A workpiece pick up system including: a three-dimensional sensor which is placed at an upper side of a container and which obtains a group of three-dimensional points each of which has height position information in the container, a group creating means which creates a plurality of three-dimensional point groups in each of which adjacent points satisfy a predetermined condition, an exclusion group determining means which determines that one or more three-dimensional point groups which satisfy at least one of a predetermined size reference, a predetermined area reference, and a predetermined length reference are excluded groups, and a workpiece detecting means which obtains a group of detection-purpose three-dimensional points for detecting workpieces by excluding points included in the excluded group from the group of three-dimensional points or the plurality of three-dimensional point groups, and which detects the workpieces to be picked up by using the group of detection-purpose three-dimensional points.