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With the advances in sensor networks and in the Internet of Things, the data management problem for massive heterogeneous sensor data has become a hot research issue. It is obvious that a cloud data management framework for this purpose is greatly desirable. In this paper, we propose a Relational Data-Base and Key-Value store combined Cloud Data management ("RDB-KV CloudDB") framework for managing sensor data. The experimental results show that the RDB-KV CloudDB can provide satisfactory performances in large scale sensor-based systems.