data processing needs include more than two Data subjects, from the multichannel
Data are chosen in data, make the difference of any two in the data generated time for corresponding to more than two Data subjects
Less than or equal to preset time difference threshold value.
In one embodiment, prespecified tactful one time difference threshold value, if data processing module is in registration
The specified fusion alignment strategy used is tactful one (time synchronization equal strategy), then according to prespecified time difference threshold value
Carry out fusion registration process；In another embodiment, data processing module such as specified fusion alignment used in registration
Strategy is tactful one (time synchronization equal strategy), can specify the time difference threshold value of strategy one simultaneously, it is desirable that data fusion fills
It sets and carries out fusion registration process according to specified time difference threshold value.
A tactful corresponding embodiment strictly controls the difference of the data generated time of multichannel data, thus by multichannel number
According to time unifying is carried out, the accuracy of multichannel data alignment is controlled by the way that time difference threshold value is arranged, to meet data processing mould
The demand of block.
Strategy two：Time synchronization window policy (TimeSyncWindow)：In regular hour window, what is received
The data of newest timestamp are chosen in master data；Other each Topic choose the data of oldest timestamp.
Wherein, " time window " refers to the interval of time within the scope of setting time upper and lower limit, usually several millis
Second, the specific setting value of time window can be set according to the speed degree that data generate, such as：Data acquisition equipment gathered data
Frequency it is high when, the time interval of corresponding time window is arranged small.Time window should not set it is too much, in order to avoid mass data heap
Product etc. is pending；Time window also should not set too small simultaneously, if the period that time window is less than data generation is also improper,
Data processing need not be carried out in no generation new data.
" master data " refers to the theme Topic data that processing module carries out Main Basiss when data processing, can generally be made
To handle first parameter of function；" other each Topic " refers to that the processing module in addition to master data carries out data processing
When the theme Topic data as reference, for example when two kinds of theme Topic data have conflict, can tend to use master data.
Such as：There are two Data subject Topic for the input data of barrier sensing module registration, are camera review data and thunder respectively
Up to data, if it carries out Main Basiss camera review data when data processing, and radar data is used as reference data, then referred to
It is master data to determine camera review data, and radar data is not then master data.
" other each Topic choose the data of oldest timestamp " is because when gathered data frequency is higher, and time interval is small
In the case of these data difference unobvious.This strategy is suitable for " the other each Topic " gathered data compared with master data
The higher situation of frequency, can allow data to have certain ageing time.
According to a kind of embodiment of data fusion method of the present invention, the data processing needs further include master data, institute
It is the data that the data processing module is specified in handling the required at least one Data subject of data to state master data
Data information corresponding to theme；The implementation strategy includes the second strategy, wherein in second strategy, is pre-set
Time window, the time window be receive time of the data information after；It is received in pre-set time window
To data information in choose data, the data generated time newest data letter is chosen in the master data received
Breath；In other data in addition to the master data received, corresponds to each Data subject and choose the data generation
Time oldest data information.
Specifically, after data fusion device receives multichannel data, the buffer queue of each circuit-switched data is added it to respectively
In.The length of buffer queue is pre-set, such as it is 10 that the length of buffer queue, which can be arranged, in the situation that buffer queue is full
Under, the rear data being added can override previous data in buffer queue, and 10 finally generated are only preserved in buffer queue
Item data.In a preferred embodiment, data fusion device is when carrying out fusion registration process, with the generation of master data
Time is the midpoint of time window.In this embodiment, in the data acquiring frequency of other data in addition to master data
In the case of higher, since the gathered data frequency of other data in addition to master data is apparently higher than high data and only preserves
Several item datas (if the length of setting buffer queue is 10, then only preserving 10 item datas) of queue are eventually adding, then in its caching
The data generated time preserved in queue can lag behind the data generated time of master data, and therefore, other each Topic (remove main number
Except) data of choosing oldest timestamp, the difference of the data generated time between other each Topic and master data can be made
Minimum, to make multichannel data carry out the accuracy highest of time unifying.
For the higher situation of gathered data frequency, that is to say, that the production of other each Topic data in addition to master data
In the case that raw frequency is apparently higher than master data, preferable data fusion alignment effect can be achieved using strategy two.
Strategy three：Reversing time synchronous window strategy (ReverseTimeSyncWindow)：In regular hour window
It is interior, the data of newest timestamp are chosen in the master data received；Other each Topic choose the data of newest timestamp.
Strategy three is suitable for " other each Topic " the relatively low situation of gathered data frequency compared with master data, chooses newest
The data of timestamp, it is ensured that the accuracy of data is, it can be achieved that preferable data fusion alignment effect.
