An article transfer device includes a robot configured to perform a workpiece picking operation; an image capturing device that captures an image of a workpiece on a conveyor; and a control unit, configured to execute, a workpiece identification process performing workpiece detection in the captured images; a workpiece information storage process storing workpiece information about a position and an angle of each detected workpiece in a storage device; and an identical workpiece determination process comparing the workpiece information of each of the detected workpieces in a newly captured image with the workpiece information of each of the detected workpieces in previously captured images, to determine whether the detected workpieces that are identical to the detected workpieces in the previously captured images exist in the newly captured image, to store in the storage device only the workpiece information of one of the images regarding the detected workpieces determined to be identical.

An article transfer device includes a robot configured to perform a workpiece picking operation; an image capturing device that captures an image of a workpiece on a conveyor; and a control unit, configured to execute, a workpiece identification process performing workpiece detection in the captured images; a workpiece information storage process storing workpiece information about a position and an angle of each detected workpiece in a storage device; and an identical workpiece determination process comparing the workpiece information of each of the detected workpieces in a newly captured image with the workpiece information of each of the detected workpieces in previously captured images, to determine whether the detected workpieces that are identical to the detected workpieces in the previously captured images exist in the newly captured image, to store in the storage device only the workpiece information of one of the images regarding the detected workpieces determined to be identical.