To provide a robot system for performing bin picking without reducing the detection accuracy while preventing a camera's view from being shielded by a returnable box and preventing the camera from being intervened by the returnable box.

An image processing device 906 includes: a two-dimensional model 109 of a workpiece; a two-dimensional workpiece position detecting unit 108; an area model 106 for dividing the returnable box into a plurality of areas and defining an area-based visual line as to each area; an area determining unit 103 for outputting the defined area-based visual line to an area to which the workpiece to be picked belongs; a three-dimensional model 105 of the workpiece; a three-dimensional workpiece position detecting unit 102 for detecting a three-dimensional position posture from an image capturing the workpiece to be picked; a visual line model 107 for defining a visual direction of the camera from a plurality of directions relative to the workpiece; and a visual line calculating unit 104 for calculating a visual line of the camera in approaching the workpiece to be picked.