Laser processing device, laser processing method, and laser processing program

Abstract

To provide a laser processing device which can draw an image on an appropriate position.SOLUTION: A laser processing device 100 includes light irradiation means 101 which projects a laser beam to a workpiece 106, detection means 102 which detects a position of the workpiece, shape detection means 103 which detects a shape of a surface of the workpiece, and light projection control means 104 which controls the projection of the laser beam by the light irradiation means on the basis of the detected shape.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a laser processing apparatus, a laser processing method, and a laser processing program. [Background technology]

[0002] Recently, there has been a growing global movement to eliminate environmental pollution caused by plastic waste. An example of plastic waste is PET bottles, which are widely used in the distribution and sale of beverages due to their shelf life, etc. For management and sales promotion purposes, PET bottles often have labels attached that list the product name, ingredients, etc., and most of these labeled PET bottles are recycled in light of recent environmental conservation trends. When recycling, the labels and PET bottles need to be separated due to differences in materials, but this is a tedious task that requires manual labor.As a technology to eliminate this hassle, a laser marking device is already known that uses a laser to directly print the product name and ingredients on the surface of the PET bottle instead of attaching a label. Summary of the Invention [Problem to be solved by the invention]

[0003] However, previous laser marking devices fixed the starting position of the image in the main scanning direction without considering the individual differences in the workpiece. Workpieces vary in size, and when drawing on workpieces with shapes such as ribs or embossments, the image is drawn in the ribs or embossments due to variations caused by individual differences, resulting in a problem of reduced visibility of the drawn image.

[0004] Therefore, an object of the laser processing apparatus of the present disclosure is to provide a laser processing apparatus that can draw an image at an appropriate position. [Means for solving the problem]

[0005] The laser processing device as a means for solving the problems of the present invention is a light irradiation means for irradiating a workpiece with a laser beam; a conveying means for conveying the workpiece; a detection means for detecting a position of the workpiece conveyed by the conveying means; a shape detection means for detecting the shape of the surface of the workpiece after detection by the detection means; a light irradiation control means for controlling the irradiation of the laser light by the light irradiation means based on the detected shape; Equipped with. [Effects of the Invention]

[0006] According to the present invention, it is possible to provide a laser processing device that can draw an image at an appropriate position. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a laser processing apparatus according to a first embodiment of the present disclosure. [Figure 2] 1 is a schematic diagram showing the structure of a light irradiation means used in a laser processing apparatus according to a first embodiment of the present disclosure. [Figure 3] 2 is a schematic diagram showing the relationship between a distance D between a detection means 102 and a shape detection means 103 and a distance d between workpieces 106a and 106b in the laser processing device according to the first embodiment of the present disclosure. FIG. [Figure 4] 1 is a schematic diagram showing the relationship among the distance D between the detection means 102 and the shape detection means 103, the distance d between the workpieces 106a and 106b, the number n of detection information stored by the shape detection means 103, and the diameter r of the cross section of the workpiece 106 in the laser processing apparatus according to the first embodiment of the present disclosure. [Figure 5] 2 is a schematic diagram showing an example of the shape (ribs) of a workpiece 106 in an image acquired by a shape detection means 103 in the laser processing device according to the first embodiment of the present disclosure. FIG. [Figure 6] 1 is a schematic diagram showing an example of coordinates of the shape (ribs) of a workpiece 106. FIG. [Figure 7] FIG. 10 is a schematic diagram showing an example in which the positions at which ribs are formed on the workpiece 106 are asymmetrical. [Figure 8] 10A and 10B are schematic diagrams illustrating an example of the amount of deviation between the drawing start position before and after correction. [Figure 9] FIG. 4 is a schematic diagram illustrating laser light irradiation control in the laser processing device according to Modification 1 of the first embodiment of the present disclosure. [Figure 10] FIG. 10 is a schematic diagram showing laser light irradiation control in the laser processing device according to Modification 2 of the first embodiment of the present disclosure. [Figure 11] FIG. 10 is a schematic diagram showing laser light irradiation control in the laser processing device according to Modification 2 of the first embodiment of the present disclosure. [Figure 12] FIG. 10 is a schematic diagram showing laser light irradiation control in a laser processing device according to a third modified example of the first embodiment of the present disclosure. [Figure 13] FIG. 10 is a schematic diagram showing a method for performing drawing by performing two-dimensional scanning multiple times in the laser processing device according to Modification 1 of the first embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0008] <Laser processing device and laser processing method> A laser processing apparatus according to an embodiment of the present disclosure includes a light irradiation means, a transport means, a detection means, a shape detection means, and a light irradiation control means, and may further include other means as necessary. A laser processing method according to an embodiment of the present disclosure includes a light irradiation step, a transport step, a detection step, a shape detection step, and a light irradiation control step, and may further include other steps as necessary.

