I have already used 'distinct on' in query, but the result is still duplicate. Can i only get two result from below picture? e.g: row 1 & 4 or 2 & 3, two rows is different in id and serial number.
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Your rows are already distinct. If you meant to be distinct only based on id, then from what row the other values would come from? If it is not important then what you need is a group by on Id and some dummy aggregation on other columns (ie; max(return_document), max(sales_document), max(serial_number)). Or alternatively you could do this:
You are arbitrarily selecting one of the rows per Id. Or with ppostgreSQL's Distinct on:
DBFiddle demo
EDIT: This would work for this very specific data set, it might not for another (and you only gave this):
DBFiddle demo
Please next time be clear on what you are asking and supply enough data and desired output as text (people don't like pictures on SO).