According to a kind of embodiment of data fusion method of the present invention, the data processing needs further include master data, institute
It is the data that the data processing module is specified in handling the required at least one Data subject of data to state master data
Data information corresponding to theme；The implementation strategy includes third strategy, wherein in the third strategy, is pre-set
Time window, the time window be receive time of the data information after；It is received in pre-set time window
To data information in choose data, from the corresponding data information of each subject data received, choose the number
According to generated time newest data information.
In conclusion data processing module according to its own demand (such as according to master data in input data with it is other each
The generation frequency of Topic data) it is specified using which kind of fusion alignment strategy, and specified fusion alignment strategy is sent to data
Fusing device.Data processing module oneself will need the data Topic received and data fusion alignment strategy Strategy to send
To data fusion device, data fusion device carries out fusion registration process according to specified Strategy.
Fig. 2 is a kind of step flow chart of preferred embodiment of data fusion method provided by the invention.As shown in Fig. 2,
According to a kind of embodiment of data fusion method of the present invention, in the data processing needs according to data processing module from described more
After choosing data (step S120) in circuit-switched data, the method further includes step S130, is used for：To the data processing module
Notice ready for data；And/or the data chosen from the multichannel data are sent to the data processing module.
Fig. 3 is a kind of operational flow diagram of preferred embodiment of data fusion method provided by the invention.As shown in figure 3,
The Topic of self-demand and Strategy are registered to data fusion device by data processing module first；Data fusion device into
The data receiver of row multichannel data, and carry out data fusion alignment according to the log-on message of each data processing module；Fusion pair
Neat backward data processing module sends out the notice of data ready；Data processing module is in the post-processing data that have notice.
On the other hand, an embodiment of the present invention provides a kind of data fusion devices.Fig. 4 is that the data of the embodiment of the present invention are melted
Attach together the general frame figure set.As shown in figure 4, the data fusion device of the embodiment of the present invention includes：Receiving unit 100, is used for
The data information of multichannel data is received, the data information includes data generated time；Alignment unit 200 is merged, basis is used for
The data generated time of the multichannel data is chosen according to the data processing needs of data processing module from the multichannel data
Data make the difference of the data generated time of any two data in the selection data be less than or equal to the preset time difference
It is worth threshold value, so that the data processing module carries out data processing.
Fig. 5 is a kind of structural schematic diagram of preferred embodiment of data fusion device provided by the invention.As shown in figure 5,
According to a kind of embodiment of data fusion device of the present invention, the data information further includes Data subject, wherein the data
Theme is that the data type belonging to each circuit-switched data in the multichannel data is pre-set；And described device further includes
First module interactive unit 300, is used for：The data processing needs from the data processing module are received in advance, it is described
Data processing needs include the data processing module processing required at least one Data subject of data.
According to a kind of embodiment of data fusion device of the present invention, the data processing needs include：At the data
Manage the required implementation strategy that data are chosen from the multichannel data of module.
Fig. 6 is the structural schematic diagram of another preferred embodiment of data fusion device provided by the invention.As shown in fig. 6,
According to a kind of embodiment of data fusion device of the present invention, the implementation strategy includes the first strategy；The fusion alignment is single
Member 200 includes the first execution subelement 210, for choosing data according to first strategy；Wherein, in first strategy
In, in the case where the data processing needs include more than two Data subjects, number is chosen from the multichannel data
According to making the difference of any two in the data generated time for corresponding to more than two Data subjects be less than or equal to default
Time difference threshold value.
According to a kind of embodiment of data fusion device of the present invention, the data processing needs further include master data, institute
It is the data that the data processing module is specified in handling the required at least one Data subject of data to state master data
Data information corresponding to theme；The fusion alignment unit 200 further includes the preset subelement 240 of time window, is used for：In advance
Time window is set, the time window be receive time of the data information after；The implementation strategy includes the second plan
Slightly；The fusion alignment unit 200 further includes the second execution subelement 220, for choosing data according to second strategy；Its
In, in second strategy, data are chosen in the data information received in pre-set time window, are being received
The master data in choose the data generated time newest data information；It is receiving in addition to the master data
In other data, the data generated time oldest data information is chosen corresponding to each Data subject.
According to a kind of embodiment of data fusion device of the present invention, the data processing needs further include master data, institute
It is the data that the data processing module is specified in handling the required at least one Data subject of data to state master data
Data information corresponding to theme；The fusion alignment unit further includes the preset subelement of time window, is used for：When pre-setting
Between window, the time window be receive time of the data information after；The implementation strategy includes third strategy；It is described
Fusion alignment unit 200 further includes that third executes subelement 230, for choosing data according to the third strategy；Wherein, in institute
It states in third strategy, data is chosen in the data information received in pre-set time window, from each of receiving
In the corresponding data information of subject data, the data generated time newest data information is chosen.
