During the 119 BC Battle of Mobei of the Han–Xiongnu War, the famous Han general Wei Qing used armored wagons known as "Wu Gang Wagon" (武剛車) in ring formations to neutralise the Xiongnu's cavalry charges, before launching a counteroffensive which overran the nomads.
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The Hongwu Emperor issued a proclamation, praising Lan Yu and comparing him to the famous General Wei Qing of the Han.