WO2021223110A1

WO2021223110A1 - Data processing apparatus and method, medium, computer device, and mobile device

Info

Publication number: WO2021223110A1
Application number: PCT/CN2020/088809
Authority: WO
Inventors: 解德鹏
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-06
Filing date: 2020-05-06
Publication date: 2021-11-11

Abstract

A data processing apparatus and method, a medium, a computer device, and a mobile device. Said method comprises: sending data generated by a data production unit (202) to a data center (201), and sending, by means of the data center (201), the data generated by the data production unit (202) to a plurality of data consumption centers (203). In this way, the same data production unit (202) only needs to generate one piece of data to the data center (201), and the data is sent to the data consumption units (203) by means of the data center (201), thereby reducing the bandwidth occupation of the data production unit (202).

Description

Data processing device and method, medium, computer equipment, and mobile equipment

Technical field

The present disclosure relates to the field of data processing technology, in particular, to data processing devices and methods, media, computer equipment, and portable equipment.

Background technique

There are some data production units on mobile devices that can collect data related to the driving of the mobile device. The data generated by the data production unit can be provided to the data consumption unit on the mobile device, so that the data consumption unit can control the driving of the mobile device. state. In practical applications, a data production unit often needs to provide the generated data to multiple data consumption units respectively, which easily leads to a high bandwidth occupation of the data production unit.

Summary of the invention

In view of this, the embodiments of the present disclosure propose data processing apparatuses and methods, media, computer equipment, and portable equipment to solve the technical problem of high bandwidth occupation of data production units in related technologies.

According to a first aspect of the embodiments of the present disclosure, there is provided a data processing device, the device comprising: a data center, and at least one data production unit and a plurality of data consumption units that are communicatively connected to the data center; the at least one The data production unit is used to collect first data related to the driving state of the mobile device, and forward the first data to the data center for caching; the data center is used to consume the data after receiving the multiple data After the unit subscribes to the first data for the first data, the cached first data is forwarded to the multiple data consumption units respectively; each data consumption unit of the multiple data consumption units is used for The driving state of the movable device is controlled based on the first data.

According to a second aspect of the embodiments of the present disclosure, a movable device is provided, and the movable device includes the data processing apparatus described in any one of the embodiments.

According to a third aspect of the embodiments of the present disclosure, there is provided a data processing method, the method comprising: receiving and buffering first data related to the driving state of a movable device collected by at least one data production unit; After the data consuming unit subscribes to the first data of the first data, it forwards the cached first data to the multiple data consuming units respectively; wherein the first data is used for the multiple data The consumer unit controls the driving state of the mobile device.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method described in any of the embodiments is implemented.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor implements any implementation when the program is executed. The method described in the example.

By applying the solution of the embodiments of the present disclosure, the data generated by the data production unit is sent to the data center, and the data generated by the data production unit is sent to multiple data consumption centers by the data center, thereby reducing the bandwidth occupation of the data production unit.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Figure 1 is a schematic diagram of the topology between a traditional data production unit and a data consumption unit.

Fig. 2 is a schematic diagram of a data processing device according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram of a data processing device according to a specific embodiment of the present disclosure.

Fig. 4 is a schematic diagram of data fusion in an embodiment of the present disclosure.

Fig. 5 is a schematic diagram of multiple data processing centers according to an embodiment of the present disclosure.

Fig. 6 is a schematic diagram of interaction of an embodiment of the present disclosure.

Fig. 7 is a flowchart of a data processing method according to an embodiment of the present disclosure.

Fig. 8 is a block diagram of a computer device of an embodiment of the present disclosure.

Detailed ways

The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

The terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms of "a", "said" and "the" used in the specification of this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "when" or "in response to determination".

There are some data production units on the mobile equipment that can collect data related to the driving of the mobile equipment. For example, the temperature sensor on the mobile equipment can generate the temperature of the environment where the mobile equipment is located or some devices on the mobile equipment (such as , The temperature of the engine); another example, a lidar on a movable device can generate position data of the movable device. The data generated by these data production units can be provided to the data consumption unit on the mobile device, so that the data consumption unit controls the driving state of the mobile device.

In practical applications, the data generated by each data production unit is often cached by the data production unit itself, and then sent to each data consumption unit by the data production unit. This leads to data fragmentation. The communication link and system architecture between the data production unit and the data consumption unit are complex. The same link often needs to transmit multiple identical data, which wastes link bandwidth, and the system structure and functions are not. Conducive to expansion.

As shown in FIG. 1, it is a schematic diagram of a topology structure between a traditional data production unit and a data consumption unit in some embodiments. Among them, the Global Positioning System (Global Positioning System, hereinafter referred to as GPS), Inertial Measurement Unit (hereinafter referred to as IMU), compass, vision sensor, Time of Flight (Time of Flight, hereinafter referred to as TOF) sensor and radar They are the data generation unit, and the flight control system, navigation unit and positioning system are the data consumption units. Different data production units and data consumption units can be installed on different chips. The flight control system needs to obtain sensor data generated by data production units such as IMU, GPS, altitude sensors (including TOF sensors and ultrasonic sensors, etc.), radars, and vision sensors. The flight control system needs to send data to the subsystem where multiple data production units are located, Multiple chips obtain data, the communication links between systems are interleaved, and the topology is more complicated, which is likely to cause data redundancy and confusion. In addition, both the flight control system and the navigation system need to acquire the data generated by GPS at the same time. Therefore, GPS needs to send multiple copies of the same data at the same time. When both the flight control system and the navigation system are connected to the same communication port of GPS, it is easy to cause the bandwidth of the GPS communication port to occupy too high or even insufficient bandwidth, resulting in data frame loss.

Based on this, an embodiment of the present disclosure provides a data processing device. As shown in FIG. 2, the device includes:

A data center 201, and at least one data production unit 202 and multiple data consumption units 203 that are communicatively connected to the data center 201;

The at least one data production unit 202 is configured to collect first data related to the driving state of the movable device, and forward the first data to the data center 201 for caching;

The data center 201 is configured to respectively forward the cached first data to the multiple data consuming units after receiving the first data subscription request of the multiple data consuming units 203 for the first data 203;

Each data consumption unit 203 of the plurality of data consumption units 203 is configured to control the driving state of the movable device based on the first data.

The data production unit 202 (also referred to as a producer) in the embodiment of the present disclosure is a functional unit capable of generating data. The data production unit 202 includes, but is not limited to, at least one sensor, for example, a first sensor (for example, a speed sensor) for generating speed information of a movable device, and a second sensor for generating pose information of the movable device. A sensor (for example, IMU, GPS, etc.), a third sensor (for example, a temperature sensor, a humidity sensor, etc.) for generating environmental information of the environment in which the mobile device is located, and a plurality of the first consumer units 203 having data At least one of the data consumption units (for example, the driving control unit) of the production capacity. The aforementioned data production unit 202 can produce corresponding data, and send the produced data directly or indirectly to the data center 201 to ensure that the data center 201 is a data resource pool, and the first data generated by the data production unit 202 can flow into the data resource pool. Wherein, the number of data centers 201 may be one or more.

