This series introduces the solutions, commercial value and typical cases of 5G Internet of Vehicles empowering self-driving sanitation vehicles, mainline logistics, terminal logistics, mining trucks, port automatic driving, automatic shuttle vehicles, Robotaxi, buses, etc. This article introduces 5G Internet of Vehicles empowering self-driving sanitation vehicles, so stay tuned for the next article 5G Internet of Vehicles empowers trunk logistics.
Text | Wu Dongsheng
The full text is 7200 words, and it is expected to read for 19 minutes
(one)
Overview of sanitation vehicle industry
According to the "Urban Environmental Sanitation Quality Standards", the operations covered by the sanitation industry include household garbage cleaning, collection, transportation and construction of garbage transfer stations, environmental sanitation in public places, road cleaning and cleaning, and operation of public toilets. The types of sanitation vehicles include road sweepers, sprinklers, sweepers, garbage removal vehicles, fog cannon vehicles, snow removal vehicles, sewage suction vehicles, vacuum vehicles, etc.
According to the "2020 Urban and Rural Construction Statistical Yearbook" and "2020 Urban Construction Statistical Yearbook" published by the Ministry of Housing and Urban-Rural Development, the national road cleaning area in 2020 exceeded 12.6 billion square meters, an increase of 634 million square meters from 2019. Among them, the road cleaning area in cities (including county-level cities) was 9.755 billion square meters, the mechanized cleaning area was 7.425 billion square meters, and the mechanization rate was 76.1%; the road cleaning area in county towns was 2.85 billion square meters, and the mechanized cleaning area was 2.106 billion square meters , The mechanization rate is 73.9%. As shown in Figure 1. Compared with the 100% mechanization rate of sanitation vehicles in Singapore and the 98% mechanization rate of sanitation vehicles in the United States, there is still a certain gap in the mechanization of sanitation vehicles in China.
Figure 1 Trend chart of road sweeping area and domestic waste removal volume from 2018 to 2020
On the other hand, the number of special vehicles for city appearance and sanitation is gradually expanding. In 2020, the total number of special vehicles for urban sanitation will reach 306,400, compared with 281,500 and 252,400 in 2019 and 2018 respectively; million units, compared to 69,000 units and 61,400 units in 2019 and 2018, respectively.
(1) The sanitation industry faces many challenges
① Difficulty recruiting sanitation workers
First, the salaries of sanitation workers are generally low. Judging from the actual salaries paid by sanitation service companies to sanitation workers, the national average is 2326.32 yuan per month. Although the government has strict requirements on the income of sanitation workers, sanitation workers in some developed areas The income is also much higher than the relevant government requirements, but compared with the average income level of residents in the area, the income level of sanitation workers is still generally low. Compared with the per capita disposable income of residents in various provinces in 2020, the gap is generally large, with an average gap of 33.37% . The situation of sanitation vehicle drivers and smart small sanitation equipment operators is much better. The average income of sanitation vehicle drivers is 6,381.5 yuan/month, which is 18.03% higher than the disposable income of residents. The average income of smart small sanitation equipment operators is 5,718.6 yuan/month, which is higher 5.77% of residents' disposable income.
Second, there is a large demand for sanitation workers. There are about 4.561 million sanitation workers in the country, including about 452,200 drivers. Guangdong has the largest number of sanitation workers, reaching 708,700, accounting for 17.25% of the country, and the largest number of drivers, reaching 34,100, accounting for 7.53% of the country. The number of sanitation workers in Shandong, Liaoning, and Henan each exceeded 200,000, reaching 258,000, 210,800, and 206,000, respectively. With the process of urbanization in my country, the road area, cleaning area, and annual garbage removal volume of cities and towns in my country are steadily increasing at a rate of 3% to 5% per year. If the operation mode is not upgraded, and there is no popularization of smart small-scale sanitation equipment, the back streets and sidewalks will still rely on the manual operation mode. By 2025, the number of sanitation workers who need to maintain sanitation services across the country may reach 500-550 million [1] .
The third is that the aging of sanitation workers is serious. Against the backdrop of an aging society, the aging of sanitation workers is even more serious. The proportion of sanitation workers over 50 years old has reached 65%. This means that in the next 15 years, a large number of sanitation workers will retire, but there will not be enough labor to replace them.
