Which dynasty in ancient China had the most advanced military system?

The system of officers and men originated from the policy of Xianbei people being soldiers and Han people farming in the Northern Wei Dynasty. The whole family of government soldiers can be exempted from military service, and being a soldier has become the patent of Xianbei people. This policy obviously bears the color of ethnic segregation. In the seventeenth year of Hongwu in the Ming Dynasty (1384), military guards were set up in various military locations throughout the country. A guard has 5600 troops, followed by thousands of households, hundreds of households, general flags and flags. Houses are owned by the Governor's Office and the Ministry of War of the Five Armies. If anything happens, they will be sent by the Ministry of War, and if nothing happens, they will be returned to the Police Department.