[0009] A laser processing method according to an embodiment of the present disclosure can be performed by a laser processing apparatus according to an embodiment of the present disclosure. Specifically, the light irradiation step can be performed by a light irradiation unit, the transport step can be performed by a transport unit, the detection step can be performed by a detection unit, the shape detection step can be performed by a shape detection unit, the light irradiation control step can be performed by a light irradiation control unit, and the other steps can be performed by other units.

[0010] <Laser processing program> A laser processing program according to one embodiment of the present disclosure transports a workpiece, detects the position of the transported workpiece to obtain detection information, detects the shape of the surface of the workpiece after detection to obtain shape detection information, controls the irradiation of laser light by a light irradiation means based on the detected shape detection information, and causes a computer to perform a process of irradiating the workpiece with laser light.

[0011] (First embodiment) 1 is a schematic diagram showing a laser processing apparatus according to a first embodiment of the present disclosure, which will be used to describe the laser processing apparatus according to the first embodiment of the present disclosure. The laser processing apparatus 100 according to the first embodiment includes a light irradiation means 101 , a detection means 102 , a shape detection means 103 , a light irradiation control means 104 , and a transport means 105 .

[0012] In the laser processing apparatus 100 according to the first embodiment, a workpiece 106 is transported by a transport means 105 .

[0013] The detection means 102 detects the position of the transported workpiece 106 and transmits information on the detected position of the workpiece (hereinafter sometimes referred to as "detection information") to the shape detection means 103 and the light irradiation control means 104.

[0014] After acquiring the detection information of the workpiece 106, the shape detection means 103 detects the shape of the surface of the workpiece 106 and transmits information on the shape of the surface of the workpiece 106 (hereinafter sometimes referred to as "surface shape information") to the light irradiation control means 104. The shape detection means 103 can store the detection information acquired from the detection means 102. Furthermore, the shape detection means 103 may overwrite the stored detection information with the detection information of the next workpiece 106, or may be able to store multiple pieces of detection information of multiple workpieces 106. In order to correct the drawing start position in real time for each individual workpiece 106 in accordance with the surface shape of the workpiece 106, the detection means 102 and shape detection means 103 are arranged upstream of the processing area where processing is performed by the light irradiation means 101. In addition, since the shape detection means 103 needs to detect the position of the surface shape of the workpiece 106, it is fixed in a state where its position is adjusted so that the angle of view will fit the entire shape to be detected. The shape of the workpiece 106 may be, for example, ribs or embossments on the surface of the workpiece.

[0015] The light irradiation control means 104 controls the irradiation of the laser light by the light irradiation means based on the detection information acquired from the shape detection means 103 and the surface shape information acquired from the light irradiation control means 104. Specifically, it determines the irradiation position of the laser light by the light irradiation means, and transmits a correction value based on the determined irradiation position to the light irradiation means.

[0016] The light irradiation means 101 irradiates the workpiece 106 with laser light based on the correction value acquired from the light irradiation control means 104 .

[0017] Hereinafter, each means in the laser processing device according to the first embodiment of the present disclosure will be described.

