An appearance inspection system configured to perform appearance inspection by causing an imaging device to image a target when the imaging device arrives at each of a plurality of imaging positions set for the target while moving a relative position of the imaging device with respect to the target, the appearance inspection system comprising: a setting part configured to set a route passing through the plurality of imaging positions in order; a robot, which includes a plurality of arms (32a-32f) and is a movement mechanism configured to change the relative position of the imaging device with respect to the target along the route; the imaging device, which is configured to capture an image of the target and is mounted on the robot; an imaging position decision unit which is configured to decide a position and a posture of the imaging device for each of the plurality of imaging positions; an imaging condition decision unit which which is configured to decide an imaging condition for imaging a corresponding inspection target position from the imaging position with regard to each of the plurality of imaging positions; and a control part (14, 16) configured to control the imaging condition of the imaging device, wherein the imaging condition includes a focus position, a zoom magnification, a diaphragm, a shutter speed, a resolution, a gain, or an illumination luminescent color, wherein the setting part is configured to set the route so that a first time necessary for the movement mechanism to move the imaging device from a first imaging position to a second imaging position among the plurality of imaging positions is longer than a second time necessary for a process of changing a first imaging condition corresponding to the first imaging position to a second imaging condition corresponding to the second imaging position by the control part (14, 16), and wherein the control part (14, 16) is configured to start the process of changing the first imaging condition to the second imaging condition earlier by the second time or more than a scheduled time at which the imaging device arrives at the second imaging position when the movement mechanism moves the imaging device from the first imaging position to the second imaging position; the appearance inspection system further comprising: an estimation part configured to estimate the second time based on pre-decided information indicating a correlation between an imaging condition before a change and an imaging condition after the change, and a time necessary for a process of changing the imaging condition before the change to the imaging condition after the change. a setting part configured to set a route passing through the plurality of imaging positions in order; a robot, which includes a plurality of arms (32a-32f) and is a movement mechanism configured to change the relative position of the imaging device with respect to the target along the route; the imaging device, which is configured to capture an image of the target and is mounted on the robot; an imaging position decision unit which is configured to decide a position and a posture of the imaging device for each of the plurality of imaging positions; an imaging condition decision unit which which is configured to decide an imaging condition for imaging a corresponding inspection target position from the imaging position with regard to each of the plurality of imaging positions; and a control part (14, 16) configured to control the imaging condition of the imaging device, wherein the imaging condition includes a focus position, a zoom magnification, a diaphragm, a shutter speed, a resolution, a gain, or an illumination luminescent color, wherein the setting part is configured to set the route so that a first time necessary for the movement mechanism to move the imaging device from a first imaging position to a second imaging position among the plurality of imaging positions is longer than a second time necessary for a process of changing a first imaging condition corresponding to the first imaging position to a second imaging condition corresponding to the second imaging position by the control part (14, 16), and wherein the control part (14, 16) is configured to start the process of changing the first imaging condition to the second imaging condition earlier by the second time or more than a scheduled time at which the imaging device arrives at the second imaging position when the movement mechanism moves the imaging device from the first imaging position to the second imaging position; the appearance inspection system further comprising: an estimation part configured to estimate the second time based on pre-decided information indicating a correlation between an imaging condition before a change and an imaging condition after the change, and a time necessary for a process of changing the imaging condition before the change to the imaging condition after the change.