CN105411491A - Home intelligent cleaning system and method based on environment monitoring - Google Patents
Home intelligent cleaning system and method based on environment monitoring Download PDFInfo
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- CN105411491A CN105411491A CN201510741637.0A CN201510741637A CN105411491A CN 105411491 A CN105411491 A CN 105411491A CN 201510741637 A CN201510741637 A CN 201510741637A CN 105411491 A CN105411491 A CN 105411491A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The embodiment of the invention discloses a home intelligent cleaning system and method based on environment monitoring. The system comprises a home environment monitoring device, a central information processor and a cleaning executing device, wherein the home environment monitoring device is used for acquiring real-time images of home environment conditions, preprocessing the real-time images and then transmitting the real-time images to the central information processor S12, the central information processor is used for comparing the real-time images with standard images and contaminant images so as to decide whether to start the cleaning executing device or not, the cleaning executing device is used for judging whether it is necessary to execute the cleaning work or not and searching for a shortest path, and a cleaning sub-device will reach a contaminated area according to the shortest path and clean the contaminated area locally. Through the home intelligent cleaning system, an intelligent cleaning robot can execute the local cleaning work according to the real-time home environment conditions.
Description
Technical field
The present invention relates to field of computer technology, especially relate to a kind of home intelligent cleaning systems based on environmental monitoring and method.
Background technology
Improving constantly of living standard, makes people more and more pay attention to quality of life, therefore also improves gradually the requirement of home environment.And due to people be generally busy with one's work, health is tired out, many times be negligent of sweeping, easily cause dirty and messy, even if when people start to repeat numerous and diverse cleaning, also have a lot of local such as at the bottom of sofa, be manually difficult to clean at the bottom of bed etc., these existing problems all directly affect beautifying of home environment.
Along with the development of artificial intelligence information technology and the raising of level of mass consumption, home-services robot steps into the visual field of people, particularly clean robot just gradually and spreads to huge numbers of families gradually as the daily small household electrical appliance of family.Intelligent cleaning robot can help people to free from disinteresting floor-cleaning work, can automatically identify map in family, and planning sweep-out pattern, improves disposable cleaning efficiency.Enjoy Intelligent life, take leave of heavy muscle power and sweep.
A general Intelligent cleaning robot is a kind of floor sweeper, is applicable to automatically move through and cleans surface to be cleaned.Intelligent cleaning robot is a huge system, comprises mobile system, system, obstacle avoidance system and garbage compression system are given a dinner of welcome in cleaning.It has powerful multiplex induction device and process chip, can automatic identification target environment whether clean, automatic dodging barrier, and adopt different clean strategies, to have ensured clean up task according to actual conditions.Intelligent cleaning robot itself determines it moves through surface to be cleaned along which bar route and how to clean this surface to be cleaned.To this, robot obviously needs large quantity sensor can, so as to grasping its surrounding environment, be specifically the distance apart from surrounding environment.
In Modern Family's environmental monitoring, have certain requirement to the humiture of home environment and harmful gas concentration, house-owner will can watch the humiture in room at any time.When humiture exceed or lower than certain scope time, people can feel uncomfortable, time harmful gas concentration exceedes certain value, can work the mischief to the healthy of people.Namely based on the home environment monitoring system of wireless sensor network, by environmental datas such as sensor node monitoring of environmental humiture, pernicious gas (CO, SO2, formaldehyde etc.), smog, illumination, then Intelligent housing center will be passed to after Data Analysis Services.
Intelligent cleaning robot can help people to break away from the cleaning of repetition, has its feature, and people can make clean robot carry out periodic cleaning by arranging the work period.When people go out a period of time or be in continuously time, be different on the impact of home environment, now also different to the cleaning demand of Intelligent cleaning robot, faced with this situation, people must need manually to go to control clean robot.That is Intelligent cleaning robot is not by monitoring real time environment situation, go to judge whether that needs carry out cleaning targetedly by environmental monitoring results, when needs Intelligent cleaning robot carries out clean time, always need manual remote control to operate or its working time of automatic operation cycle latency is set and carry out cleaning.Moreover the difference of people zone of action in the family is also not identical on the impact of zones of different, some needs to carry out clean and some does not need, and current intelligent robot intelligence carries out the cleaning of all region covering by path planning.
So, must consider how to allow Intelligent cleaning robot according to family's real time environment situation, the work of specific aim effective cleaning can be carried out, just can better carry out cleaning according to the actual demand of home environment, ensure that home environment is neatly clean.
Summary of the invention
The object of the invention is in digital home, a kind of home intelligent cleaning systems based on environmental monitoring and method are provided, realize allowing Intelligent cleaning robot according to home environment real time status, cleaning targetedly can be carried out by home intelligent cleaning systems.
