The customer is a large condiment manufacturer who needs to deliver multi-kind of products to supermarkets. In order to improve storage efficiency, it plans to build a full-automated warehouse. The production management system sends order requirements to the warehouse, and provides information such as material numbers, packaging sizes, quantities etc. The 3D vision system makes mixed-palletizing plan in advance, and scans various cartons, packaging boxes, then guide the robot to depalletize quickly and palletize them according to the mixed-palletizing plan, maximizing the utilization of pallets and reducing packaging and transportation costs.