②The operation and management cost of sanitation industry is high
First, sanitation enterprises are labor-intensive, and their operations are highly dependent on manpower. The average net profit is less than 10%, and labor costs account for 60% to 70% of the total operating costs of enterprises. The second is that the quality and efficiency of manual cleaning cannot be effectively guaranteed. The operation time and operation mode required for cleaning vary with the actual operation area, and manual operation is lacking in systematization.
③ It is difficult to eliminate potential safety hazards in the sanitation industry. Most of the sanitation operations are on open roads such as highways, which are prone to traffic accidents. Sanitation workers work long hours and still need to work in shifts in the early morning and late at night. Vehicles driving in the early morning and late at night are more likely to have traffic accidents due to fatigue driving, which further increases the risk of sanitation work. Moreover, sanitation workers still have to work outdoors in cold winter and summer heat and bad weather, which will cause great physical and psychological damage in the long run [2] .
Under the premise that the sanitation industry is facing the above challenges, the replacement of labor by equipment is not only the development trend of "mechanization, electrification, and intelligence" in the sanitation service industry, but also an effective way to improve the living conditions of sanitation workers. With the increase of residents' demand for urban environmental sanitation and the improvement of sanitation service requirements, coupled with the problem of aging sanitation workers and rising labor costs, a new generation of sanitation practitioners use low-carbon energy-saving, environmentally friendly, extreme noise reduction, and flexible It is an inevitable trend to provide sanitation services with intelligent sanitation equipment.
The self-driving sanitation vehicle can replace the traditional manned sanitation vehicle, and realize various sanitation tasks such as road cleaning, watering, and disinfection on open roads such as ordinary ground roads and streets, and closed roads such as parks, parks, and schools.
(2) Self-driving sanitation vehicles can effectively reduce risks in the sanitation industry
① Self-driving sanitation vehicles can reduce the manpower demand for sanitation workers
In the future, labor costs will become higher and higher. Self-driving sanitation vehicles will free sanitation workers from simple and repetitive labor and make up for the growing labor gap. Self-driving sanitation vehicles can save more than 60% of manpower for sanitation services and reduce costs by more than 40%.
② Self-driving sanitation vehicles can improve work efficiency
On the one hand, self-driving sanitation vehicles are not limited in time, and can perform cleaning tasks around the clock, including late night, early morning and holidays. The self-driving sanitation vehicle can effectively work for as long as 16 hours a day, except for charging and maintenance time. Compared with traditional manual operations, it greatly improves the effective cleaning operation time and operation frequency, thereby increasing operation efficiency.
On the other hand, the unmanned sweeper performs side-by-side cleaning tasks in strict accordance with the prescribed route and operating speed to ensure full coverage of the cleaning area. Compared with manual methods, it can better ensure cleaning quality and efficiency.
③ Self-driving sanitation vehicles can improve safety
Self-driving sanitation vehicles can operate in dangerous environments, including environments with nuclear radiation and chemical pollution, and are not affected by severe weather (such as severe smog, high temperature, severe cold weather, etc.). And it can also reduce the safety hazards caused by operations in the early morning and late night, as well as in severe weather such as high temperature and severe cold.
④ Most of the self-driving sanitation vehicles are new energy vehicles, which can effectively reduce pollution
⑤Under the normalization of epidemic prevention and control, self-driving sanitation vehicles can achieve contactless operations
(two)
5G Internet of Vehicles Empowers Sanitation Vehicles
There are three main application scenarios for self-driving sanitation vehicles.
Closed roads such as schools, residential areas, parks, parks, scenic spots, shopping centers, etc.: The road cleaning requirements are relatively low. At present, manual operations are mainly used, and they are transitioning to mechanization. The cleaning standards are relatively low, and the cleaning costs are relatively low. Usually, a small self-driving sanitation vehicle solution is adopted, which belongs to a fully enclosed operation mode and does not need to be restricted by road rights policies and test licenses. It is easier to realize commercialization and has a huge commercialization prospect. Among them, there are about 530,000 schools, about 300,000 communities, about 16,000 parks, about 15,000 parks, about 12,000 scenic spots, and about 5,000 shopping centers.