The data center 201 may provide a buffer of several frames of data for some or all of the data production unit 202, so that consumers can flexibly subscribe to current data and historical data. At the same time, the data can be simply processed and processed, including at least any of the following: setting the frame rate of the first data sent to the data consumption unit 203, setting the number of buffer frames for buffering the first data sent by the data production unit 202, and fusion Processing etc. The data center 201 has a data forwarding and routing interface for sending and receiving data and instructions.

The data consumption unit 203 (also referred to as a consumer) in the embodiment of the present disclosure refers to a functional unit that can subscribe to the data center 201 for the required first data, and use the data to perform corresponding operations. The data consumption unit 203 may include but is not limited to at least any of the following: a driving control unit, a path planning unit, a task execution unit, and a positioning unit. The driving control unit is used to control a driving state of a movable device, and the driving state includes at least one of speed, direction, and position. The path planning unit is used to plan the travel path of the movable device. The task execution unit is used to control the mobile device or the state (for example, pose) of the peripheral on the mobile device, so that it can execute the corresponding task. The positioning unit is used for positioning the movable device.

The movable device in the embodiment of the present disclosure may be a device with mobile capabilities such as a drone, a vehicle, a mobile robot, a submarine, and the like. Taking a drone as an example, the driving control unit can be a flight control unit on the drone, and the path planning unit can be used to control the drone to fly or return to a preset path, and the task is executed The unit may be an airline flight operation unit, which is used to control the drone to fly to a designated location or hover during the flight of the drone, or to control the image acquisition device mounted on the drone to take images. The positioning system can position the drone.

As shown in Figure 3, it is a schematic diagram of the specific structure of the data processing device in some embodiments. Among them, producers include compasses, IMUs, barometers, vision sensors, TOF sensors, GPS, ultrasonic sensors, and radars. Consumers include flying Control unit, navigation unit, route flight operation unit and positioning unit. It should be noted that FIG. 3 is only an exemplary illustration of the present disclosure, and the types and quantities of the data production unit 202 and the data consumption unit 203 of the present disclosure are not limited to this.

In some embodiments, the movable device may be activated and generate the first data under certain circumstances. For example, the data production unit 202 may start and generate the first data when it is detected that the movable device is or is about to be in a driving state. In the case that the mobile device is a drone, the data production unit 202 on the drone can be used to start and generate the first data when it is detected that the drone is or is about to be in flight. The start instruction received by the mobile device, or the power of the mobile device is turned on, or according to other methods, it is determined that the mobile device is or is about to be in a driving state. For another example, the data production unit 202 may also start and generate the first data when it is detected that the movable device or the peripheral device mounted on the movable device is performing a specified task. Still taking the drone as an example, the data production unit 202 on the drone can be used to start and generate the first data when it is detected that the drone is performing a flight operation. Wherein, the flight operation may be flying to a designated destination, taking a photo of a designated location, hovering at a designated height, or other tasks. For another example, the data production unit 202 may also start and generate the first data upon receiving a start instruction sent by a movable device or a control device (for example, a remote control) used in conjunction with the movable device. . In other embodiments, the data production unit 202 may start and generate the first data when the power is on, and stop generating the first data when the power is off.

Each data production unit 202 can produce corresponding first data according to a certain frame rate. The frame rate for producing the first data may be a preset fixed frame rate, for example, 5 Hz, 10 Hz, 20 Hz. A dynamic frame rate can also be used, and the size of the frame rate can be set according to the actual situation. For example, set according to the current environmental conditions of the mobile device. In the case of poor environmental conditions (for example, low light intensity or in environments such as fog, sandstorms, etc.), the frame rate can be set higher ; On the contrary, set it lower. For another example, it is set according to the task currently being executed. In the case where the accuracy required to perform the task is high, the frame rate can be set higher; otherwise, the frame rate can be set lower. For another example, the frame rate at which the data production unit 202 produces the first data can be set according to the confidence level of the first data produced by the data production unit 202. In the case of higher confidence, the frame rate can be set higher; otherwise, the frame rate can be set lower. For another example, it can also be set according to the operating state of the data production unit 202. The operating state may include the temperature of the data production unit 202. In the case where the temperature is higher than the preset temperature value, a lower frame rate may be used to produce the first data, and conversely, a higher frame rate may be used to produce the first data. For another example, it can also be set according to the driving state of the movable device. The first data is produced at a lower frame rate during the startup of the portable device, and the first data is produced at a higher frame rate after the movable device is started up. For another example, it can be set according to the accuracy requirements of the first data. A higher frame rate can be used for the first data with higher accuracy requirements, and vice versa, a lower frame rate can be used. The frame rate can also be set according to other factors, which will not be repeated here. It should be noted that the frame rates of different data production units 202 can be set to be the same or different. After the data production unit 202 produces the first data, the produced first data may be sent to the data center 201 frame by frame, or may be sent to the data center 201 by skipping frames. As an optional manner, the data production unit 202 may always collect data at a fixed frame rate, and send the first data to the data center 201 in a frame-by-frame or skip-frame transmission mode according to preset conditions.

The preset condition can be set based on at least any one of the aforementioned environmental conditions, the currently executed task, and the confidence level of the first data produced by the data production unit 202, or can be set based on other conditions or at least any one of the above conditions and other conditions. The conditions are set together, so I won’t repeat them here. Frame skipping means that when data is collected at frame rate F, if the first frame of data is collected at t1, the second frame of data is collected at t2, the third frame of data is collected at t3, and the data is collected at t4. When the fourth frame of data is reached, the first frame of data and the third frame of data are sent to the data center 201 as the first data, and the second frame of data and the third frame of data are not sent. In other words, a plurality of frame data that are not continuously received are sent to the data center 201 as the first data.

The data production unit 202 may directly send the produced first data to the data center 201, or may preprocess the first data before sending it to the data center 201. The preprocessing may include filtering out unusable first data. The unavailable first data may include data whose value exceeds a preset range, or data whose confidence is lower than a preset value. The preprocessing may also include other types of preprocessing, which will not be repeated here. Through pre-processing, the amount of data transmission can be reduced and the efficiency of data processing can be improved.

When the number of data production units 202 is multiple, each data production unit 202 can independently send the first data to the data center 201. For example, each data production unit 202 can be connected to a communication of the data center 201. Interface, and send the first data to the data center 201 through the communication interface. The communication interface may be an I2C bus interface, a universal serial bus (Universal Serial Bus, USB) interface, or the like. In some embodiments, different data production units 202 are connected to different communication interfaces. In other embodiments, multiple data production units 202 may also share the same communication interface. When the data production unit 202 sends the first data to the data center 201, the identification information of the data production unit 202 and/or the identification information of the first data may be added to the first data. Further, the frame rate information for sending the first data can also be added.

In some embodiments, a part of the first data generated by the data production unit 202 may be sent to the data center 201, and another part of the first data generated by the data production unit 202 may be directly sent to the data consumption unit 203. The data production unit 202 that directly sends the first data to the data consumption unit 203 may be a data production unit 202 with the following characteristics: only sends the first data to one data consumption unit 203, and the data production unit 202 sends the data to its corresponding data consumption unit. The distance between the units 203 is less than the sum of the distance between the data production unit 202 and the data center 201 and the distance between the data center 201 and the data consumption unit 203 corresponding to the data production unit 202. In actual situations, it is also possible to determine which data production unit 202 generates the first data to be directly sent to the data consumption unit 203 according to other factors, which will not be repeated here.

