The prominence of Internet of Things (IoT) devices is characterized by a wide diversity of network access technologies, including Wi-Fi, Cellular, Lo-Ra, ZigBee, or Bluetooth. Dealing with such heterogeneity is still very challenging. Current cloud computing solutions can sustain a considerable amount of diverse data that are generated by geographically spread IoT devices. However, this task is quite challenging for time-sensitive services. Moreover, IoT heterogeneous devices are always managed by different application systems, and there are no unified storage and management solutions for information on IoT devices. In this paper, we propose a microservice architecture based on Fog computing paradigm named Fog services Provider (FSP) for IoT devices to perceive and flexibly manage heterogeneous devices in ubiquitous environments. A novel aspect of this service architecture is to build a general data model to describe and store data of IoT heterogeneous devices based on Semantic Web technologies. Besides, we also propose a data converting algorithm from relational databases to a unified format, and demonstrates procedures with effective management to register and access those devices into FSP architecture.