CN108491533B - 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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- CN108491533B CN108491533B CN201810271872.XA CN201810271872A CN108491533B CN 108491533 B CN108491533 B CN 108491533B CN 201810271872 A CN201810271872 A CN 201810271872A CN 108491533 B CN108491533 B CN 108491533B
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Abstract
The present invention proposes a kind of data fusion method, device, data processing system and computer readable storage medium.Wherein data fusion method includes: the data information for receiving multichannel data, and the data information includes data generation time；According to the data generation time of the multichannel data, data are chosen from the multichannel data according to the data processing needs of data processing module, the difference of the data generation 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 functional module of data processing system, reduces the redundancy of code；Make data processing module focus more on data processing algorithm simultaneously, reduces module coupling degree, improve the system expandability.
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 technique
The data processing system of the prior art can usually be divided by function as different functional modules, such as unmanned vehicle
The typical module of system has vehicle location, barrier perception, prediction, path planning, vehicle control etc..Wherein each functional 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 are as follows: camera review data, radar data.These data include generate when
Between information (timestamp), before module process data, need to carry out certain fusion according to self-demand according to timestamp and be aligned.
The method of the prior art carries out alone data fusion alignment after generally receiving data by each functional module.Existing skill
Art has the following disadvantages:
1, coupling is high: module, which 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 requires oneself to realize 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.
Summary of the invention
The embodiment of the present invention provides a kind of data fusion method, 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, the embodiment of the invention provides a kind of data fusion methods, comprising: receive the data letter of multichannel data
Breath, the data information includes data generation time；According to the data generation 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 for generating the 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 according to belonging to each circuit-switched data in the multichannel data is preset
's；And the method also includes: the data processing needs from the data processing module, the data are received in advance
Process demand includes at least one Data subject required for the data processing module processing 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 implementation strategy for choosing data required for the data processing module from the multichannel data.
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 where 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 generation 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 that the data processing module is being handled at least one required for data
Data information corresponding to the Data subject specified in a Data subject；The implementation strategy includes the second strategy, wherein
In second strategy, preset 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
The newest data information of data generation time；In other data in addition to the master data received, correspond to each
Data subject chooses the oldest data information of the data generation time.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
Number corresponding to the Data subject that data processing module is specified in handling at least one Data subject required for data
It is believed that breath；The implementation strategy includes third strategy, wherein in the third strategy, time window is preset, 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 generation 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, the 4th kind of embodiment of first aspect, the 5th kind of embodiment of first aspect in face, the present invention exist
In 6th kind of embodiment of first aspect, selected from the multichannel data in the data processing needs according to data processing module
After access evidence, the method also includes: Xiang Suoshu data processing module notice ready for data；And/or it will be from described
The data chosen in multichannel data are sent to the data processing module.
Second aspect, the embodiment of the invention provides a kind of data fusion devices, comprising: and receiving unit is more for receiving
The data information of circuit-switched data, the data information include data generation time；Alignment unit is merged, for according to the multichannel number
According to data generation 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 generation 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 according to belonging to each circuit-switched data in the multichannel data is preset
's；And described device further includes the first module interactive unit, is used for: being received in advance from described in the data processing module
Data processing needs, the data processing needs include at least one data required for the data processing module processing 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 implementation strategy for choosing data required for the data processing module from the multichannel data.
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；It 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 generation 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 that the data processing module is being handled at least one required for data
Data information corresponding to the Data subject specified in a Data subject；The fusion alignment unit further includes time window
Preset subelement, is used for: preset time window, the time window be receive time of the data information after；Institute
Stating implementation strategy includes the second 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 that is received in pre-set time window
Access evidence, chooses the newest data information of the data generation time in the master data received；It is removed what is received
In other data except the master data, the oldest data letter of the data generation time 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 that the data processing module is being handled at least one required for data
Data information corresponding to the Data subject specified in a Data subject；The fusion alignment unit further includes time window
Preset subelement, is used for: preset time window, the time window be receive time of the data information after；Institute
Stating implementation strategy includes third 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 that is received in pre-set time window
It is newest to choose the data generation 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, the 4th kind of embodiment of second aspect, the 5th kind of embodiment of second aspect in face, the present invention exist
In 6th kind of embodiment of second aspect, described device further includes the second module interactive unit, is used for: being aligned in the fusion
Unit is according to the data generation time of the multichannel data, according to the data processing needs of data processing module from the multichannel number
After middle selection data, Xiang Suoshu data processing module notice ready for data, and/or, the fusion is aligned single
The data that member is chosen are sent to the data processing module.