[0018] <Light irradiation means> The light irradiation means 101 is a means for irradiating the workpiece 106 with laser light, and the light irradiation means 101 has a light irradiation unit and a light scanning unit. The light irradiation means 101 can be a laser light source.

[0019] FIG. 2 is a schematic diagram showing the structure of a light irradiation means used in the laser processing apparatus according to the first embodiment of the present disclosure.

[0020] As shown in FIG. 2, the light irradiation means 101 includes a light irradiation unit 107 and a light scanning unit .

[0021] The light irradiating unit 107 is capable of controlling the on / off of laser light emission, the emission frequency, and the light intensity, and emits laser light with an output (light intensity) suitable for changing the shape of the surface of the workpiece irradiated with the laser light. The light irradiating unit 107 is preferably a pulsed laser that emits laser light.

[0022] The wavelength of the light emitted from the light irradiating unit 107 is not particularly limited and can be appropriately selected depending on the purpose, but is preferably 355 nm or more and 1,064 nm or less.

[0023] The pulse width of the laser light emitted from the light irradiating unit 107 is not particularly limited and can be appropriately selected depending on the purpose, but is preferably 1 picosecond or more and 10 nanoseconds or less.

[0024] The average output of the light irradiating unit 107 is not particularly limited and can be appropriately selected depending on the purpose, but is preferably 10 W or more and 50 W or less.

[0025] The spot diameter of the laser light emitted from the light irradiating unit 107 is not particularly limited and can be appropriately selected depending on the purpose, but is preferably 1 μm or more and 200 μm or less, and more preferably 10 μm or more and 100 μm or less.

[0026] The optical scanning unit 108 includes a deflector 109 and an imaging optical element 110 .

[0027] The deflector 109 can use a two-axis galvanometer scanner, which is composed of an X-axis galvanometer scanner and a Y-axis galvanometer scanner. The X-axis galvanometer scanner is composed of an X-axis galvanometer and a polarizing mirror 109A rotatably attached to the tip of the galvanometer, while the Y-axis galvanometer scanner is composed of a Y-axis galvanometer and a polarizing mirror 109B rotatably attached to the tip of the galvanometer. The two polarizing mirrors 109A and 109B rotate in directions perpendicular to each other, and by rotating the polarizing mirrors 109A and 109B, the laser light can be scanned at any position.

[0028] An fθ lens can be used as the imaging optical element 110. The imaging optical element 110 focuses the incident laser light scanned by the deflector at a position displaced from the center of the lens optical axis in proportion to the incident angle.

[0029] The light irradiation means 101 can perform drawing by performing two-dimensional scanning multiple times. Specifically, as shown in Fig. 13, areas 1 to 3 are each treated as one drawing image, and three images can be drawn in the order of area 1 to area 3. After irradiating the laser from start position 1 to end position 1 in area 1 and reaching it, the laser is irradiated from start position 2 to end position 2 in area 2 and reaching it. After that, the laser is irradiated from start position 3 to end position 3 in area 3 and reaching it in the same way.

[0030] <Detection method> The detection means 102 is a means for detecting the position of the workpiece, and transmits the detection information of the detected workpiece to the shape detection means 103 and the light irradiation control means 104. Based on the detection information of the workpiece detected by the detection means 102, the timing of processing the workpiece performed by the light irradiation means can be determined, thereby realizing highly accurate processing of the target position on the workpiece. The detection means 102 may be a detection camera or the like.

[0031] When the shape detection means 103 can store only one piece of detection information, as the distance D between the detection means 102 and the shape detection means 103, as shown in FIG. 3, it is preferably shorter than the interval d between the workpieces 106a and 106b. When the workpiece 106b is conveyed following the workpiece 106a, after the detection information of the workpiece 106a (hereinafter sometimes referred to as "detection information a") is acquired by the detection means 102, the detection information of the workpiece 106b (hereinafter sometimes referred to as "detection information b") is acquired. At this time, if the distance D is shorter than the interval d between the workpieces 106a and 106b, the workpiece a can be photographed using the detection information a before the previously obtained detection information a is overwritten by the detection information b.

