1. A danger presentation device comprising: a worker position acquisition unit configured to acquire a worker position which is a position of a worker; a worker view range determination unit configured to determine a view range of the worker depending on the worker position acquired by said worker position acquisition unit; a position/posture determination unit configured to identify a specific time in which at least a part of a robot which operates according to a motion planning is included in the view range, and to determine a position/posture which contains at least one of a position of the robot at the specific time and a posture of the robot at the specific time; and an image generation unit configured to generate image data for illustrating the position/posture determined by said position/posture determination unit.