PURPOSE: To efficiently take up an article by providing a desired object determining means for determining a desired object among articles having their upper surfaces above a reference level, which are measured by a height measuring means, so as to prevent erroneous take-up of the desired object due to interference with an article at a higher level.

CONSTITUTION: The heights of the upper surfaces of articles 14 loaded in bulk within a container (pallet) 12, that is, the height of parts picked up by an image pick-up device 18, are measured by a height measuring means (22, 24, 28), and a desired object is determined among those having the upper surfaces whose heights are above a reference level, by a desired object determining means. Accordingly, the articles 14 in the container are taken out successively by a robot 10 from those located at relatively high positions. Thus, it is possible to reduce the interference between an article other than that to be taken out and the robot 10 so that the desired object can be satisfactorily taken out, thereby it is possible to enhance the efficiency of the take-up.