JPH09141474A - Laser beam machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain high working accuracy by a simple teaching operation. SOLUTION: In a teaching operation, precise positioning to a line to be worked is automatically performed by a control part 23 by an only operation that outgoing optical system 10 or work table 65 is moved so that the line enters within a visibility by a CCD camera 13. A movement to a next teaching point is automatically performed by a work line follow-up function. In addition to it, a locus program is automatically generated by position data stored with a work line follow-up movement, and a position control at the time of actual laser beam machining is performed according to this locus program.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser processing apparatus for welding or cutting a work by displacing an output optical system for laser beam irradiation or the work.

[0002]

2. Description of the Related Art An example of this type of laser processing apparatus will be schematically described with reference to FIG. In FIG. 9, a work table 65 on which a work (not shown) is mounted can be moved in one direction (here, referred to as an x-axis direction) by a first ball screw mechanism 61. Further, the first ball screw mechanism 61 is mounted on the second ball screw mechanism 62 so as to be movable in the y-axis direction. Further, an arm 64 is attached to the third ball screw mechanism 63 so as to be movable in the z-axis direction. The arm 64 is driven by a laser beam irradiation optical system for irradiating the laser beam in the x-, y-, and z-axis directions. A laser irradiation unit 100 including a driving unit is attached.

A drive unit 6 incorporating a laser oscillation source and the like
A cable-shaped optical fiber 67 is led out from the optical fiber 6, and the optical fiber 67 is connected to the arm 64 and the laser irradiation unit 1.
Laser irradiation unit 1 in a state where it can be deformed in conjunction with the movement of 00
00 is connected. As the laser oscillation source, for example, a YAG laser device is used.

In this type of laser processing apparatus, a teaching box 68 is used for teaching or teaching support. The teaching box 68 is provided with a switch for switching between teaching and actual laser processing, a switch for starting and stopping the apparatus, a button for remote operation, and the like. The displacement of the mechanism and the output optical system can be operated. The teaching box 68 is attached to the main control section 69 or can be remotely operated by wire. The main control unit 69 includes an operation panel 69-1 for inputting various setting values and the like, and a monitor 69-2 for displaying various data.

When laser processing, for example, welding is performed, teaching is performed in advance using a teaching box for each work. That is, the operator operates the teaching box 68 for teaching before starting welding by automatic control.

Referring to FIGS. 10 to 13, a description will be given of teaching when a CCD camera is mounted on the emission optical system. When the operator selects the switch of the teaching box 68 to the teaching mode, a teaching beam is emitted from the emission optical system 70 as shown in FIG. The operator refers to the teaching beam and monitors the monitor 69-.
The work table 65 (FIG. 9) is moved so that the work line L1 to be welded on the work 71 is within the field of view of the CCD camera displayed in 2 (first step). In addition,
Since the teaching beam only needs to have a guiding function, it is usually a beam different from the laser beam, for example, He-Ne.
Beams are used. When the first step is completed, the teaching beam is temporarily stopped.

Next, as shown in FIG. 11, the operator sets a center point (reference point) set on the image of the CCD camera.
The position of the worktable 65 is finely adjusted so that C1 is located on the line to be processed L1. In FIG. 11, the line to be processed L1 is enlarged and is represented by hatching with a narrow interval. The center point C1 is set in advance to be the optical axis position of the laser beam in actual welding. Then, while maintaining this state, the work table 65 is moved to move the center point C1 to the next teaching point in the extending direction of the line L1 to be processed (second step).

FIG. 12 shows a step (third step) in which the focal point of the laser beam for processing to be irradiated is made to coincide with the processing point on the line L1 to be processed, and FIG.
Shows the step (fourth step) of making the optical axis of the processing laser beam to be irradiated when the processing surface is curved, perpendicular to the workpiece 71 (automatic focusing). Automation is realized by a function called an automatic attitude control function. In any case, the operator executes the above-described first to fourth steps for each teaching point, for example, every 100 mm, designates inputting of teaching data each time, and stores the teaching data in the storage device.

That is, the operator uses the position data of the emission optical system 70 and the work table 65 from the start point to the end point of the processing line L1 obtained as described above as teaching data for each of the teaching points as the main control unit 69. Is stored in a storage device incorporated therein. In actual welding, the main controller 69
Reads the teaching data from the storage device and automatically controls the movement of the emission optical system 70 or the work table 65 using the read teaching data.