Ordinary open roads and street scenes: Compared with highways, bridges, and tunnels, the road surface garbage removal volume is larger, mainly mechanized, supplemented by manual labor, and has higher cleaning standards. It is greatly affected by environmental factors such as high temperature, smog and severe winter, and there are also high security challenges. Usually, small and medium-sized self-driving sanitation vehicles are used, which belong to open road operations and have high commercial value, but limited by policy restrictions and technical challenges, commercial development has certain challenges.
Semi-enclosed roads such as high-speed viaducts, bridges, and tunnels: High cleaning standards are required, and the safety of manual cleaning is difficult to guarantee. At present, mechanization is basically realized. Usually, a large self-driving sanitation vehicle is used, which belongs to the semi-closed operation mode, with great commercial value and good prospects [3] .
In the above three types of application scenarios, autonomous driving sanitation has achieved different degrees of development. However, limited by technology and laws, regulations and policies, sanitation vehicles can only be completely unmanned on closed roads such as parks, while on ordinary open roads, self-driving sanitation vehicles still need to be equipped with at least one safety officer before they can operate on the road. Semi-enclosed roads such as high-speed elevated roads have requirements on the speed of sanitation vehicles. For safety reasons, self-driving sanitation vehicles are only in trial operation in demonstration areas.
The core function of the self-driving sanitation vehicle (road sweeper) relies on the combination of automatic driving and intelligent cleaning. It can provide automatic driving mode, intelligent assisted driving mode, intelligent follow-up mode, and remote takeover control mode according to actual needs. It realizes path planning and vehicle scheduling, automatic wake-up, driving out of parking spaces, cleaning operations (including curb edge detection and edge cleaning, etc.), automatic tracking, passing traffic lights, bypassing roadside obstacles, parking, and avoidance Basic functions such as pedestrians and driving, dumping garbage, driving back to parking spaces, automatic parking and charging. Additional functions also include intelligent one-key recall, remote control, OTA upgrade, intelligent voice interaction, centimeter-level precise positioning, etc.
In addition, the self-driving sanitation vehicle is based on mature self-driving technology, combined with the actual needs of urban roads, it can expand more functions. The specific extended functions include intelligent inspection, which replaces manual remote routine road inspections, timely reporting of special situations and suspicious persons in the area, etc.; equipment detection, scanning and detection of facilities and equipment on the cleaning route, recording the location of diseases or defects, and reporting the detection results Real-time transmission to the monitoring center; accident reporting, which is transmitted to the background through 5G and Internet of Vehicles for traffic accident alarming, which can effectively improve the alarm delay; environmental disinfection, unmanned road spraying disinfection can effectively reduce the risk of cross-infection, wide coverage, no dead ends Killing; guardrail cleaning, suitable for tunnels, highways and other scenes with guardrails, unmanned operation reduces the risk of manual cleaning; tunnel wall cleaning, with side sweeping brushes, suitable for closed and semi-closed scenes such as tunnels and indoors.
Corresponding to the basic functions and additional functions of self-driving sanitation vehicles, the Internet of Vehicles can empower self-driving sanitation vehicles in four major areas, as shown in Figure 2.
Figure 2 Functions of self-driving sanitation vehicles and empowerment of Internet of Vehicles
(1) Internet of Vehicles empowers autonomous driving sanitation vehicle path planning and vehicle scheduling
Early self-driving sanitation vehicles mostly used manual driving to enter the route and then track to realize unmanned driving. This technical method has certain advantages for quick demonstration, but it cannot be put into formal operation. The overall technical difficulty is much lower than that of automatic driving. The ultimate solution for the automatic driving sanitation vehicle to be put into formal operation is that the automatic driving system can automatically plan the path and realize the full-coverage cleaning in the area. Although this method is more technically difficult, it has the ability to batch replicate multiple vehicles and multiple scenes.
The Internet of Vehicles can provide all-round information such as vehicles, roads, traffic, and the environment, making the route planning of the self-driving sanitation vehicle more reasonable in the whole area, and improving the overall work efficiency of the self-driving sanitation vehicle.
Sanitation operations require a reasonable scheduling and management mechanism. Due to the comprehensive consideration of cleaning area, operating time, and operational efficiency, multiple self-driving sanitation vehicles, manned sanitation vehicles, and sanitation workers are required to work together. Traditional sanitation companies generally plan shifts through the experience of project managers and drivers. Self-driving sanitation technology companies entering into sanitation operations face higher intelligent management requirements, including specific content such as the schedule of departures in the operating area, overall scheduling, vehicle cleaning routes, and real-time monitoring of vehicle operation. Allocation, takeover control and other functions to realize intelligent management of location information, operation status, operation progress, and operation routes.