According to a kind of embodiment of data fusion device of the present invention, described device further includes the second module interactive unit
350, it is used for：In the fusion alignment unit according to the data generated time of the multichannel data, according to data processing module
Data processing needs lead to after choosing data in the multichannel data to the data processing module is ready for data
Know, and/or, the data that the fusion alignment unit is chosen are sent to the data processing module.
Referring to shown in Fig. 3-6, data fusion is aligned each function module from data processing system by the embodiment of the present invention
In be stripped out, formed a special data fusion device.And provide a variety of strategies for multichannel data fusion alignment.This
The data fusion device of inventive embodiments includes：Module interactive unit (including the first module interactive unit 300 and the second module are handed over
Mutual unit 350), receiving unit 100 and fusion alignment unit 200.The embodiment of the present invention in advance draws data according to practical significance
It is divided into different themes Topic；The message that data are packaged into corresponding Topic is transmitted, in message comprising data generate when
Between (timestamp)；It pre-establishes according to fusion alignment strategy, each data fusion alignment strategy has different title Strategy；
Data processing module receives the data of single or multiple Topic, and has oneself desired data fusion alignment strategy Strategy,
Data processing module oneself will need the data Topic received and data fusion alignment strategy Strategy to be registered to the first module
Interactive unit 300；First module interactive unit 300 is responsible for receiving the Topic data of data processing module registration and fusion is aligned
Tactful Strategy；After receiving unit 100 receives data, fusion pair is carried out according to Strategy by fusion alignment unit 200
Together；After the completion of data fusion alignment, the processing of data is carried out by 350 notification module of the second module interactive unit.
It merges alignment means and provides following several fusion alignment strategies for multichannel Topic data：
1, time synchronization equal strategy (TimeSyncEqual)：Multichannel data timestamp information is exactly the same；
2, time synchronization window policy (TimeSyncWindow)：In regular hour window, in the main number received
According to the middle data for choosing newest timestamp；Other each Topic choose the data of oldest timestamp；
3, reversing time synchronous window strategy (ReverseTimeSyncWindow)：In regular hour window, connecing
The data of newest timestamp are chosen in the master data received；Other each Topic choose the data of newest timestamp.
In a possible design, the structure of data fusion device includes processor and memory, the memory
For storing the program for supporting that data fusion device executes data fusion method in above-mentioned first aspect, the processor is configured
For for executing the program stored in the memory.
Another aspect, an embodiment of the present invention provides a kind of data processing systems, including data described in any one of the above embodiments
Fusing device and at least one data processing module, the data for being chosen according to the data fusion device carry out data
Processing.
According to a kind of embodiment of data processing system of the present invention, the data processing module is additionally operable to：It will count in advance
Be sent to the data fusion device according to process demand, so as to the data fusion device according to the data processing needs from more
Data are chosen in circuit-switched data.
In another aspect, an embodiment of the present invention provides a kind of data processing systems, including：One or more processors；It deposits
Storage device, for storing one or more programs；When one or more of programs are executed by one or more of processors
When so that one or more of processors realize any method in above-mentioned data fusion method.
In another aspect, an embodiment of the present invention provides a kind of computer readable storage medium, it is stored with computer program,
The program realizes any method in above-mentioned data fusion method when being executed by processor.
Above-mentioned technical proposal has the following advantages that or advantageous effect：Data fusion function is extracted from data processing module
Out, unified data fusion device is provided for each function module of data processing system, reduces the redundancy of code；Together
When make data processing module focus more on data processing algorithm, reduce module coupling degree, improve the system expandability.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
Include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with other
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, which includes the steps that one or a combination set of embodiment of the method when being executed.Wherein device embodiments and method
Embodiment is corresponding, therefore the embodiment description of device is simpler, and associated description can refer to the embodiment of method
Description.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (18)
1. a kind of data fusion method, which is characterized in that including：
The data information of multichannel data is received, the data information includes data generated time；
According to the data generated time of the multichannel data, according to the data processing needs of data processing module from the multichannel number
According to middle selection data, the difference of the data generated time of any two data in the selection data is set to be less than or equal to default
Time difference threshold value, for the data processing module carry out data processing.
2. according to the method described in claim 1, it is characterized in that,
The data information further includes Data subject, wherein the Data subject is according to each way in the multichannel data
It is pre-set according to affiliated data type；And
The method further includes：The data processing needs from the data processing module are received in advance, at the data
Reason demand includes the data processing module processing required at least one Data subject of data.
3. according to the method described in claim 2, it is characterized in that,
The data processing needs include：The data processing module is required to choose holding for data from the multichannel data
Row strategy.
4. according to the method described in claim 3, it is characterized in that,
The implementation strategy includes the first strategy, wherein includes two in the data processing needs in first strategy
In the case of Data subject described above, data are chosen from the multichannel data, make to correspond to more than two data masters
The difference of any two is less than or equal to preset time difference threshold value in the data generated time of topic.