It include processor and memory, the memory in the structure of data fusion device in a possible design
For storing the program for supporting data fusion device to execute data fusion method in above-mentioned first aspect, the processor is configured
For for executing the program stored in the memory.
The third aspect, the embodiment of the 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, the embodiment of the invention provides a kind of data processing systems, comprising: 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, the embodiment of the 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 the utility model has the advantages that data fusion function is extracted from data processing module
Out, unified data fusion device is provided for each functional 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.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some 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 embodiment
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 modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
The embodiment of the 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, comprising: step S110 receives multichannel data
Data information, the data information include data generation 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 generation time of 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 functional modules, i.e., with the data of 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 to merge the pretreatment of alignment, by melting
The pretreatment for closing alignment makes the difference of the data generation 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 are as follows: camera review data, radar data.
Data fusion technique refers to using computer to several observation informations chronologically obtained, is subject under certain criterion
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 of the useful information provided to various information sources are included, to assist carrying out state
Gesture/environment determines, planning, detection, verifying, diagnoses.If each functional 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 functional 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, data processing needs need received input data when including the module process data；According to each
The data processing needs of data processing module choose data according to the data generation time of multichannel data from multichannel data, to the greatest extent
Amount chooses the lesser data of data generation time difference, to make multichannel data carry out time unifying, finally by fusion alignment
Multichannel data is supplied to data processing module and carries out data processing.
A kind of embodiment of data fusion method according to the present invention, the data information include but are not limited to data master
Topic, wherein the Data subject is that the data type according to belonging to each circuit-switched data in the multichannel data is pre-set；With
And the method also includes: the data processing needs from the data processing module, the data processing are received in advance
Demand includes at least one Data subject required for the data processing module processing data.
Multichannel data is divided into different Data subjects (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: coming from
Camera), radar data；It is also possible that the data crossed on the basis of the data of acquired original by resume module, 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 acquisition equipment or some data processing module, are passed by data channel
It is defeated to be melted before the input by data to another data processing module as the input data of 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.During data generate, merge registration process, input to module, 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, choose data 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, the time (timestamp) when also generating comprising data 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 which that different fusions is aligned strategy.Data fusion device is multichannel data fusion
Alignment provides a variety of tactful (Strategy).
A kind of embodiment of data fusion method according to the present invention, the data processing needs further include: the data
The implementation strategy of data is chosen required for processing module from the multichannel data.It specifically, is in advance every kind of 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 is aligned strategy Strategy；Oneself is needed received data Topic 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 as far as possible and adopts
The data of collection.Settable time error allowed band, for example the data acquisition time that different themes Topic chooses is 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 data acquisition time of different themes Topic selection 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
Data of the difference of acquisition time less than 1 millisecond, are supplied to barrier sensing module.
A kind of embodiment of data fusion method according to the present invention, the implementation strategy include 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 for corresponding to any two in the data generation time of 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 is in registration such as the specified fusion alignment used
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 dress
It sets and carries out fusion registration process according to specified time difference threshold value.
The difference of the data generation time of a tactful corresponding embodiment strict control multichannel data, thus by multichannel number
According to time unifying is carried out, the accuracy of multichannel data alignment is controlled, by setting time difference threshold value 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, and such as: data acquisition equipment acquires 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 to be processed；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 of main foundation when processing module carries out data processing, can generally make
For first parameter for handling 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 using 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 foundation camera review data when data processing, and radar data is used as reference data, then referred to
Determining camera review data is master data, and radar data is not then master data.
" data that other each Topic choose oldest timestamp " are because when acquisition data frequency is higher, and time interval is small
In the case where these data difference it is unobvious.This strategy is suitable for acquiring data compared with master data " other each Topic "
The higher situation of frequency, can permit data has certain ageing time.