[0032] When the shape detection means 103 can store a plurality of pieces of detection information and can adjust the intervals between a plurality of workpieces by the conveying device, as the distance D between the detection means 102 and the shape detection means 103, the distance D shown in FIG. 4, the distance d between the workpieces 106a and 106b, the number n of pieces of detection information stored by the shape detection means 103, and the diameter r of the cross section of the workpiece 106 preferably satisfy the following formula (1). D < n×d+(n - 1)r ··· Formula (1)

[0033] By installing the detection means 102 and the shape detection means 103 at the distance D that satisfies the above formula (1), it becomes possible to photograph without omission the image of the workpiece 106 necessary for adjusting the irradiation start position. Also, when the intervals between a plurality of workpieces by the conveying device cannot be adjusted, by setting d = 0 and n>1, the above formula (1) becomes the following formula (2), and by setting the distance D between the detection means 102 and the shape detection means within this range, it becomes possible to photograph the workpiece without omission. D < (n - 1)×r ··· Formula (2)

[0034] The shape detection means 103 is a means for detecting the shape of the surface of the workpiece 106. The shape detection means 103 acquires an image of the workpiece 106 and detects the shape of the surface of the workpiece 106 in the acquired image. At this time, there are no particular limitations on the detection method and it can be selected appropriately depending on the purpose, but it is preferable to detect the shape of the surface from the edge of the workpiece 106. The flow of detecting the shape of the surface of the workpiece in the shape detecting means 103 will be described below.

[0035] 5 is a schematic diagram showing an example of the shape (ribs) of the workpiece 106 in an image acquired by the shape detection means 103. The shape detection means 103 is fixed to the side of the conveyance device, and the angle of view at which the image is captured is the same as in the advance preparation, so the image obtained by capturing the image is the same as that obtained in the advance preparation.

[0036] The shape detection means 103 stops the transport means 105 when the workpiece 106 is transported in front of the shape detection means 103, and then photographs the workpiece 106 with a camera.

[0037] The shape detection means 103 calculates the coordinates of the shape (rib) of the workpiece 106 in the obtained image. There are no particular restrictions on the method of calculating the coordinates, and they can be selected appropriately depending on the purpose. For example, there is a method using a dedicated camera with the function of calculating and outputting the shape position from the captured image, or a method inputting the captured image into a calculation device and determining the shape by image processing such as template matching. In Figure 5, the coordinates of the obtained rib positions are respectively as follows. xr*(*:0~2) xl*(*:0~2)

[0038] The shape detection means 103 determines whether or not a drawing area is secured on the workpiece 106 based on the coordinates of the shape (ribs) of the workpiece 106. Some workpieces 106 are heterogeneous, with parts stretched or shrunk, and in such cases, there is a possibility that a sufficient drawing area is not secured. For this reason, by using the shape detection means 103 to determine whether or not a drawing area is secured on the workpiece 106, heterogeneous parts can be excluded in advance. Specifically, as shown in Fig. 6, the shape detection means 103 checks whether the image size lx to be drawn fits into the drawing space Rx based on the coordinates of the shape (rib) of the workpiece 106. The size of the rib area is given by the following equations (3) and (4). Rx0=min(rx0-rx1,lx0-lx1)...Equation (3) Rx1=min(rx1-rx2,lx1-lx2)...Equation (4)

[0039] Furthermore, as shown in FIG. 7, some workpieces 106 have asymmetrical rib formation positions. In this case, the size of the drawing area Rxr obtained from the rib position on the right side is larger than the size of the drawn image Ixr, but the size of the left side Rxl is smaller than Ixr. The shape detection means 103 determines whether or not there is a drawable area by comparing the minimum of Rxl and Rxr with Ixr. If it is determined that there is a drawable area, the light irradiation control means 104 calculates the deviation of the rib or emboss position, and drawing can be performed according to Rxl, the size of the drawing area obtained from the rib position that is smaller. If it is determined that there is no drawable area, the workpiece is determined to be non-standard, and drawing on the workpiece is not performed.