5. according to the method described in claim 3, it is characterized in that,
The data processing needs further include master data, and the master data is the data processing module required for handling data
At least one Data subject in specify a Data subject corresponding to data information；
The implementation strategy includes the second strategy, wherein in second strategy, pre-sets time window, the time
Window be receive time of the data information after；It is chosen in the data information received in pre-set time window
Data choose the data generated time newest data information in the master data received；Institute is removed what is received
It states in other data except master data, the data generated time oldest data letter is chosen corresponding to each Data subject
Breath.
6. according to the method described in claim 3, it is characterized in that,
The data processing needs further include master data, and the master data is the data processing module required for handling data
At least one Data subject in specify a Data subject corresponding to data information；
The implementation strategy includes third strategy, wherein in the third strategy, pre-sets time window, the time
Window be receive time of the data information after；It is chosen in the data information received in pre-set time window
Data choose the data generated time newest number from the corresponding data information of each subject data received
It is believed that breath.
7. according to the method described in any one of claim 1-6, which is characterized in that at the data according to data processing module
After choosing data in the multichannel data, the method further includes reason demand：
The notice ready for data to the data processing module；And/or
The data chosen from the multichannel data are sent to the data processing module.
8. a kind of data fusion device, which is characterized in that including：
Receiving unit, the data information for receiving multichannel data, the data information include data generated time；
Alignment unit is merged, for the data generated time according to the multichannel data, at the data of data processing module
Reason demand chooses data from the multichannel data, makes the data generated time of any two data in the selection data
Difference be less than or equal to preset time difference threshold value, for the data processing module carry out data processing.
9. device according to claim 8, which is characterized in that
The data information further includes Data subject, wherein the Data subject is according to each way in the multichannel data
It is pre-set according to affiliated data type；And
Described device further includes the first module interactive unit, is used for：The number from the data processing module is received in advance
According to process demand, the data processing needs include the data processing module processing required at least one data master of data
Topic.
10. device according to claim 9, which is characterized in that
The data processing needs include：The data processing module is required to choose holding for data from the multichannel data
Row strategy.
11. device according to claim 10, which is characterized in that
The implementation strategy includes the first strategy；The fusion alignment unit includes the first execution subelement, for according to
First strategy chooses data；Wherein, include more than two data in the data processing needs in first strategy
In the case of theme, data are chosen from the multichannel data, make the data for corresponding to more than two Data subjects
The difference of any two is less than or equal to preset time difference threshold value in generated time.
12. device according to claim 10, which is characterized in that
The data processing needs further include master data, and the master data is the data processing module required for handling data
At least one Data subject in specify a Data subject corresponding to data information；
The fusion alignment unit further includes the preset subelement of time window, is used for：Pre-set time window, the time window
Mouthful for receive time of the data information after；
The implementation strategy includes the second strategy；The fusion alignment unit further includes the second execution subelement, for according to institute
It states the second strategy and chooses data；Wherein, in second strategy, the data received in pre-set time window are believed
Data are chosen in breath, and the data generated time newest data information is chosen in the master data received；It is receiving
To other data in addition to the master data in, it is oldest to choose the data generated time corresponding to each Data subject
Data information.
13. device according to claim 10, which is characterized in that
The data processing needs further include master data, and the master data is the data processing module required for handling data
At least one Data subject in specify a Data subject corresponding to data information；
The fusion alignment unit further includes the preset subelement of time window, is used for：Pre-set time window, the time window
Mouthful for receive time of the data information after；
The implementation strategy includes third strategy；The fusion alignment unit further includes that third executes subelement, for according to institute
It states third strategy and chooses data；Wherein, in the third strategy, the data received in pre-set time window are believed
Data are chosen in breath, from the corresponding data information of each subject data received, choose the data generated time
Newest data information.
14. according to the device described in any one of claim 8-13, which is characterized in that described device further includes that the second module is handed over
Mutual unit, is used for：In the fusion alignment unit according to the data generated time of the multichannel data, according to data processing module
Data processing needs after choosing data in the multichannel data, to ready for data logical of the data processing module
Know, and/or, the data that the fusion alignment unit is chosen are sent to the data processing module.
15. a kind of data processing system, which is characterized in that include the data fusion dress as described in any one of claim 8-14
It sets, and
At least one data processing module, the data for being chosen according to the data fusion device carry out data processing.
16. system according to claim 15, which is characterized in that the data processing module is additionally operable to：In advance by data
Process demand is sent to the data fusion device, so as to the data fusion device according to the data processing needs from multichannel
Data are chosen in data.
17. a kind of data processing system, which is characterized in that including：
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors so that one or more of processors
Realize the method as described in any in claim 1-7.
18. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any in claim 1-7 is realized when row.
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