In some embodiments, the at least one data production unit 202 includes a first data production unit and a second data production unit; the plurality of data consumption units 203 includes a first data consumption unit and a second data consumption unit; The second data production unit is used to forward the first data collected by the first data production unit to the data center 201. That is, the first data production unit may directly send the generated first data to the data center 201, or may forward the first data generated by the first data production unit to the data center 201 through the second data production unit. In this way, the flexibility of the scheme is improved. In the case where the number of communication interfaces of the data center 201 is limited, or the communication link between a certain data production unit 202 and the data center 201 is faulty, or a certain data production unit 202 is far away from the data center 201, the above method can be used to It is ensured that as many first data generated by the data production unit 202 as possible are sent to the data center 201.

In some embodiments, the data production unit 202 may select whether to generate the first data or whether to send the generated data to the data center 201 according to preset conditions. The preset condition may be the driving state of the movable device, or according to a task performed by the movable device or a peripheral device (for example, an image capture device) carried on the movable device. For example, when the mobile device is in a driving state, the data production unit 202 can generate the first data, otherwise it will not generate the first data; or, the mobile device or the peripherals mounted on the mobile device are performing tasks or performing tasks. When the task of is a preset task, the data production unit 202 may generate the first data, otherwise the first data is not generated. The task performed by the mobile device may be driving to a designated destination, and the task performed by the peripheral device may be collecting images of a preset location.

After the data production unit 202 sends the first data to the data center 201, the data center 201 may cache the first data for subscription by the first data consumption center. The data center 201 may buffer a preset number of data frames in the first data. Wherein, the frame number of the buffered data frame may be fixedly set or dynamically set, for example, it may be set according to the real-time requirement of the first data. For the first data with high real-time requirements, the number of buffered frames may be less, and vice versa. The number of frames of the buffered first data can also be set according to other conditions, which will not be repeated here. The number of data frames buffered by the data center 201 for different data production units 202 may be the same or different.

In some embodiments, the data center 201 may directly send the first data generated by the data production unit 202 to the data consumption unit 203, and may also obtain the driving status of the mobile device collected by the at least one data production unit 202. Related second data; generating the first data according to the second data.

For example, the data center 201 may filter out some data frames from the second data, and send the selected data frames to the data consumption unit 203 as the first data. The data center 201 may also filter the second data to delete invalid data from the second data, and send the remaining second data as the first data to the data consumption unit. The invalidation data includes incomplete data lacking necessary information, data generated at an incorrect frame rate, and data whose values are not within the valid range. As shown in FIG. 4, the data center 201 may perform fusion processing on the second data collected by multiple data production units 202 to obtain the first data. The fusion processing may include performing fusion processing on a plurality of second data of the same type collected by the data production unit 202 to obtain the first data. Among them, the same category may have the same function. For example, if the location data generated by the GPS system and the location data generated by the IMU are both used to locate the mobile device, the categories of the two are the same. For example, the relative position data generated by multiple positioning systems is fused to obtain the absolute position data of the mobile device. For another example, according to the confidence level of the positioning data generated by the multiple positioning systems, a weighted average is performed on the multiple positioning data to obtain the absolute position data of the movable device.

In practical applications, the vision sensor is prone to failure in weak light and texture scenes, so the confidence of the vision sensor can be set lower in these scenes. The IMU and the accelerometer have accumulated errors. The confidence level of the previous frames of data generated by the IMU and accelerometer can be set higher, and the confidence level of the remaining data generated by the IMU and accelerometer can be set lower. GPS is susceptible to interference and obstruction. Therefore, the confidence level of GPS can be set lower in urban scenes with tall buildings or in scenes such as tunnels and viaducts, and the confidence level of GPS can be set higher in areas with a wide field of view.

The data center 201 may also merge multiple frames of first data generated by the same data production unit 202 to obtain the merged first data. In FIG. 4, the data production unit 1 to the data production unit n can be the same data production unit or different data production units. The first data 1 to the first data n may be first data generated by different data production units, or may be different data frames generated by the same data production unit.

Alternatively, the fusion processing may include performing fusion processing on a plurality of second data collected by the data production unit 202 and used to generate the same first data to obtain the first data. For example, according to the speed data generated by the speed sensor and the acceleration data generated by the accelerometer, the position data of the movable device is determined. Through the fusion processing, the impact of data mutation, jitter and noise can be reduced, and the reliability of the data can be improved, thereby improving the control accuracy of the control of the driving state of the mobile device, and improving the driving safety of the mobile device.

The data center 201 may send all the buffered data frames to the data consumption unit 203, or may select a data frame from the first data according to a preset frame skipping step; send the selected data frame to the multiple A data consumption unit 203. For example, every time 5 data frames are buffered, 1 data frame is sent to the data consumption unit 203. The frame rate sent to the data consumption unit 203 may be set according to the first data subscription request of the data consumption unit 203. If the first data subscription request of the data consuming unit 203 does not carry frame rate information, it can send the data to the data according to the frame rate information in the previous first data subscription request of the first data subscription request, or according to the default sending frame rate. The consumption unit 203 sends data.

The data center 201 and the data production unit 202 and the data consumption unit 203 can all pass through the network port, Application Programming Interface (hereinafter referred to as API), Peripheral Component Interconnect (hereinafter referred to as PCI) interface Various types of interfaces are used for communication connection, so as to obtain data sent by each data production unit 202 through the corresponding interface, or send data to each data consumption unit 203 through the corresponding interface. Optionally, the data center 201 may also forward the cached first data to the multiple data consumption units 203 in a broadcast manner. The first data sent to a certain data consumption unit 203 may carry the identification information of the data consumption unit 203, and the data consumption unit 203 may obtain the first data sent to itself from the broadcast data according to the identification information.

In some embodiments, as shown in FIG. 5, the data center 201 includes multiple sub-data centers, and each sub-data center is used to obtain the first data generated by at least one data production unit 202, and to combine the first data A piece of data is forwarded to the plurality of data consumption units 203. The figure shows a situation where the number of sub-data centers is 2. In practical applications, the number of sub-data centers is not limited to this. By setting up a sub-data center, the data communication pressure of the data center 201 can be increased, and at the same time, the data production unit and the data consumption unit can be selected to connect to a better sub-data center according to the actual situation, thereby reducing the communication cost.

It should be noted that, assuming that the data of the data production unit A is used to send to the data consumption unit B, the data production unit A and the data consumption unit B can be connected to the same sub-data center or different sub-data centers. center. In the case that the data production unit A and the data consumption unit B are connected to different sub-data centers, the first data generated by the data production unit A can be sent to the sub-data center A connected to the data production unit A. Then, the first data is forwarded to the sub-data center B connected to the data consuming unit B through the sub-data center A, and then the first data is forwarded to the data consuming unit B through the sub-data center B.