A kind of embodiment of data fusion method, the data processing needs further include master data according to the present invention, institute
Stating master data is the data that the data processing module is specified in handling at least one Data subject required for data
Data information corresponding to theme；The implementation strategy includes the second strategy, wherein in second strategy, is preset
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 generation 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 preset, such as the length of settable buffer queue is 10, 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 higher situation, since the acquisition 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 saving 10 item datas) of queue are eventually adding, then in its caching
The data generation time saved in queue can lag behind the data generation time of master data, and therefore, other each Topic (remove main number
Except) data of choosing oldest timestamp, the difference of the data generation time between other each Topic and master data can be made
Minimum, to make the accuracy highest of multichannel data progress time unifying.
For acquiring the higher situation of 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 acquiring the lower situation of data frequency compared with master data " other each Topic ", 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.
A kind of embodiment of data fusion method, the data processing needs further include master data according to the present invention, institute
Stating master data is the data that the data processing module is specified in handling at least one Data subject required for data
Data information corresponding to theme；The implementation strategy includes third strategy, wherein in the third strategy, is preset
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 generation time newest data information.
In conclusion data processing module is according to its own demand (such as according to master data in input data and 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 received data Topic 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,
A kind of embodiment of data fusion method according to 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 also includes step S130, are used for: Xiang Suoshu 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 first by data processing module；Data fusion device into
The data receiver of row multichannel data, and data fusion alignment is carried out according to the registration information of each data processing module；Fusion pair
Neat backward data processing module issues the notice of data ready；Data processing module post-processes data having notice.
On the other hand, the embodiment of the 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, it is used for
The data information of multichannel data is received, the data information includes data generation time；Alignment unit 200 is merged, basis is used for
The data generation time of the multichannel data is chosen from the multichannel data according to the data processing needs of data processing module
Data make the difference of the data generation 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,
A kind of embodiment of data fusion device, the data information further include Data subject according to the present invention, wherein the data
Theme is that the data type according to 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 at least one Data subject required for the data processing module processing data.
A kind of embodiment of data fusion device according to the present invention, the data processing needs include: at the data
Manage the implementation strategy for choosing data required for module from the multichannel data.
Fig. 6 is the structural schematic diagram of another preferred embodiment of data fusion device provided by the invention.As shown in fig. 6,
A kind of embodiment of data fusion device according to the present invention, the implementation strategy include 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 being less than or equal to the difference of any two in the data generation time for corresponding to more than two Data subjects default
Time difference threshold value.
A kind of embodiment of data fusion device, the data processing needs further include master data according to the present invention, institute
Stating master data is the data that the data processing module is specified in handling at least one Data subject required for 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 that receives in pre-set time window, are being received
The master data in choose the newest data information of the data generation time；It is receiving in addition to the master data
In other data, the oldest data information of the data generation time is chosen corresponding to each Data subject.
A kind of embodiment of data fusion device, the data processing needs further include master data according to the present invention, institute
Stating master data is the data that the data processing module is specified in handling at least one Data subject required for data
Data information corresponding to theme；The fusion alignment unit further includes the preset subelement of time window, is used for: when presetting
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, chooses data in the data information received in pre-set time window, from each of receiving
In the corresponding data information of subject data, the newest data information of the data generation time is chosen.
A kind of embodiment of data fusion device according to the present invention, described device further include the second module interactive unit
350, it is used for: the data generation time in the fusion alignment unit according to the multichannel data, according to data processing module
After choosing data in the multichannel data, Xiang Suoshu data processing module is ready for data to be led to data processing needs
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 functional module from data processing system by the embodiment of the present invention
In be stripped out, formed a special data fusion device.And a variety of strategies are provided for multichannel data fusion alignment.This
The data fusion device of inventive embodiments includes: that module interactive unit (including hand over by the first module interactive unit 300 and the second module
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, every kind of 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 received data Topic 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 alignment
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, it reversing time synchronous window strategy (ReverseTimeSyncWindow): in regular hour window, is connecing
The data of newest timestamp are chosen in the master data received；Other each Topic choose the data of newest timestamp.
It include processor and memory, the memory in the structure of data fusion device in a possible design
For storing the program for supporting data fusion device to execute data fusion method in above-mentioned first aspect, the processor is configured
For for executing the program stored in the memory.
Another aspect, the embodiment of the invention provides a kind of data processing systems, including data described in any 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.
