China's Shenzhou-10 spacecraft on Tuesday separated from the Tiangong-1 target module, which has completed its historical mission.

In coordination with ground staff, the three astronauts onboard collected experimental equipment and items on Tiangong-1, and returned to Shenzhou-10 before separating.

China's first space laboratory and target orbiter, Tiangong-1, has revolved Earth since it was sent to orbit on Sept. 29, 2011.

It will now go to a higher orbit for long-term flight.

Verbally and using sign language, the three astronauts, Nie Haisheng, Zhang Xiaoguang and Wang Yaping, expressed thanks and respect to the ground staff for their contributions during the mission.

Launched on June 11, Shenzhou-10 docked with Tiangong-1 automatically and later manually. In the 12 days spent in Tiangong-1, astronauts conducted space medical experiments, technical tests and delivered a lecture to students about basic physics principles.

Shenzhou-10 spacecraft will return to Earth at about 8 a.m. Wednesday.

Six astronauts in the Shenzhou-9 and Shenzhou-10 missions visited the space laboratory.