Work coordinate generation device

A work robot, comprising:

• a moving arm configured to move an effector at an end of the moving arm, the effector performing work in a work region;
• a camera configured to image the work region;
• and
• a controller configured to
• register shape information about a shape of the work region, the work region being optically defined on a target which is carried in a work performing position to be a work target;
• acquire first image data by imaging a first target, which is carried in, with the camera and search for at least a part of a region in the first image data by using the shape information to recognize information about a position of the work region of the first target;
• generate a first work coordinate which represents the work region of the first target based on the region in the first image data;
• acquire second image data by imaging a second target, which is carried in, with the camera, and recognize information about a position of the work region of the second target by searching for a region in the second image data, which is narrower than the region in the first image data,
• generate a second work coordinate which represents the work region of the second target based on the first work coordinate and the work region of the second target, and
• control the moving arm and the effector to perform the work using the second work coordinate.