[0040] The deviation of the rib or emboss position is calculated by calculating the amount of deviation from the reference position from the obtained coordinate values.

[0041] <Light irradiation control means 104> The light irradiation control means 104 is a means for controlling the irradiation of laser light by the light irradiation means based on the detected shape. Furthermore, the light irradiation control means 104 calculates the deviation of the rib or emboss position when the shape detection means 103 determines that there is a region where drawing is possible.

[0042] The light irradiation control means 104 calculates the deviation of the rib or emboss position based on the following equations (5) and (6), thereby calculating the deviation between the rib position of the transported workpiece and the reference position. dxr * =xr * -xr_org * ...Equation (5) dxl * =xl * -xl_org * ...Equation (6) In the above formulas (5) and (6), * represents 0 to 2.

[0043] The light irradiation control means 104 finally converts the calculated deviation of the rib or emboss position into a deviation amount [mm] in spatial coordinates, and determines a movement amount Δx of the drawn image based on the deviation amount before and after correction of the drawing start position, as shown in Fig. 8. The movement amount Δx may be any of the maximum value, minimum value, and average value obtained from each deviation amount.

[0044] The light irradiation control means 104 controls the irradiation start position of the laser light by the light irradiation means based on the calculated movement amount Δx. Specific control will be described in Modifications 1 to 4 of the first embodiment, but the laser processing apparatus and laser processing method of the present disclosure are not limited to these.

[0045] (Modification 1 of the first embodiment) Fig. 9 is a schematic diagram showing laser light irradiation control in a laser processing apparatus according to Modification 1 of the first embodiment of the present disclosure. The laser processing apparatus according to Modification 1 of the first embodiment of the present disclosure will be described using Fig. 9. The same components as those in the first embodiment already described will be assigned the same reference numerals, and description thereof will be omitted.

[0046] The light irradiation control means 104 in the first modification of the first embodiment controls the irradiation start position of the laser light by the light irradiation means based on the detected shape of the surface. As shown in Fig. 9, the light irradiation control means 104 determines the scan start angle of the galvano scanner so that the scan start position on the workpiece is shifted by Δx, and sets this as a correction value in the galvano scanner. Specifically, as shown in Fig. 2, by correcting the scan start angle by changing the angles of polarizing mirrors 109A and 109B, the scan start position in the main scanning direction of the laser light is shifted by Δx. As a result, it becomes possible to perform drawing at a position that avoids the rib positions on the workpiece, as shown by the red diagonal lines.

[0047] (Modification 2 of the first embodiment) 10 and 11 are schematic diagrams showing laser light irradiation control in a laser processing apparatus according to Modification 2 of the first embodiment of the present disclosure. The laser processing apparatus according to Modification 2 of the first embodiment of the present disclosure will be described using Fig. 10 and Fig. 11. The same components as those in the first embodiment already described will be assigned the same reference numerals, and descriptions thereof will be omitted.

[0048] The light irradiation control means 104 in the second modification of the first embodiment controls the irradiation start position and irradiation timing of the laser light by the light irradiation means based on the detected shape of the surface.

[0049] Figure 10 is a schematic diagram showing the timing of laser pulse irradiation and the positional relationship with the scanning area when there is no variation in the size of the workpiece. When there is no variation in the size of the workpiece, the laser only emits light in the non-rib area and does not emit light in the rib area, so the drawn image does not penetrate into the rib.

[0050] Figure 11 is a schematic diagram showing the positional relationship between the laser pulse irradiation timing and the scanning area when the workpieces vary in size. When the workpieces vary in size, the scanning start position of the galvano scanner is not changed, but the drawing start position is shifted by Δx by adjusting the laser light irradiation timing. The laser pulse (before correction) shown in Figure 11 emits light even though the scanning area is the rib part, and the mismatch between the scanning area and the light emission timing causes the drawn image to invade the rib. To prevent this, the laser pulse (after correction) calculates an adjustment value Δt to shift the timing at which light emission starts, making it possible to draw at the desired position. The adjustment value Δt can be calculated from the calculated Δx, the image plane scanning speed of the galvano scanner, and the light emission period (pulse period) of the laser light. By adjusting the calculated light emission timing Δt, the drawing start position is shifted by Δx.

