The customer has built a new raw material sorting warehouse, which adopts unmanned management throughout the process, and carries out the depalletising and bag breaking operation of soft bags by robots. On the soft bag stacks, the tapes are stacked on top of each other and there are reflections on the snakeskin bags, the introduction of 3D vision system helps the customer to realize the correction of the deviation of the stacks in place and the effective edge segmentation identification of each soft bag, which guides the robots to complete the depalletising and bag breaking work in an efficient way.