In addition, by providing comprehensive information on vehicles, roads, traffic, and the environment, the Internet of Vehicles can also make the scheduling and management of self-driving sanitation vehicles more reasonable, and can effectively cooperate with manned sanitation vehicles and sanitation workers to improve cleaning quality and efficiency. Avoid the management problems caused by manual cleaning.
(2) Internet of Vehicles empowers self-driving sanitation vehicles for cleaning operations
The sanitation operation itself has many special scenes such as roadsides, gaps, potholes, dead ends, etc. At the same time, as sanitation equipment, it must ensure the cleaning effect in accordance with the cleaning requirements. Therefore, self-driving sanitation vehicles also need to face higher requirements for positioning, identification, automatic driving capabilities and cleaning capabilities.
Self-driving sanitation vehicles need to complete fine edge cleaning on road edges of different shapes. In urban road cleaning and cleaning operations, more than 90% of road garbage is concentrated on the edge of the road. Therefore, the road sweeper operation requires strict side-to-side cleaning. Unlike the 20 cm positioning error usually required by Robotaxi, the positioning error of autonomous driving road sweepers usually requires ≤10 cm to meet the needs of side-to-side cleaning.
At the same time, since the road sweeper usually needs to complete the cleaning of the entire road section, it is strictly required to maintain long-term and long-distance side-to-side cleaning, and has high requirements for vehicle positioning, tracking, edge detection of road curbs, and lateral control capabilities. In addition, in different scenarios such as tunnels, parks, and parks, there are different edge shapes such as winding, large curvature, low, and intermittent. Autonomous driving sanitation vehicles need to adapt to these different corner cases and complete fine edge cleaning operations.
In addition, self-driving sanitation vehicles also need to cope with the needs of garbage cleaning under various road conditions. Compared with other self-driving vehicles, road sweepers will encounter many special scenarios and are not allowed to avoid detours, such as potholes on the road, road gaps, and dead corners around the trash can. Self-driving sanitation vehicles need to accurately identify these locations and garbage, and cannot avoid detours. Under the premise of ensuring the safe driving of their own vehicles, they drive slowly or even stop for cleaning, and finally ensure the cleanliness of the cleaning. Condition.
On the one hand, the Internet of Vehicles can provide integrated positioning assistance capabilities to achieve decimeter-level positioning accuracy. On the other hand, it can also notify the self-driving sanitation vehicle of the pre-detected corner cases and various road conditions to ensure high-quality completion of the self-driving sanitation vehicle. Cleaning up.
(3) Internet of Vehicles empowers self-driving sanitation vehicles to drive safely
The self-driving sanitation vehicle automatically tracks forward and faces operation scenarios where satellite signals are blocked, such as under the shade of trees, tunnels and viaducts. The positioning of the self-driving sanitation vehicle is mainly realized through the combination of satellite navigation system, inertial navigation IMU, laser radar and visual positioning. It is inevitable that the GPS signal or the Beidou signal is blocked, so it puts forward high requirements for its fusion positioning capability. The Internet of Vehicles can provide integrated positioning assistance capabilities [4] .
The automatic tracking of the self-driving sanitation vehicle depends on the efficient cooperation of the software and hardware systems. Equipped with various sensors such as laser radar, millimeter wave radar, ultrasonic radar, camera, etc., it can realize multi-dimensional perception of the surrounding environment, based on the detection of short and medium distances in the direction of the vehicle, and cooperate with the over-the-horizon perception of the Internet of Vehicles to ensure automatic driving and road sweeping The car can safely pass through traffic lights, avoid roadside obstacles and stop/avoid pedestrians and vehicles.
(4) Internet of Vehicles empowers additional functions of self-driving sanitation vehicles
Additional functions such as intelligent one-key recall, remote control, OTA upgrade, and centimeter-level precise positioning must be realized through the Internet of Vehicles.
(three)
The commercial value of Netlink's self-driving sanitation vehicle
At present, there are three main business operation models for self-driving sanitation vehicles.
