Picking system

The invention provides a picking system which improves picking function of objects with indefinite shapes and varying weights. The picking system includes: a camera (2) and control steps (steps (S105to S120)), to acquire shape information of the objects; a weight estimating section (32) that estimates weight of the objects based on shape information of the objects; a picking robot (5) which performs pick-up operation aimed the objects; and a work planning portion (33) which controls pickup operation of the picking robot (5) based on the weight estimated by the weight estimating section (32),and the weight estimating section (32) estimates weight of the object through machine learning (for example, an artificial neural network) that learns the correspondence between the shape informationof the inputted objects and the weight that should be output. 本发明提供拾取系统。提高针对不定形状、不定重量的对象物的拾取功能。拾取系统具有：照相机(2)和控制步骤(步骤(S105～S120))，取得对象物的形状信息；重量估计部(32)，其根据对象物的形状信息估计该对象物的重量；拾取机器人(5)，其进行针对对象物的拾取动作；以及作业计划部(33)，其根据由重量估计部(32)估计出的重量对拾