[0051] (Modification 3 of the first embodiment) Fig. 12 is a schematic diagram showing laser light irradiation control in a laser processing apparatus according to Modification 3 of the first embodiment of the present disclosure. The laser processing apparatus according to Modification 3 of the first embodiment of the present disclosure will be described using Fig. 12. The same components as those in the embodiment already described in the first embodiment will be assigned the same reference numerals, and description thereof will be omitted.

[0052] The light irradiation control means 104 in the third modification of the first embodiment controls the irradiation start position and irradiation timing of the laser light by the light irradiation means based on the detected shape of the surface. Note that the control of the irradiation start position in Variation 3 of the first embodiment is the same as that in Variation 1 of the first embodiment, and the control of the irradiation timing in Variation 3 of the first embodiment is the same as that in Variation 2 of the first embodiment, so explanations of these will be omitted.

[0053] The light irradiation control means 104 in the third modification of the first embodiment recalculates a new correction value so that the Δx drawing start position is correctly corrected by correcting the scanning start position of the galvano scanner and adjusting the light emission timing, as shown in Fig. 12. This makes it possible to prevent the coordinates from being shifted too far from the correct irradiation start position.

[0054] The present invention includes, for example, the following aspects. <1> a light irradiation means for irradiating a workpiece with a laser beam; a conveying means for conveying the workpiece; a detection means for detecting a position of the workpiece conveyed by the conveying means; a shape detection means for detecting the shape of the surface of the workpiece after detection by the detection means; a light irradiation control means for controlling the irradiation of the laser light by the light irradiation means based on the detected shape; A laser processing device comprising: <2> the light irradiation control means controls the irradiation start position of the laser light by the light irradiation means based on the detected shape of the surface. <1> The laser processing apparatus according to claim 1. <3> the light irradiation control means controls the timing of irradiation of the laser light by the light irradiation means based on the detected shape of the surface. <1> The laser processing apparatus according to claim 1. <4> the light irradiation control means controls the irradiation start position and irradiation timing of the laser light by the light irradiation means based on the detected shape of the surface. <1> The laser processing apparatus according to claim 1. <5> the shape detection means detects the shape of the surface of the workpiece from the shape of the end of the workpiece; <1> from <4> The laser processing apparatus according to any one of claims 1 to 4. <6> The light irradiation control means stores detection information about the shape of the workpiece. <1> from <4> The laser processing apparatus according to any one of claims 1 to 4. <7> The laser processing apparatus according to <6>, wherein the distance D (cm) between the detection means and the shape detection means, the distance d (cm) between the workpieces, the number n of detection information stored by the shape detection means, and the radius r (cm) of the cross-section of the workpiece satisfy the following formula (1). D < n×d + (n - 1)r ··· Formula (1) <8> A laser light irradiation step of irradiating a workpiece with laser light, A conveyance step of conveying the workpiece, A detection step of detecting the position of the workpiece being conveyed, A shape detection step of detecting the shape of the surface of the workpiece after detection, A laser light irradiation control step of controlling the irradiation of laser light by the light irradiation means based on the detected shape, A laser processing method, characterized by comprising the above. <9> The laser processing method according to <8>, wherein the laser light irradiation control step controls the irradiation start position of the laser light by the light irradiation means based on the detected shape of the surface. <10> The laser processing method according to <8>, wherein the laser light irradiation control step controls the irradiation timing of the laser light by the light irradiation means based on the detected shape of the surface. <11> The laser processing method according to <8>, wherein the laser light irradiation control step controls the irradiation start position and irradiation timing of the laser light by the light irradiation means based on the detected shape of the surface. <12> The laser processing method according to any one of <8> to <11>, wherein the shape detection step detects the shape of the surface of the workpiece from the shape of the end portion of the workpiece. <13> Convey a workpiece, Detect the position of the workpiece being conveyed to obtain detection information, Detect the shape of the surface of the workpiece after detection to obtain shape detection information, Control the irradiation of laser light by the light irradiation means based on the detected shape detection information, A process of irradiating a workpiece with laser light A laser processing program, characterized by causing a computer to perform the above.