In some optional embodiments, each data production unit 202 and/or each data consumption unit 203 is connected to a sub-data center with the closest physical distance. The physical distance mentioned here refers to the physical length of the communication link. For example, the physical length from the data output port of the data production unit A to the data input port of the sub-data center A is 1 cm, and the physical length from the data output port of the data production unit B to the data input port of the sub-data center A is 2 cm, then the data The distance between the production unit A and the sub-data center A is shorter than the distance between the data production unit B and the sub-data center A. The definition of the distance between the first data consumption center and the sub-data center and the distance between the data production unit 202 and the sub-data center are the same, and will not be repeated here. In another embodiment, each data production unit 202 and/or each data consumption unit 203 is connected to the closest sub-data center. For example, the data production unit 202 is set in the first position in the entire data processing device, the sub-data center A is located in the second position in the entire data processing device, and the linear distance from the data production unit 202 to the sub-data center A is smaller than the data production unit 202 to other sub-data centers in a straight line, then the sub-data center A is the sub-data center closest to the first sub-data center. By connecting the data production unit 202 and the data consumption unit 203 to the closest sub-data center, the communication cost can be reduced and the data transmission efficiency can be improved.

Therefore, the data production unit 202 may send the first data to the second sub-data center that is the closest physical distance to the data production unit 202, so as to forward the first data to the second sub-data center through the second sub-data center. A sub-data center, and forward the first data through the first sub-data center to the data consuming unit 203 that is the closest physical distance to the first sub-data center. Further, the second sub-data center may also forward the first data to the first sub-data center through at least one third data center. Different data centers can communicate through different types of communication interfaces such as USB interfaces or optical fiber interfaces.

In some embodiments, multiple sub-data centers may be connected to the same management unit, and data forwarding between the multiple sub-data centers is realized through the management unit. As an optional data forwarding method, after the management unit receives the data forwarding request sent by the first sub-data center, it can query a pre-stored table in which the identification information and identification information of each type of first data are recorded. Correspondence between the identification information of the data center storing the first data. After finding, the management unit can send the data forwarding request to the corresponding second sub-data center. After receiving the data forwarding request, the second sub-data center can directly send the data to the first sub-data center, or through at least A third data center forwards the first data to the first sub-data center.

As another optional data forwarding method, the sub-data center can also pre-send data. That is, the second sub-data center may directly send the first data to the first sub-data center when receiving some of the first data. This process can be performed before the second sub-data center receives the data forwarding request. In this way, the efficiency of data transmission can be improved. The table stored by the management unit may also include the association relationship between the identification information of each type of first data and the identification information of the sub-data center connected to the first data consumption center that requires the first data, and the second sub-data center When receiving the first data, you can query the management center whether the first data consumption center that needs the first data is connected to the second sub-data center, if not connected, the first data is directly forwarded to the corresponding second data center. A sub-data center.

In some embodiments, the first data subscription request sent by each data consuming unit includes subscription information of a data subscription manner in which the data consuming unit subscribes to the data center. Taking the first data consuming unit of the plurality of data consuming units as an example, the first data subscription request sent by the first data consuming unit includes a request for indicating that the first data consuming unit sends to the data center 201 Subscription information of the subscription method for data subscription. The data center 201 may forward the cached first data to the first data consumption unit based on the subscription information of the first data consumption unit. The subscription information of the first data consuming unit may include the frequency of data subscription (for example, subscribing to one frame of first data per second), the identification information of the data frame in the subscribed first data, and the data production unit that generates the first data At least one of the identification information of the first data consumption unit in the identification information of 202 may also include other information. As an optional method, the first data consuming unit may send the first data subscription request once in the initial situation (for example, the device has just started), and then only resend the data when the data subscription mode is changed. Subscription request. After receiving the first data subscription request of the first data consuming unit, the data center 201 sends the first data in a manner required by the first data subscription request until a new first data subscription request is received. As another optional manner, the first data consuming unit may always send a data subscription request to the data center 201 at a preset frequency. As yet another optional manner, the first data consuming unit may send a first data subscription request to the data center 201 under the trigger of a specific condition, and the specific condition may be receiving a trigger instruction to send the first data subscription request, Or other conditions. The manner in which other data consuming units of the multiple data consuming units subscribe to data is similar to that of the first data consuming unit, and will not be repeated here.

Further, the first data subscription request further includes at least any one of the following information: identification information of the first data consuming unit, frequency information for subscribing to the first data by the first data consuming unit, and The identification information of the first data subscribed by the first data consuming unit.

The data center 201 may sequentially send the cached first data to the multiple data consuming units 203 according to the order in which the first data subscription requests of the multiple data consuming units 203 are received, or to the first data at a preset frequency. A plurality of data consumption units 203 send the buffered first data.

In the case that the first data subscription request of the multiple data consumption units carries the identification information of the data frame for which the subscription is requested (used to determine which data frame is the data frame), the data center 201 can be based on the data frame The identification information searches for the corresponding data frame from the cache. When a data frame corresponding to the first data subscription request in the first data is found, the corresponding data frame is sent to the multiple data consumption units 203. If the data frame corresponding to the first data subscription request in the first data is not found, the pre-designated data frame in the first data is sent to the multiple data consumption units 203.

In some embodiments, the data center 201 may also perform fault diagnosis on the at least one data production unit 202 and/or the multiple data consumption units 203. For example, the data production unit 202 will generally send the first data to the data center 201 at a certain frequency. If the time interval for the data production unit 202 to send the first data is greater than the first time interval, the data center 201 can determine The data production unit 202 is malfunctioning. For another example, when the data consuming unit 203 sends the first data subscription request to the data center 201 at a preset second time interval, if the data consuming unit 203 sends the first data subscription request When the time interval is greater than the second time interval, the data center 201 may determine that the data consumption unit 203 is malfunctioning. In addition, fault diagnosis can also be performed according to other methods. For example, when the proportion of unavailable data in the first data sent by the data production unit 202 is greater than a preset proportion, it can be determined that the data production unit 202 is faulty. For another example, when necessary information is missing in the first data subscription request sent by the data consuming unit 203, it is determined that the data consuming unit 203 is malfunctioning.

The data center 201 can obtain the backup data of the first data generated by each data production unit in the at least one data production unit 202. If the first data production unit in the at least one data production unit 202 fails, the data center 201 may forward the backup data of the first data generated by the first data production unit to the data consumption unit 203. By using the backup data to back up the failed data production unit, the data consumption unit can control the driving state of the movable equipment according to the backup data in the case of the data production unit failure, thereby improving the reliability of the control of the movable equipment Improve the driving safety of mobile devices.