In order to solve the problem, the present invention proposes a kind of home intelligent cleaning systems based on environmental monitoring, comprising:
Home environment monitoring device, for regularly obtaining the realtime graphic of home environment situation, and after realtime graphic is carried out pretreatment, is sent to central information processor S12;
Central information processor, for contrasting realtime graphic and standard picture and pollutant image, to determine whether start clean actuating unit;
Described clean actuating unit, being necessary to perform cleaning for judging whether, finding shortest path, and clean sub-device will arrive Polluted area according to shortest path and carry out locality to Polluted area and clean.
Described home environment monitoring device comprises:
Image collection module, for according to time stamp T being interval seizure indoor floor realtime graphic;
Image pre-processing module, for carrying out pretreatment to the realtime graphic got, pretreated result makes realtime graphic meet certain standard, convenient image comparison below;
Information transmission modular, for sending pretreated realtime graphic to described central information processor, also for exchanging other information with central information processor.
Described central information processing module comprises:
Information receiving module, for receiving the real-time image information from passing in described home environment monitoring device, also for receiving from subscriber control information;
Image processing module, for judging whether to there is pollutant according to realtime graphic and standard picture, pollutant image comparing result; Comprise two image libraries storing home environment standard picture and pollutant image: standard picture storehouse, pollutant image storehouse;
Home area grid module, for by home area gridding, be divided into net region relatively little one by one, more easily to judge pollutant position and the clean control of locality, record the contaminated degree in each net region simultaneously, then determine when acquiring a certain degree to start clean actuating unit;
Information sending module, for sending foreign matter image and relevant information in the information needing to clean and the realtime graphic sending None-identified to user to described clean actuating unit.
Described clean actuating unit comprises:
Information transmission modular, for receiving from the clean information of the relevant needs of described central information processor, sends clean feedback information to described central information processor simultaneously;
Routing module, for finding the shortest path arriving target gridding region, preserving a shortest path database and global grid view, then target area being carried out to the calculating of shortest path when not having path in database;
Clean sub-device, for arriving target gridding region according to shortest path, then arranging fence to contaminated net region, Polluted area being carried out to the cleaning of locality, being removed by pollutant.
Accordingly, the invention allows for a kind of method that home intelligent based on environmental monitoring is clean, comprise the steps:
Initialize installation, first clean sub-device is allowed to perform the cleaning that a time complete trails covers, obtain home area scope and be uploaded to central information processor, home area scope is carried out gridding by the home area grid module in central information processor, be divided into multiple grid zonule, initialize net region pollution level function; Then obtained the standard picture of relevant range by home environment monitoring device, the image namely during home environment neat and tidy, and be stored in standard picture storehouse; Finally define common pollutant image in home environment and be stored in pollutant image storehouse;
Be that interval catches indoor floor realtime graphic with time stamp T by image collection module in home environment monitoring device; Wherein time stamp T is by generation of constantly evolving, and initial value is arranged by user, then according to the information fed back in central information processor S12 progressively regulation time stamp parameter value T, makes T more be tending towards rationalizing;
Realtime graphic image collection module collected carries out pretreatment by image pre-processing module, is then uploaded to central information processor by information transmission modular;
In central information processor, information receiving module receives the realtime graphic transmitted from home environment monitoring device, and realtime graphic and the standard picture be stored in image library is contrasted, and judges whether occur foreign matter in realtime graphic; If so, then judge regional extent residing for foreign matter, utilize self-defined threshold value or adopt Otsu Optimal-threshold segmentation method by histogram, by region segmentation out, simultaneously and by the process of foreign matter Image Segmentation Using, continue next step; If not, then passing back through image collection module in home environment monitoring device is that interval catches in indoor floor realtime graphic step with time stamp T.
In central information processor, the foreign matter image split and the pollutant image be stored in image library are carried out Image Feature Matching by image processing module, when both Image Feature Matchings reach certain similarity, just can determine that foreign matter is the pollutant in this region in realtime graphic; If can not pollutant be judged whether, then by information sending module, foreign matter image is sent to user, judge whether pollutant by user, if judging is new pollutant, pollutant image is added in image library, continue to perform next step;
Start clean actuating unit, home area grid module is by judging net region residing for pollutant to the identification of realtime graphic, and the pollution level function of this net region is upgraded, if net region pollution level reaches certain threshold values residing for judgement pollutant, then send command information by information sending module and start actuating unit;
Find shortest path, clean actuating unit passes the command information of coming according to central information processor, directly shortest path database in routing module is searched for, find shortest path, if existing shortest path, directly adopts this shortest path to process, if there is no shortest path, by determining that pollutant regional location and original position utilize Dijkstra's algorithm to obtain shortest path, and this paths is added routing database preserve;
According to the shortest path arriving Polluted area, start clean sub-device and arrive Polluted area, determine clean scope for clean sub-device arranges fence simultaneously, then perform relevant local cleaning.
