In ancient Chinese, rods counting had been used for more than two thousand years. Rods are small bars, which are usually 13-14cm long. They are placed horizontally or vertically on a counting board to represent different numbers.
A counting board has different compartments, which correspond to different place values. The following shows how counting rods were used to represent 0 to 9.
Counting rods
Credit: Wikipedia
Similar to the Hindu-Arabic number system, the Chinese number system is a base-10 positional system consisting of "zero".
If there is no counting rod in a compartment on a counting board, it means "zero" for the corresponding place value. When the rod counting is recorded on paper, the symbols used are called rod numerals.
It is also quite amazing to see that the concept of negative numbers was already well developed by ancient Chinese in 2 B.C. Red and black rods were used to represent positive and negative numbers respectively.