Specifically, the backup data may include at least any one of the following: the first data generated by the backup production unit of the data production unit 202 (for example, the data generation unit A), and the data production unit 202 (for example, the data generation unit) A) First data generated by another data production unit 202 (for example, data generating unit B) of the same category, and first data historically sent by the data production unit 202 (for example, data generating unit A). Wherein, the number of the data production unit 202 may be multiple, wherein one data production unit 202 is used as a main production unit, and the remaining at least one data production unit 202 is used as a subsidiary production unit of the main production unit. For example, the drone includes two IMUs, one of which serves as the main IMU and the other as the secondary IMU. In general, the main production unit and the auxiliary production unit both normally generate and send the first data to the data center 201. The data center may separately cache the first data generated by the main production unit and the auxiliary production unit. However, only the first data generated by the main production unit is sent to the data consumption unit 203, and only when the main production unit fails, the first data of the subsidiary production unit is used as backup data and sent to the data consumption unit 203. Another data production unit (for example, data generation unit B) of the same category as the data production unit (for example, data generation unit A) may generate the same type of data as the data production unit (for example, data generation unit A) For example, if both the IMU and GPS generate position data of the mobile device, if the IMU fails, the first data generated by the GPS can be used to back up the first data generated by the IMU. In addition, if the data production unit 202 (for example, data generation unit A) fails at time t1, the data production unit 202 (for example, data generation unit A) can be sent and cached to the first data center before time t1. The data is used as the backup data of the data production unit 202 (for example, the data production unit A) at time t1.

In practical applications, since the accuracy of the three types of data listed above is sequentially reduced, the data center 201 can, in the case of detecting that the data production unit 202 (for example, the data generation unit A) is faulty, change the The first data generated by the backup production unit of the data production unit 202 (for example, data generation unit A) is used as backup data; if the first data generated by the backup production unit of the data production unit 202 (for example, data generation unit A) is not found One data, the first data generated by another data production unit 202 (for example, data generation unit B) of the same category as the data production unit 202 (for example, data generation unit A) is used as the backup data; The data production unit 202 (for example, the data generation unit A) generates the first data generated by another data production unit 202 (for example, the data generation unit B) of the same category, and the data production unit 202 (for example, the data generation unit) A) The first data sent in history is used as backup data.

If the first data consumption unit of the plurality of data consumption units fails, the data center 201 may forward the first data to the backup data consumption unit of the first data consumption unit. Each data consumption unit may include at least one backup data consumption unit, which is used to take over the work of the failed data consumption unit when the data consumption unit fails. For example, the drone may include two flight control units, one of which is used as the main flight control unit and the other is used as the auxiliary flight control unit. When the main flight control unit fails, the auxiliary flight control unit receives the first data and takes over the main flight control unit. Unit to work.

In some embodiments, the first data consuming unit may also control peripherals mounted on the movable device according to the first data. For example, controlling the pose and moving speed of the movable device according to the positioning data, or controlling the pose of the peripherals on the movable device according to the pose of the movable device.

As shown in FIG. 6, it is a schematic diagram of the interaction process between the data center 201 and the data production unit 202 and the data consumption unit 203 in an embodiment of the present disclosure. First, the data production unit produces first data, and the first data may be some sensor data. Then, the data production unit sends the first data to the data center, and the data center performs data processing (for example, data fusion) and caching. After the data consuming unit sends a data subscription request to the data center, the data center may forward the cached first data to the data consuming unit. In the above process, the data center can perform fault diagnosis and data backup on the data production unit and the data consumption unit. It should be noted that the interaction process shown in the figure is only exemplary. In practical applications, the execution order of the steps in the interaction process can be adjusted according to actual needs, or at least one step can be added or reduced.

Using the embodiment of the publication, the data generated by the data production unit is sent to the data center 201, and the data center 201 sends the data generated by the data production unit to multiple data consumption centers. In this way, the same data production unit only needs to generate A copy of data is sent to the data center 201, and the data center 201 sends the data to the data consumption unit, thereby reducing the bandwidth occupation of the data production unit.

The present disclosure uses a multi-producer converged data center 201 and a multi-consumer subscription star architecture, that is, the data center is the central node, and a separate line connects the central node with other nodes (that is, the data production unit and the data consumption unit) Connected, the communication between any data production unit and data consumption unit is carried out through the data center. This architecture solves the problems of dispersal of data in the mobile equipment system, complex system architecture and link, simple system architecture, less data link redundancy information, and good scalability. When a new data production unit or data consumption unit is added, it is only necessary to connect the newly added data production unit or data consumption unit to the data center 201.

The system can well support distributed data, unified data management, and good data security and controllability. When part of the data production unit 202 fails, the data center 201 can use the data of other data production units 202 for backup and replacement, and the system is stable Good sex. It provides a good framework support for system diagnosis and data backup.

The present disclosure is applicable to electronic systems with multiple sensors and multiple control terminals, such as unmanned aerial vehicles, robots, and unmanned vehicles, and can also be applied to fields such as big data and the Internet of Things. In application scenarios such as autonomous driving, the driving control reliability of mobile devices can be improved, thereby improving the driving safety of mobile devices.

The embodiments of the present disclosure also provide a movable device, which includes the data processing apparatus described in any of the above embodiments.

As shown in FIG. 7, an embodiment of the present disclosure also provides a data processing method, the method including:

Step 701: receiving and buffering the first data related to the driving state of the movable device collected by at least one data production unit 202;

Step 702: After receiving the first data subscription request of the multiple data consuming units 203 for the first data, forward the cached first data to the multiple data consuming units 203 respectively;

Wherein, the first data is used by the plurality of data consumption units 203 to control the driving state of the movable device.

In some embodiments, the method includes: acquiring second data related to the driving state of the movable device collected by the at least one data production unit; and generating the first data according to the second data.

In some embodiments, the number of the data production unit is multiple; the generating the first data according to the second data includes: performing the second data collected by the multiple data production units Fusion processing to obtain the first data.

In some embodiments, the performing fusion processing on the second data collected by the multiple data production units to obtain the first data includes: collecting the first data of the same category from the multiple data production units The second data is fused to obtain the first data; or the second data collected by multiple data production units and used to generate the same first data is fused to obtain the first data.

In some embodiments, the performing the fusion processing on the second data of the same type collected by the multiple data production units includes: performing the fusion processing on the second data collected by the multiple data production units according to the confidence level of the second data collected by the multiple data production units The second data collected by a plurality of the data production units are fused.

In some embodiments, the respectively forwarding the buffered first data to the multiple data consumption units includes: selecting a data frame from the first data according to a preset frame skipping step; The data frame is sent to the plurality of data consumption units.

In some embodiments, the respectively forwarding the cached first data to the multiple data consumption units includes: respectively forwarding the cached first data to the multiple data consumption units by means of broadcasting. unit.

In some embodiments, the at least one data production unit includes a first data production unit and a second data production unit; the first data is collected by the first data production unit and forwarded through the second data production unit; and /Or the multiple data consumption units include a first data consumption unit and a second data consumption unit; after the second data consumption unit receives the first data, the first data is forwarded to the first data A data consumption unit.

In some embodiments, the first data is used by the first data consuming unit to control peripherals mounted on the portable device.

In some embodiments, the method is executed by a data center, the data center includes a plurality of sub-data centers, each sub-data center is used to obtain the first data generated by at least one data production unit, and to combine the A data is forwarded to the plurality of data consumption units.

In some embodiments, each data production unit and/or each data consumption unit is connected to a sub-data center with the closest physical distance.

In some embodiments, the data production unit sends the first data to a second sub-data center that is the closest physical distance to the data production unit, so as to transfer the first data through the second sub-data center. The data is forwarded to the first sub-data center, and the first data is forwarded to the data consuming unit that is closest in physical distance to the first sub-data center through the first sub-data center.