The first one is the cooperation mode, each performing its own duties. Automated driving technology companies, OEMs, and sanitation companies provide sanitation services to customers in a cooperative manner.
Self-driving technology companies and OEMs jointly create mass-produced self-driving sanitation vehicles and provide them to sanitation companies. Or the self-driving technology company and the automaker will jointly refit the existing sanitation vehicles of the sanitation company through after-installation fusion. At the same time, the autonomous driving technology company also provides autonomous driving technology services for sanitation companies.
Sanitation companies directly purchase self-driving sanitation vehicles, and then rely on the technical support provided by self-driving technology companies to provide sanitation services to customers and charge service fees. As shown in Figure 3.
Figure 3 Autonomous driving sanitation service cooperation model
The second is to set up a joint venture company to be responsible for the operation. Autonomous driving technology companies and sanitation companies, OEMs, investment companies, local innovation institutions, etc. establish joint ventures to provide sanitation services to customers. As shown in Figure 4.
Figure 4 Joint venture model of autonomous driving sanitation services
The third type is that autonomous driving companies operate independently. Some autonomous driving technology companies have built their own sanitation fleets to be responsible for sanitation operations, which facilitates the circulation and unified management of vehicle data, and can speed up the iterative verification of technologies. On the one hand, it can directly provide self-driving sanitation services to customers, and can also provide self-driving car rental services to sanitation companies. As shown in Figure 5.
Figure 5 Autonomous operation mode of autonomous driving sanitation service
Take a project in Changsha City, Hunan Province given at the 2019 product launch conference of Infore Environment as an example. The area is a residential area, including back streets, alleys, schools and other operating scenarios. In the past, purely manual operations were adopted, requiring 65 workers. After the introduction of 8 smart small sanitation vehicles, only 15 sanitation workers and 8 security officers are needed. The entire operating team has been reduced by 64.6%, and the annual comprehensive cost has been reduced by 38.8%. As shown in Table 1.
Table 1 Comparison between self-driving sanitation vehicles and traditional manpower solutions [3]
project |
Traditional Manpower Solution |
Self-driving Sanitation Vehicle Solution |
Number of sanitation workers |
65 people |
15 people |
Number of unmanned sanitation vehicles |
0 vehicles |
8 cars |
Number of security officers |
0 people |
8 people |
Annual Labor Cost |
2.6 million yuan |
1.08 million yuan |
Annual Energy Consumption Cost |
0 million |
144,000 yuan |
Maintenance cost of manual work tools |
78,000 yuan |
18,000 yuan |
Maintenance cost of unmanned sanitation vehicle |
0 million |
32,000 yuan |
annual depreciation |
0 million |
365,000 yuan |
total annual cost |
2.678 million yuan |
1.639 million yuan |
total cost reduction |
38.8% |
|
From a single-vehicle self-driving sanitation vehicle to a network-connected self-driving sanitation vehicle, it is necessary to complete the transformation of the vehicle-side network connection and the road-side network connection transformation. The transformation of the vehicle-end network connection can be realized through the pre-installation or rear-installation of the vehicle-connected vehicle terminal, while the transformation of the road-side vehicle network needs to distinguish different application scenarios. For closed roads such as schools, communities, parks, parks, scenic spots, and shopping centers, the scope of road-side network transformation is controllable and easy to implement; for ordinary open roads and street scenes, it is an open scene, and the comprehensive network transformation of road sections is difficult , can be deployed on key road sections; high-speed viaducts, bridges, and tunnel semi-closed roads can be targeted for network transformation.
Since the Internet of Vehicles can empower self-driving sanitation vehicles for route planning and vehicle scheduling, self-driving sanitation vehicles for cleaning operations, self-driving sanitation precise positioning), etc. Therefore, from the perspective of commercial value, on the one hand, the Internet of Vehicles can reduce the input cost of single-vehicle self-driving sanitation vehicles, and on the other hand, it can improve the economic output benefits of self-driving sanitation vehicles.
(Four)
Typical cases of connected self-driving sanitation vehicles
Case 1: Autonomous driving sweeper in Wilhelmshaven, Germany
In 2019, Xiantu Intelligent's self-driving sweeper successfully operated in Wilhelmshaven, Germany. This 1.2-ton self-driving sweeper with a width of 1.5 meters has the functions of washing, garbage collection, watering and dust removal, and is very suitable for outdoor semi-enclosed environments.