A kind of embodiment of data processing system, the data processing module are also used to according to the present invention: will be counted 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, the embodiment of the invention provides a kind of data processing systems, comprising: 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, it is stored with computer program the embodiment of the invention provides a kind of computer readable storage medium,
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 the utility model has the advantages that data fusion function is extracted from data processing module
Out, unified data fusion device is provided for each functional 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 descriptive purposes only and cannot be understood as indicating or suggesting 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
It 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 discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang 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 (such as computer based system, including the system of 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 ", which can be, any may include, stores, communicates, propagates or pass
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 include the following: there is the electricity of one or more wirings
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 then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system 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 column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.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.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store 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 (16)
1. a kind of data fusion method characterized by comprising
The data information of multichannel data is received, the data information includes data generation time；
According to the data generation time of the multichannel data, according to the data processing needs of data processing module from the multichannel number
According to middle selection data, it is less than or equal to the difference of the data generation time of any two data in the selection data default
Time difference threshold value, for the data processing module carry out data processing；
Wherein, the data information further includes Data subject, and the Data subject is according to each in the multichannel data
Data type belonging to circuit-switched data is pre-set；And
The method also includes: the data processing needs from the data processing module are received in advance, at the data
Reason demand includes at least one Data subject required for the data processing module processing data.
2. the method according to claim 1, wherein
The data processing needs include: to choose holding for data required for the data processing module from the multichannel data
Row strategy.
3. according to the method described in claim 2, 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 where 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 generation time of topic.
4. according to the method described in claim 2, it is characterized in that,
The data processing needs further include master data, and the master data is that the data processing module is being handled required for 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, presets 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 newest data information of the data generation time in the master data received；It is receiving except institute
It states in other data except master data, chooses the oldest data letter of the data generation time corresponding to each Data subject
Breath.
5. according to the method described in claim 2, it is characterized in that,
The data processing needs further include master data, and the master data is that the data processing module is being handled required for 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, presets 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 newest number of the data generation time from the corresponding data information of each subject data received
It is believed that breath.
6. method according to any one of claims 1-5, which is characterized in that at the data according to data processing module
Reason demand from the multichannel data choose data after, the method also includes:
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.
7. a kind of data fusion device characterized by comprising
Receiving unit, for receiving the data information of multichannel data, the data information includes data generation time；
Alignment unit is merged, for the data generation time according to the multichannel data, at the data of data processing module
Reason demand chooses data from the multichannel data, makes the data generation 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；
Wherein, the data information further includes Data subject, and the Data subject is according to each in the multichannel data
Data type belonging to circuit-switched data is pre-set；And
Described device further includes the first module interactive unit, is used for: receiving the number from the data processing module in advance
According to process demand, the data processing needs include at least one data master required for the data processing module processing data
Topic.
8. device according to claim 7, which is characterized in that
The data processing needs include: to choose holding for data required for the data processing module from the multichannel data
Row strategy.
9. device according to claim 8, 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；It wherein, include more than two data in the data processing needs in first strategy
In the case where theme, data are chosen from the multichannel data, make the data for corresponding to more than two Data subjects
The difference for generating any two in the time is less than or equal to preset time difference threshold value.
10. device according to claim 8, which is characterized in that
The data processing needs further include master data, and the master data is that the data processing module is being handled required for 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: presetting 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 newest data information of the data generation time 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 generation time corresponding to each Data subject
Data information.
11. device according to claim 8, which is characterized in that
The data processing needs further include master data, and the master data is that the data processing module is being handled required for 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: presetting 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 generation time
Newest data information.
12. device according to any one of claims 7-11, 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 generation time of the multichannel data, according to data processing module
Data processing needs after choosing data in the multichannel data, ready for data logical of Xiang Suoshu data processing module
Know, and/or, the data that the fusion alignment unit is chosen are sent to the data processing module.
13. a kind of data processing system, which is characterized in that including the data fusion dress as described in any one of claim 7-12
It sets, and
At least one data processing module, the data for being chosen according to the data fusion device carry out data processing.
14. system according to claim 13, which is characterized in that the data processing module is also used 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.
15. a kind of data processing system characterized by comprising
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 such as method as claimed in any one of claims 1 to 6.
16. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
Such as method as claimed in any one of claims 1 to 6 is realized when row.
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| CN110784227B (en) * | 2019-10-21 | 2021-07-30 | 清华大学 | Multi-path compression method and device for data set and storage medium |
| CN112735140B (en) * | 2019-10-28 | 2022-05-20 | 阿波罗智联(北京)科技有限公司 | Data processing method and device, electronic equipment and storage medium |
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