In some embodiments, the second sub-data center forwards the first data to the first sub-data center through at least one third data center.

In some embodiments, the method is executed by a second sub-data center among a plurality of the data centers, and the method further includes: upon receiving a data forwarding request sent by the management unit, transferring the The first data is forwarded to the first sub-data center among the plurality of data centers.

In some embodiments, the method is executed by a second sub-data center among the plurality of data centers, and the method further includes: before receiving the data forwarding request, forwarding the first data to The first sub-data center.

In some embodiments, the first data subscription request sent by the first data consuming unit of the plurality of data consuming units includes a subscription mode used to characterize the data subscription of the first data consuming unit to the data center The subscription information; said forwarding the cached first data to the multiple data consuming units respectively includes: forwarding the cached first data to the multiple data consuming units based on the subscription information of the first data consuming unit respectively The first data consumption unit.

In some embodiments, the first data subscription request is sent by the first data consuming unit when the subscription mode is changed.

In some embodiments, the first data subscription request further includes at least any one of the following: identification information of the first data consuming unit, frequency information for subscribing to the first data by the first data consuming unit, and The identification information of the first data subscribed by the first data consuming unit.

In some embodiments, the respectively forwarding the cached first data to the multiple data consuming units includes: sequentially consuming the multiple data in an order in which the first data subscription request is received The unit sends the buffered first data; or sends the buffered first data to the multiple data consumption units according to a preset frequency.

In some embodiments, the at least one data production unit includes a first data production unit; the plurality of data consumption units include a first data consumption unit; the method further includes: comparing the first data production unit and/ Or the first data consuming unit performs fault diagnosis.

In some embodiments, the first data production unit sends the first data at a preset first time interval; the performing fault diagnosis on the data production unit includes: in the first data production unit In a case where the time interval for sending the first data is greater than the first time interval, it is determined that the first data production unit is malfunctioning.

In some embodiments, the first data consuming unit sends the first data subscription request at a preset second time interval; the performing fault diagnosis on the data consuming unit includes: If the time interval for the consuming unit to send the first data subscription request is greater than the second time interval, it is determined that the first data consuming unit is faulty.

In some embodiments, the method further includes: in a case where a failure of the first data production unit is detected, obtaining backup data of the first data generated by the first data production unit, and storing the backup data Forwarding data to the multiple data consuming units; and/or forwarding the first data to the backup data consuming unit of the first data consuming unit in the case of detecting a failure of the first data consuming unit .

In some embodiments, the at least one data production unit further includes a second data production unit; the backup data includes at least any one of the following: the first data generated by the backup production unit of the first data production unit, and the The first data produced by the second data production unit of the same type of the first data production unit, and the first data sent by the first data production unit in history.

In some embodiments, the obtaining the backup data of the first data generated by the first data production unit includes: generating the first data when a failure of the first data production unit is detected The first data produced by the backup production unit of the unit is used as the backup data; if the first data produced by the backup production unit of the first data production unit is not found, the first data with the same category as the first data production unit will be used. 2. The first data produced by the data production unit is used as backup data; if the first data produced by the second data production unit with the same category as the first data production unit is not found, the history of the first data production unit The first data sent is used as backup data.

In some embodiments, the respectively forwarding the cached first data to the multiple data consuming units includes: searching for the first data with the first data of the multiple data consuming units. In the case of subscribing to the data frame corresponding to the request, the corresponding data frame is sent to the multiple data consuming units; and the first data in the multiple data consuming units is not found in the first data In the case of subscribing to the data frame corresponding to the request, the pre-designated data frame in the first data is sent to the multiple data consumption units.

In some embodiments, the method is executed by a data center, the data center is set on a processing chip, and the processing chip satisfies the following conditions: each interface of the processing chip is connected to the data production unit and the plurality of The sum of the physical distances of the data consumption units is less than a preset distance threshold; and the number of interfaces of the processing chip is greater than the preset number threshold.

In some embodiments, the data production unit includes at least any of the following: a first sensor for acquiring the speed of the movable device, a second sensor for acquiring the pose of the movable device, and A third sensor for environmental information of the environment in which it is located, and a data consumption unit with data production capability among the multiple data consumption units; and/or the data consumption unit includes at least any one of the following: a driving control unit, a path planning unit , Task execution unit, and positioning unit.

The above data processing method can be executed by the data center in the data processing device of the present disclosure. For specific embodiments of the data center, data production unit, and data consumption unit in the method embodiment, refer to the above-mentioned embodiment of the data processing device for details, which will not be repeated here.

The embodiments of the present disclosure also provide a computer device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the method described in any embodiment when the program is executed. .

FIG. 8 shows a more specific hardware structure diagram of a computing device provided by an embodiment of this specification. The device may include a processor 801, a memory 802, an input/output interface 803, a communication interface 804, and a bus 805. The processor 801, the memory 802, the input/output interface 803, and the communication interface 804 realize the communication connection between each other in the device through the bus 805.

The processor 801 can be implemented by a general CPU (Central Processing Unit, central processing unit), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits for execution related Program to realize the technical solutions provided in the embodiments of this specification.

The memory 802 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 802 may store an operating system and other application programs. When the technical solutions provided in the embodiments of the present specification are implemented through software or firmware, related program codes are stored in the memory 802 and called and executed by the processor 801.

The input/output interface 803 is used to connect an input/output module to realize information input and output. The input/output/module can be configured in the device as a component (not shown in the figure), or can be connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and an output device may include a display, a speaker, a vibrator, an indicator light, and the like.

The communication interface 804 is used to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.), or through wireless means (such as mobile network, WIFI, Bluetooth, etc.).

The bus 805 includes a path for transmitting information between various components of the device (for example, the processor 801, the memory 802, the input/output interface 803, and the communication interface 804).

It should be noted that although the above device only shows the processor 801, the memory 802, the input/output interface 803, the communication interface 804, and the bus 805, in the specific implementation process, the device may also include the necessary equipment for normal operation. Other components. In addition, those skilled in the art can understand that the above-mentioned device may also include only the components necessary to implement the solutions of the embodiments of the present specification, and not necessarily include all the components shown in the figures.

The embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method described in any of the embodiments is implemented.

Applying the solution of the embodiment of the present disclosure, the data generated by the data production unit is sent to the data center, and the data generated by the data production unit is sent to multiple data consumption centers by the data center. In this way, only one copy of the same data production unit is needed. Data is sent to the data center, and the data center sends the data to the data consumption unit, thereby reducing the bandwidth occupation of the data production unit.

The embodiments of the present disclosure may adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features, but due to space limitations, they are not described one by one. Therefore, the various technical features in the above embodiments can be combined arbitrarily. It also belongs to the scope of the present disclosure.

Those skilled in the art will easily think of other embodiments of the present disclosure after considering the disclosure and practice of the description disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptive changes of the present disclosure. These variations, uses, or adaptive changes follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field that are not disclosed in the present disclosure. . The description and the embodiments are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

The above are only the preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the present disclosure. Within the scope of protection.