Wilhelmshaven is the port with the deepest natural water depth in Germany and the only deep-water container terminal in Germany. At the same time, Wilhelmshaven is also connected to the inland by complicated railway transportation, and the road conditions are complicated. In addition to the conventional roads in the port, there are areas dedicated to placing containers, parking areas for heavy trucks, etc. The self-driving sweeper needs to clean all areas. This requires the system to have the ability to drive on unstructured roads in addition to the ability to drive autonomously on roads. In addition, the port needs to clean a large area, which takes several hours at a time. At the same time, operations such as spraying and dust prevention are required [5] .
Case 2: "5G + Sanitation Robot Formation"
In 2019, the "5G+ Sanitation Robot Team" formed by Infore Enviroment was officially put into the cleaning work of Futian Street, Futian District, Shenzhen, becoming the first 5G intelligent cleaning and sanitation PPP project in China. The smart devices are equipped with 5G data terminals and are based on the Internet of Things. Mobilize and manage, and further improve the efficiency and effectiveness of municipal sanitation operations through artificial intelligence technology.
The first batch of intelligent small sanitation robot formations launched in Foton, including "intelligent driving pure electric integrated cleaning robot, intelligent driving pure electric integrated washing robot, intelligent driving pure electric transferable cleaning robot, intelligent self-following sanitation cleaning robot" Robots, sanitation pure electric cleaning robots, etc., are known as "urban capillary scavenger", can be engaged in tasks such as watering, garbage cleaning, garbage picking, garbage transfer, etc., and can work in different time periods and regions [6 ] .
references
[1] Infore Environmental Technology Group Co., Ltd. White paper on the income status of sanitation workers in 2020 and the development potential of sanitation equipment to replace labor[R]. 2021,5.
[2] Yiou Think Tank. 2021 Research Report on the Commercial Application of Autonomous Driving Sanitation Scenarios in China [R]. 2021,11.
[3] China Electric Vehicle 100. Autonomous Driving Application Scenarios and Commercialization Path[R]. 2020,6.
[4] Chentao Capital. Autonomous Driving Empowers Smart Sanitation [R]. 2021,1.
[5] Xinzhiyuan. China's best automatic driving enters Europe! Operated in Germany, won the world's first license [N]. 2019,5.
[6] Shenzhen Special Zone News. Shenzhen Futian 5G + Sanitation Robot Formation Work [N]. 2019,11.
- END -
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▎Good book recommendation
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With the acceleration of the industrialization of 5G Internet of Vehicles, following the publication of "5G and Internet of Vehicles Technology" in 2020 and "From Cloud to Edge: Edge Computing Industry Chain and Industry Applications" in 2021, in 2022 Dr. Wu Dongsheng will lead the "5G Industry Application "The author team launched another masterpiece - "The Future of the Internet of Vehicles: 5G Internet of Vehicles Innovative Business Model". Published by Chemical Industry Press, this book focuses on the business model of 5G Internet of Vehicles and explores the future sustainable development of Internet of Vehicles.
Dr. Wu Dongsheng Editor-in-Chief
Wu Dongsheng, Ph.D., Southeast University. He is currently the senior vice president of Gosuncn Technology Group Co., Ltd., the vice chairman of the Guangdong-Hong Kong-Macao Greater Bay Area Autonomous Driving Industry Alliance, the director of the Guangzhou Vehicle-Road Collaborative Industry Innovation Alliance, and the director of the Operation Center of the Guangzhou Intelligent Networked Vehicle Demonstration Zone. Committed to the research and application innovation of 5G, intelligent network connection, automatic driving, big data, artificial intelligence and other technologies. Published dozens of papers in provincial and municipal periodicals, edited books such as "5G and Internet of Vehicles Technology", participated in the compilation of "Guangzhou Intelligent Networked Vehicle and Smart Transportation Industry Development Report (2020)", etc.
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"5G Industry Application" is a research and consulting platform that gathers senior experts in the TMT industry. It is committed to providing enterprises and individuals with objective, in-depth and highly commercially valuable market research and consulting services in the 5G era, helping enterprises to use 5G to achieve strategic transformation and business refactor. This official account focuses on providing the latest developments and in-depth analysis of the 5G industry, covering communications, media, finance, automobiles, transportation, industry and other fields.