By implementing the embodiment of the present invention, the object of the invention is in digital home, a kind of home intelligent cleaning systems based on environmental monitoring and method are provided, realize allowing Intelligent cleaning robot according to home environment real time status, local cleaning targetedly can be carried out by home intelligent cleaning systems.In addition based on the intelligent cleaning system of environmental monitoring make intelligent cleaning device more intelligent provide service for user, such as when central information processor can not identify whether as pollutant, right to choose is given in user's hand.If user falls article can also play prompting function, obviously improve Consumer's Experience.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the system architecture schematic diagram that the home intelligent based on environmental monitoring in the embodiment of the present invention cleans;
Fig. 2 is the home environment monitoring device structural representation in the embodiment of the present invention;
Fig. 3 is the central information processing modular structure schematic diagram in the embodiment of the present invention;
Fig. 4 is the clean actuating unit structural representation in the embodiment of the present invention;
Fig. 5 is the method flow diagram that the home intelligent based on environmental monitoring in the embodiment of the present invention cleans.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The object of the invention is in digital home, a kind of home intelligent cleaning systems based on environmental monitoring and method are provided, realize allowing Intelligent cleaning robot according to home environment real time status, cleaning targetedly can be carried out by home intelligent cleaning systems.
The invention provides a kind of home intelligent cleaning systems based on environmental monitoring and method, the realtime graphic of home environment is regularly intercepted by home environment monitoring device, realtime graphic and standard picture, pollutant image are carried out contrasting and to start cleaning device as required, home environment is cleaned, not only save manpower, and can clean by the neat of real-time ensuring home environment.
According to a first aspect of the invention, provide the system that a kind of home intelligent based on environmental monitoring is clean, this home intelligent cleaning systems framework as shown in Figure 1, mainly comprise three parts, home environment monitoring device S11, central information processor S12 respectively, clean actuating unit S13;
Described home environment monitoring device S11, for regularly obtaining the realtime graphic of home environment situation, and after realtime graphic is carried out pretreatment, is sent to central information processor S12;
Described central information processor S12, for contrasting realtime graphic and standard picture and pollutant image, to determine whether start clean actuating unit S13;
Described clean actuating unit S13, being necessary to perform cleaning for judging whether, finding shortest path, and clean sub-device will arrive Polluted area according to shortest path and carry out locality to Polluted area and clean.
Further, as shown in Figure 2, it also comprises described home environment monitoring device S11:
Image collection module S111, for according to time stamp T being interval seizure indoor floor realtime graphic;
Image pre-processing module S112, for carrying out pretreatment to the realtime graphic got, pretreated result makes realtime graphic meet certain standard, convenient image comparison below;
Information transmission modular S113, for sending pretreated realtime graphic to described central information processor S12, also for exchanging other information with central information processor S12.
Further, as shown in Figure 3, it also comprises described central information processing module S12:
Information receiving module S121, for receiving the real-time image information from passing in described home environment monitoring device, also for receiving from subscriber control information;
Image processing module S122, for judging whether to there is pollutant according to realtime graphic and standard picture, pollutant image comparing result; Comprise two image libraries storing home environment standard picture and pollutant image: standard picture storehouse, pollutant image storehouse;
Home area grid module S123, for by home area gridding, be divided into net region relatively little one by one, more easily to judge pollutant position and the clean control of locality, record the contaminated degree in each net region simultaneously, then determine when acquiring a certain degree to start clean actuating unit;
Information sending module S124, for sending foreign matter image and relevant information in the information needing to clean and the realtime graphic sending None-identified to user to described clean actuating unit.
Further, as shown in Figure 4, it also comprises described clean actuating unit S13:
Information transmission modular S131, for receiving from the clean information of the relevant needs of described central information processor, sends clean feedback information to described central information processor simultaneously;
Routing module S132, for finding the shortest path arriving target gridding region, preserving a shortest path database and global grid view, then target area being carried out to the calculating of shortest path when not having path in database;
Clean sub-device S133, for arriving target gridding region according to shortest path, then arranging fence to contaminated net region, Polluted area being carried out to the cleaning of locality, being removed by pollutant.
According to a second aspect of the invention, a kind of method that home intelligent based on environmental monitoring is clean is provided, is described in detail below in conjunction with Fig. 5.