[0055] The aforementioned <1> from <7> The laser processing apparatus according to any one of the above <8> from <12> The laser processing method according to any one of the preceding claims, and <13> According to the laser processing program described in the above, the conventional problems can be solved and the object of the present invention can be achieved. [Explanation of symbols]

[0056] 100 Laser processing equipment 101 Light irradiation means 102 Detection methods 103 Shape detection means 104 Light irradiation control means 105 Transportation 106 Workpiece 107 Light irradiation unit 108 Optical scanning unit 109 Deflector 109A, 109B Polarizing mirror 110 Imaging optical elements [Prior art documents] [Patent documents]

[0057] [Patent Document 1] Japanese Patent Publication No. 2023-072814

Claims

1. a light irradiation means for irradiating a workpiece with a laser beam; a conveying means for conveying the workpiece; a detection means for detecting a position of the workpiece conveyed by the conveying means; a shape detection means for detecting the shape of the surface of the workpiece after detection by the detection means; a light irradiation control means for controlling the irradiation of the laser light by the light irradiation means based on the detected shape; A laser processing device comprising:

2. 2. The laser processing device according to claim 1, wherein the light irradiation control means controls a position where the light irradiation means starts irradiating the laser beam based on the detected shape of the surface.

3. 2. The laser processing device according to claim 1, wherein the light irradiation control means controls the timing of irradiation of the laser light by the light irradiation means based on the detected shape of the surface.

4. 2. The laser processing device according to claim 1, wherein the light irradiation control means controls the irradiation start position and irradiation timing of the laser light by the light irradiation means based on the detected shape of the surface.

5. 5. The laser processing device according to claim 1, wherein the shape detection means detects the shape of the surface of the workpiece from the shape of an end portion of the workpiece.

6. 5. The laser processing device according to claim 1, wherein the light irradiation control means stores detection information about the shape of the workpiece.

7. 7. The laser processing device according to claim 6, wherein a distance D (cm) between the detection means and the shape detection means, a distance d (cm) between the workpieces, a number n of detection information stored by the shape detection means, and a radius r (cm) of a cross section of the workpiece satisfy the following formula (1): D<n×d+(n-1)r...Formula (1)

8. a light irradiation step of irradiating a workpiece with laser light; a conveying step of conveying the workpiece; a detecting step of detecting a position of the workpiece being conveyed; a shape detection step of detecting the shape of the surface of the workpiece after detection; a light irradiation control step of controlling irradiation of laser light by a light irradiation means based on the detected shape; A laser processing method comprising:

9. 9. The laser processing method according to claim 8, wherein the light irradiation control step controls a position where the light irradiation means starts irradiating the laser light based on the detected shape of the surface.

10. 9. The laser processing method according to claim 8, wherein the light irradiation control step controls the timing of irradiation of the laser light by the light irradiation means based on the detected shape of the surface.

11. 9. The laser processing method according to claim 8, wherein the light irradiation control step controls a position where irradiation of the laser light by the light irradiation means starts and an irradiation timing based on the detected shape of the surface.

12. 12. The laser processing method according to claim 8, wherein the shape detection step detects the shape of the surface of the workpiece from the shape of an end portion of the workpiece.

13. Transporting the workpiece, Detecting the position of the workpiece being conveyed and acquiring detection information; Detecting the shape of the surface of the workpiece after detection to obtain shape detection information; controlling the irradiation of laser light by the light irradiating means based on the detected shape detection information; A process in which a workpiece is irradiated with laser light A laser processing program that causes a computer to perform the above.

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