Claims

A data processing device, characterized in that the device includes:

A data center, and at least one data production unit and multiple data consumption units that are communicatively connected with the data center;

The at least one data production unit is configured to collect first data related to the driving state of the movable device, and forward the first data to the data center for caching;

The data center is configured to forward the cached first data to the multiple data consuming units after receiving the first data subscription request of the multiple data consuming units for the first data;

Each data consumption unit of the plurality of data consumption units is used to control the driving state of the movable device based on the first data.
The device according to claim 1, wherein the data center is further used for:

Acquiring second data related to the driving state of the movable device collected by the at least one data production unit;

The first data is generated according to the second data.
The device according to claim 2, wherein the number of the data production unit is multiple;

The data center is also used for:

Fusion processing is performed on the second data collected by the multiple data production units to obtain the first data.
The device according to claim 3, wherein the data center is used for:

Perform fusion processing on the second data of the same type collected by multiple data production units to obtain the first data; or

The second data collected by the multiple data production units and used to generate the same first data is fused to obtain the first data.
The device according to claim 3, wherein the data center is used for:

According to the confidence level of the second data collected by the multiple data production units, fusion processing is performed on the second data collected by the multiple data production units.
The device according to claim 1, wherein the data center is used for:

Selecting a data frame from the first data according to a preset frame skipping step;

Sending the selected data frame to the plurality of data consuming units.
The device according to claim 1, wherein the data center is used for:

The buffered first data is respectively forwarded to the multiple data consumption units in a broadcast manner.
The device according to claim 1, wherein the at least one data production unit comprises a first data production unit and a second data production unit;

The second data production unit is configured to: forward the first data collected by the first data production unit to the data center; and/or

The multiple data consumption units include a first data consumption unit and a second data consumption unit; the second data consumption unit is further configured to: forward the first data obtained from the data center to the first data consumption unit. Data consumption unit.
The device according to claim 8, wherein the first data consumption unit is used to:

Controlling the peripherals mounted on the movable device according to the first data.
The device according to claim 1, wherein the data center includes a plurality of sub-data centers; each sub-data center is used to obtain the first data generated by at least one data production unit, and combine the first data The data is forwarded to the plurality of data consumption units.
The device according to claim 10, wherein each data production unit and/or each data consumption unit is connected to a sub-data center with the closest physical distance.
The device according to claim 11, wherein the data production unit is used for:

The first data is sent to the second sub-data center that is the closest physical distance to the data production unit, so that the first data is forwarded to the first sub-data center through the second sub-data center, and passed through the second sub-data center. The first sub-data center forwards the first data to the data consuming unit that is closest in physical distance to the first sub-data center.
The apparatus according to claim 12, wherein the second sub-data center forwards the first data to the first sub-data center through at least one third data center.
The device according to claim 12, wherein the device further comprises:

The management unit is configured to send a data forwarding request to the second sub-data center, so that the second sub-data center forwards the first data to the first sub-data center.
The device according to claim 14, wherein the management unit is configured to:

In the case of receiving the second data subscription request sent by the first sub-data center, sending the data forwarding request to the second sub-data center.
The device according to claim 12, wherein the second sub-data center is used for:

Before receiving the data forwarding request, forward the first data to the first sub-data center in advance.
The device according to claim 1, wherein the first data subscription request sent by the first data consuming unit of the plurality of data consuming units includes a first data subscription request used to characterize that the first data consuming unit sends the data to the data consuming unit. Subscription information of the subscription method for data subscription by the center;

The data center is used for:

Based on the subscription information of the first data consuming unit, the cached first data is forwarded to the first data consuming unit respectively.
The device according to claim 17, wherein the first data consumption unit is used to:

In the case that the subscription mode is changed, the first data subscription request is sent to the data center.
The apparatus according to claim 17, wherein the first data subscription request further includes at least any one of the following:

Identification information of the first data consuming unit, frequency information of the first data subscribed by the first data consuming unit, and identification information of the first data subscribed by the first data consuming unit.
The device according to claim 1, wherein the data center is used for:

Sequentially sending the cached first data to the multiple data consuming units in the order in which the first data subscription request is received; or

Sending the buffered first data to the multiple data consumption units according to a preset frequency.
The device according to claim 1, wherein the at least one data production unit comprises a first data production unit; and the plurality of data consumption units comprise a first data consumption unit;

The data center is also used for:

Perform fault diagnosis on the first data production unit and/or the first data consumption unit.
The device according to claim 21, wherein the first data production unit sends the first data to the data center at a preset first time interval; the data center is configured to:

In a case where the time interval for the first data production unit to send the first data is greater than the first time interval, it is determined that the first data production unit is faulty.
The device according to claim 21, wherein the first data consuming unit sends the first data subscription request to the data center at a preset second time interval; the data center is configured to:

In a case where the time interval for the first data consuming unit to send the first data subscription request is greater than the second time interval, it is determined that the first data consuming unit is faulty.
The device according to claim 21, wherein the data center is further used for:

In the case of detecting a failure of the first data production unit, obtain backup data of the first data generated by the first data production unit, and forward the backup data to the multiple data consumption units; and /or

In a case where a failure of the first data consumption unit is detected, the first data is forwarded to the backup data consumption unit of the first data consumption unit.
The device according to claim 24, wherein the at least one data production unit further comprises a second data production unit;

The backup data includes at least any one of the following: first data produced by a backup production unit of the first data production unit, first data produced by a second data production unit of the same category as the first data production unit, and The first data historically sent by the first data production unit.
The device according to claim 25, wherein the data center is used for:

In the case of detecting a failure of the first data production unit, use the first data generated by the backup production unit of the first data production unit as backup data;

If the first data produced by the backup production unit of the first data production unit is not found, use the first data produced by the second data production unit of the same category as the first data production unit as the backup data;

If the first data generated by the second data production unit with the same category as the first data production unit is not found, the first data historically sent by the first data production unit is used as the backup data.
The device according to claim 1, wherein the data center is further used for:

If a data frame corresponding to the first data subscription request of the multiple data consuming units is found in the first data, sending the corresponding data frame to the multiple data consuming units; and

In the case that the data frame corresponding to the first data subscription request of the multiple data consumption units in the first data is not found, the pre-designated data frame in the first data is sent to the multiple Data consumption unit.
The device according to claim 1, wherein the data center is set on a processing chip, and the processing chip satisfies the following conditions:

The sum of the physical distances from the interfaces of the processing chip to the data production unit and the multiple data consumption units is less than a preset distance threshold; and

The number of interfaces of the processing chip is greater than a preset number threshold.
The apparatus according to any one of claims 1 to 28, wherein the data production unit comprises at least any one of the following: a first sensor for acquiring the speed of the movable device, and a position for acquiring the position of the movable device. A second sensor for posture, a third sensor for acquiring environmental information of the environment in which the mobile device is located, and a data consumption unit with data production capability among the plurality of data consumption units; and/or

The data consumption unit includes at least any one of the following: a driving control unit, a path planning unit, a task execution unit, and a positioning unit.
A movable device, characterized in that, the movable device comprises the device according to any one of claims 1 to 29.
A data processing method, characterized in that the method includes:

Receiving and buffering the first data related to the driving state of the movable device collected by at least one data production unit;