S501: Initialize installation.First clean sub-device S133 is allowed to perform the cleaning that a time complete trails covers, obtain home area scope and be uploaded to central information processor S12, home area scope is carried out gridding by the home area grid module S123 in central information processor, be divided into multiple grid zonule, initialize net region pollution level function; Then obtained the standard picture of relevant range by home environment monitoring device S11, the image namely during home environment neat and tidy, and be stored in the S122 of standard picture storehouse; Finally define common pollutant image in home environment and be stored in the S122 of pollutant image storehouse.
S502: be that interval catches indoor floor realtime graphic with time stamp T by image collection module S111 in home environment monitoring device S11.Wherein time stamp T is by generation of constantly evolving, and initial value is arranged by user, then according to the information fed back in central information processor S12 progressively regulation time stamp parameter value T, makes T more be tending towards rationalizing.As in order to avoid bothering people's life and arriving the object of economize energy, start again when room nobody to collect image etc.
S503: the realtime graphic collected by image collection module S111 carries out pretreatment by image pre-processing module S112, is then uploaded to central information processor by information transmission modular S113.Pretreatment object makes image meet certain standard, as may be sometimes overcast and rainy, light is relatively darker so carry out pretreatment for the image that contrast is not high by histogram equalization operation, if the image collected has noise just to utilize adaptive median filter to process, if the image collected has uneven illumination to affect, can by pretreated modes such as top cap conversion.
S504: in central information processor S12, information receiving module S121 receives the realtime graphic transmitted from home environment monitoring device S11, and realtime graphic and the standard picture be stored in image library S122 are contrasted, judge whether occur foreign matter in realtime graphic.If so, then judge regional extent residing for foreign matter, utilize self-defined threshold value or adopt Otsu Optimal-threshold segmentation method by histogram, by region segmentation out, simultaneously and by the process of foreign matter Image Segmentation Using, continue the 5th step.If not, then second step is returned.
S505: in central information processor S12, the foreign matter image split and the pollutant image be stored in image library are carried out Image Feature Matching by image processing module S122, when both Image Feature Matchings reach certain similarity, just can determine that foreign matter is the pollutant in this region in realtime graphic.If can not pollutant be judged whether, then by information sending module S124, foreign matter image is sent to user, judge whether pollutant by user, if judging is new pollutant, pollutant image is added in image library, continue execution the 6th step.If not, then second step is returned.
S506: start clean actuating unit S13.Home area grid module S123 is by judging net region residing for pollutant to the identification of realtime graphic, and the pollution level function of this net region is upgraded, if net region pollution level reaches certain threshold values residing for judgement pollutant, then send command information by information sending module S124 and start actuating unit S13.
S507: find shortest path.Clean actuating unit S13 passes the command information of coming according to central information processor S12, directly shortest path database in routing module S132 is searched for, find shortest path, if existing shortest path, directly adopts this shortest path to process, if there is no shortest path, by determining that pollutant regional location and original position utilize Dijkstra's algorithm to obtain shortest path, and this paths is added routing database preserve.
S508: according to the shortest path arriving Polluted area, starts clean sub-device and arrives Polluted area, determines clean scope simultaneously, then perform relevant local cleaning for clean sub-device S133 arranges fence.
To sum up, the invention provides a kind of home intelligent cleaning systems based on environmental monitoring and method, realize allowing Intelligent cleaning robot according to home environment real time status, local cleaning targetedly can be carried out by home intelligent cleaning systems.In addition based on the intelligent cleaning system of environmental monitoring make intelligent cleaning device more intelligent provide service for user, such as when central information processor can not identify whether as pollutant, right to choose is given in user's hand.If user falls article can also play prompting function, obviously improve Consumer's Experience.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in a computer-readable recording medium, storage medium can comprise: read-only storage (ROM, ReadOnlyMemory), random access memory (RAM, RandomAccessMemory), disk or CD etc.
In addition, the home intelligent cleaning systems based on environmental monitoring provided the embodiment of the present invention above and method are described in detail, apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (5)
1., based on home intelligent cleaning systems for environmental monitoring, it is characterized in that, comprising:
Home environment monitoring device, for regularly obtaining the realtime graphic of home environment situation, and after realtime graphic is carried out pretreatment, is sent to central information processor S12;
Central information processor, for contrasting realtime graphic and standard picture and pollutant image, to determine whether start clean actuating unit;
Described clean actuating unit, being necessary to perform cleaning for judging whether, finding shortest path, and clean sub-device will arrive Polluted area according to shortest path and carry out locality to Polluted area and clean.
