Food portioning device and program

A food portioning device comprising:

• a gripper configured to grip a portion of food having an indefinite shape and provided in a container;
• a moving mechanism configured to move the gripper;
• a weighing unit configured to measure a weight of the food held by the gripper;
• an imaging unit configured to image a surface shape of the food;
• a decision unit configured to decide a first target value of a weight of the food to be portioned by one gripping operation, which is calculated based on a final target value to be portioned, and to decide a first picking position corresponding to the first target value based on an image captured by the imaging unit;
• and
• a control unit configured to execute portioning of the food by moving the gripper to the first picking position by the moving mechanism,
• wherein, when a weight of the food portioned by the one gripping operation by the gripper satisfies the first target value, the decision unit decides a second target value of a weight of the food to be portioned by a next one gripping operation and decides a second picking position corresponding to the second target value, and the control unit executes portioning of the food by moving the gripper to the second picking position, and
• when the weight of the food portioned by the one gripping operation by the gripper does not satisfy the first target value, the decision unit re-decides the first target value, and the control unit executes gripping of the food at the re-decided first target value.