After receiving the first data subscription request of the multiple data consumption units for the first data, forward the cached first data to the multiple data consumption units respectively;

Wherein, the first data is used by the plurality of data consumption units to control the driving state of the movable device.
The method of claim 31, wherein the method comprises:

Acquiring second data related to the driving state of the movable device collected by the at least one data production unit;

The first data is generated according to the second data.
The method according to claim 32, wherein the number of the data production unit is multiple;

The generating the first data according to the second data includes:

Fusion processing is performed on the second data collected by the multiple data production units to obtain the first data.
The method according to claim 33, wherein said performing fusion processing on said second data collected by a plurality of said data production units to obtain said first data comprises:

Perform fusion processing on the second data of the same type collected by multiple data production units to obtain the first data; or

The second data collected by the multiple data production units and used to generate the same first data is fused to obtain the first data.
The method according to claim 33, wherein the fusion processing of the same type of second data collected by a plurality of the data production units comprises:

According to the confidence level of the second data collected by the multiple data production units, fusion processing is performed on the second data collected by the multiple data production units.
The method according to claim 31, wherein the forwarding the cached first data to the multiple data consumption units respectively comprises:

Selecting a data frame from the first data according to a preset frame skipping step;

Sending the selected data frame to the plurality of data consuming units.
The method according to claim 31, wherein the forwarding the cached first data to the multiple data consumption units respectively comprises:

The buffered first data is respectively forwarded to the multiple data consumption units in a broadcast manner.
The method according to claim 31, wherein the at least one data production unit comprises a first data production unit and a second data production unit;

The first data is collected by the first data production unit and forwarded through the second data production unit; and/or

The plurality of data consumption units includes a first data consumption unit and a second data consumption unit; after receiving the first data, the second data consumption unit forwards the first data to the first data Consumer unit.
The method according to claim 38, wherein the first data is used by the first data consuming unit to control peripherals mounted on the movable device.
The method according to claim 31, wherein the method is executed by a data center, and the data center includes a plurality of sub-data centers, and each sub-data center is used to obtain the first data generated by at least one data production unit. Data, and forward the first data to the multiple data consuming units.
The method according to claim 40, wherein each data production unit and/or each data consumption unit is connected to a sub-data center with the closest physical distance.
The method according to claim 41, wherein the data production unit sends the first data to a second sub-data center closest to the data production unit in order to pass the second sub-data The center forwards the first data to the first sub-data center, and forwards the first data to the data consuming unit that is closest in physical distance to the first sub-data center through the first sub-data center.
The method according to claim 42, wherein the second sub-data center forwards the first data to the first sub-data center through at least one third data center.
The method according to claim 40, wherein the method is executed by a second sub-data center among a plurality of the data centers, and the method further comprises:

Upon receiving the data forwarding request sent by the management unit, the first sub-data center forwards the first data to the first sub-data center among the multiple data centers.
The method according to claim 44, wherein the method is executed by a second sub-data center among a plurality of the data centers, and the method further comprises:

Before receiving the data forwarding request, forward the first data to the first sub-data center in advance.
The method according to claim 31, wherein the first data subscription request sent by the first data consuming unit of the plurality of data consuming units includes a first data subscription request used to characterize that the first data consuming unit sends the data to the data consuming unit. Subscription information of the subscription method for data subscription by the center;

The respectively forwarding the cached first data to the multiple data consumption units includes:

Based on the subscription information of the first data consuming unit, the cached first data is forwarded to the first data consuming unit respectively.
The method according to claim 46, wherein the first data subscription request is sent by the first data consuming unit when the subscription mode is changed.
The method according to claim 31, wherein the first data subscription request further includes at least any one of the following:

Identification information of the first data consuming unit, frequency information of the first data subscribed by the first data consuming unit, and identification information of the first data subscribed by the first data consuming unit.
The method according to claim 31, wherein the forwarding the cached first data to the multiple data consumption units respectively comprises:

Sequentially sending the cached first data to the multiple data consuming units in the order in which the first data subscription request is received; or

Sending the buffered first data to the multiple data consumption units according to a preset frequency.
The method according to claim 31, wherein the at least one data production unit comprises a first data production unit; and the plurality of data consumption units comprise a first data consumption unit;

The method also includes:

Perform fault diagnosis on the first data production unit and/or the first data consumption unit.
The method of claim 50, wherein the first data production unit sends the first data at a preset first time interval; and the fault diagnosis on the data production unit comprises:

In a case where the time interval for the first data production unit to send the first data is greater than the first time interval, it is determined that the first data production unit is faulty.
The method of claim 50, wherein the first data consuming unit sends the first data subscription request at a preset second time interval; and the performing fault diagnosis on the data consuming unit includes :

In a case where the time interval for the first data consuming unit to send the first data subscription request is greater than the second time interval, it is determined that the first data consuming unit is faulty.
The method of claim 50, wherein the method further comprises:

In the case of detecting a failure of the first data production unit, obtain backup data of the first data generated by the first data production unit, and forward the backup data to the multiple data consumption units; and /or

In a case where a failure of the first data consumption unit is detected, the first data is forwarded to the backup data consumption unit of the first data consumption unit.
The method according to claim 53, wherein the at least one data production unit further comprises a second data production unit;

The backup data includes at least any one of the following: first data produced by a backup production unit of the first data production unit, first data produced by a second data production unit of the same category as the first data production unit, and The first data historically sent by the first data production unit.
The method according to claim 54, wherein the obtaining the backup data of the first data generated by the first data production unit comprises:

In the case of detecting a failure of the first data production unit, use the first data generated by the backup production unit of the first data production unit as backup data;

If the first data produced by the backup production unit of the first data production unit is not found, use the first data produced by the second data production unit of the same category as the first data production unit as the backup data;

If the first data generated by the second data production unit with the same category as the first data production unit is not found, the first data historically sent by the first data production unit is used as the backup data.
The method according to claim 31, wherein the forwarding the cached first data to the multiple data consumption units respectively comprises:

If a data frame corresponding to the first data subscription request of the multiple data consuming units is found in the first data, sending the corresponding data frame to the multiple data consuming units; and

In the case that the data frame corresponding to the first data subscription request of the multiple data consumption units in the first data is not found, the pre-designated data frame in the first data is sent to the multiple Data consumption unit.
The method according to claim 31, wherein the method is executed by a data center, the data center is set on a processing chip, and the processing chip satisfies the following conditions:

The sum of the physical distances from the interfaces of the processing chip to the data production unit and the multiple data consumption units is less than a preset distance threshold; and

The number of interfaces of the processing chip is greater than a preset number threshold.
The method according to any one of claims 31 to 57, wherein the data production unit comprises at least any one of the following: a first sensor for acquiring the speed of the movable device, and a position for acquiring the position of the movable device. A second sensor for posture, a third sensor for acquiring environmental information of the environment in which the mobile device is located, and a data consuming unit with data production capability among the plurality of data consuming units; and/or

The data consumption unit includes at least any one of the following: a driving control unit, a path planning unit, a task execution unit, and a positioning unit.
A computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method according to any one of claims 1 to 29 is realized.
A computer device comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor. The processor implements the method according to any one of claims 1 to 29 when the processor executes the program.