2., as claimed in claim 1 based on the home intelligent cleaning systems of environmental monitoring, it is characterized in that, described home environment monitoring device comprises:
Image collection module, for according to time stamp T being interval seizure indoor floor realtime graphic;
Image pre-processing module, for carrying out pretreatment to the realtime graphic got, pretreated result makes realtime graphic meet certain standard, convenient image comparison below;
Information transmission modular, for sending pretreated realtime graphic to described central information processor, also for exchanging other information with central information processor.
3., as claimed in claim 1 based on the home intelligent cleaning systems of environmental monitoring, it is characterized in that, described central information processing module comprises:
Information receiving module, for receiving the real-time image information from passing in described home environment monitoring device, also for receiving from subscriber control information;
Image processing module, for judging whether to there is pollutant according to realtime graphic and standard picture, pollutant image comparing result; Comprise two image libraries storing home environment standard picture and pollutant image: standard picture storehouse, pollutant image storehouse;
Home area grid module, for by home area gridding, be divided into net region relatively little one by one, more easily to judge pollutant position and the clean control of locality, record the contaminated degree in each net region simultaneously, then determine when acquiring a certain degree to start clean actuating unit;
Information sending module, for sending foreign matter image and relevant information in the information needing to clean and the realtime graphic sending None-identified to user to described clean actuating unit.
4., as claimed in claim 1 based on the home intelligent cleaning systems of environmental monitoring, it is characterized in that, described clean actuating unit comprises:
Information transmission modular, for receiving from the clean information of the relevant needs of described central information processor, sends clean feedback information to described central information processor simultaneously;
Routing module, for finding the shortest path arriving target gridding region, preserving a shortest path database and global grid view, then target area being carried out to the calculating of shortest path when not having path in database;
Clean sub-device, for arriving target gridding region according to shortest path, then arranging fence to contaminated net region, Polluted area being carried out to the cleaning of locality, being removed by pollutant.
5., based on the method that the home intelligent of environmental monitoring is clean, it is characterized in that, comprise the steps:
Initialize installation, first clean sub-device is allowed to perform the cleaning that a time complete trails covers, obtain home area scope and be uploaded to central information processor, home area scope is carried out gridding by the home area grid module in central information processor, be divided into multiple grid zonule, initialize net region pollution level function; Then obtained the standard picture of relevant range by home environment monitoring device, the image namely during home environment neat and tidy, and be stored in standard picture storehouse; Finally define common pollutant image in home environment and be stored in pollutant image storehouse;
Be that interval catches indoor floor realtime graphic with time stamp T by image collection module in home environment monitoring device; Wherein time stamp T is by generation of constantly evolving, and initial value is arranged by user, then according to the information fed back in central information processor S12 progressively regulation time stamp parameter value T, makes T more be tending towards rationalizing;
Realtime graphic image collection module collected carries out pretreatment by image pre-processing module, is then uploaded to central information processor by information transmission modular;
In central information processor, information receiving module receives the realtime graphic transmitted from home environment monitoring device, and realtime graphic and the standard picture be stored in image library is contrasted, and judges whether occur foreign matter in realtime graphic; If so, then judge regional extent residing for foreign matter, utilize self-defined threshold value or adopt Otsu Optimal-threshold segmentation method by histogram, by region segmentation out, simultaneously and by the process of foreign matter Image Segmentation Using, continue next step; If not, then passing back through image collection module in home environment monitoring device is that interval catches in indoor floor realtime graphic step with time stamp T.
In central information processor, the foreign matter image split and the pollutant image be stored in image library are carried out Image Feature Matching by image processing module, when both Image Feature Matchings reach certain similarity, just can determine that foreign matter is the pollutant in this region in realtime graphic; If can not pollutant be judged whether, then by information sending module, foreign matter image is sent to user, judge whether pollutant by user, if judging is new pollutant, pollutant image is added in image library, continue to perform next step;
Start clean actuating unit, home area grid module is by judging net region residing for pollutant to the identification of realtime graphic, and the pollution level function of this net region is upgraded, if net region pollution level reaches certain threshold values residing for judgement pollutant, then send command information by information sending module and start actuating unit;
Find shortest path, clean actuating unit passes the command information of coming according to central information processor, directly shortest path database in routing module is searched for, find shortest path, if existing shortest path, directly adopts this shortest path to process, if there is no shortest path, by determining that pollutant regional location and original position utilize Dijkstra's algorithm to obtain shortest path, and this paths is added routing database preserve;
According to the shortest path arriving Polluted area, start clean sub-device and arrive Polluted area, determine clean scope for clean sub-device arranges fence simultaneously, then perform relevant local cleaning.
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