[0010]

However, CCDs
Since the operator moves the work table 65 even when looking at the enlarged display screen captured by the camera, the work table 65 is moved so that the center point C1 of the image coincides with the work line L1 to be welded for each teaching point. Difficult to move.
In addition, apart from the case where the line to be processed L1 is a single straight line,
Since a plurality of teaching points are required, the time for teaching also becomes longer. This is a serious problem particularly in high-precision processing using a YAG laser.

[0011] In view of the above problems, an object of the present invention is to provide a laser processing apparatus capable of obtaining high processing accuracy with a simple teaching operation.

[0012]

According to the present invention, there is provided a work table equipped with the emitting optical system and the work so that an optical axis of a laser beam emitted from the emitting optical system moves on a work line of the work. In a laser processing apparatus for performing laser processing by moving at least one of them, a CCD camera provided in the emitting optical system for photographing a region of a predetermined range including the line to be processed of the workpiece, and the emitting optical system. A teaching box in which the movement of the system and the work table can be remotely controlled by an operator, a control unit for controlling the movement of the emission optical system and the work table based on the operation of the teaching box, and the CCD camera A processing line approximated to the processed line by performing a predetermined process on the image including the processed line The image processing unit for detecting, the operator, in the teaching operation, input and specify the start point and the end point of the line to be processed by operating the teaching box, the control unit, in the teaching operation, The positional deviation between a reference point set in advance in the image of the CCD camera to be the focal point of the laser beam and the nearest point between the reference point on the detected processing line is calculated and calculated. The movement of the work table is controlled such that the reference point is matched with the line to be processed based on the displacement, and the reference point moves in a direction determined from a positional relationship between the start point and the end point. The processing line following operation is executed at regular time intervals, and the position coordinates of the nearest point are stored in the memory at regular time intervals along with the movement in the detected processing line direction. Characterized by having the ability to create movement trajectory program for actual processing by the position coordinates of the mobile is stored in the memory and ends up the end point from the start point.

The moving locus program can be edited.

Further, a drawing section for creating a processing line detected by the image processing section as an approximate processing line for displaying on a monitor, an approximate processing line created by the drawing section and the CC
An image superimposing unit for superimposing an image from the D camera and displaying the processed line and the approximate processing line on the monitor in a state where the processed line and the approximate processing line are coincident with each other. When there are a plurality of processing lines detected at one time, a selection means for selecting any one of the plurality of approximate processing lines superimposed and displayed on the monitor, and a selection means on the selected approximate processing line It is preferable to have a designating means for designating a processing direction.

[0015]

FIG. 2 shows a schematic configuration of an exit optical system 10 used in the present invention, and may be used in place of the exit optical system described in FIG. A laser beam B1 from a laser oscillation source passes through an optical fiber and emits an optical system 1.
The light is introduced into the workpiece 20 through the processing lens 12 at an angle changed by the mirror 11. When teaching using a teaching box, a He-Ne beam B2 is supplied through an optical fiber as described later,
The work 20 is irradiated. C on the upper part of the exit optical system 10
A CD camera 13 is provided, and the CCD camera 13 captures an image of a predetermined range including a line to be welded through the observation lens 14.

Optical axis of CCD camera 13 and laser beam B
The optical axis of 1 is set in advance to match,
Moreover, the CCD camera 13 is placed at the focus position of the laser beam B1.
Has been adjusted to focus. In other words,
When the optical axis and the focus of the CCD camera 13 are aligned with the line to be processed on the work 20, the optical axis and the focal point of the laser beam B1 are made to coincide with them. This is also the case for the He-Ne beam used for teaching.

The image resolution of the CCD camera 13 is 256 × 256 pixels, and one pixel is about 0.02 (m
m). Also, the field of view of the CCD camera 13 is 5 × 5.
(Mm). This takes into account that when the field of view is narrowed, the imaged area is enlarged and the detection accuracy is improved, but when the field is too narrow, the work of the operator involved in teaching becomes fine and the amount of work increases. The present invention reduces this amount of work. The image is represented by 256 gradation colors (luminance) according to the light intensity.

FIG. 1 shows a configuration required for performing teaching or teaching support using a teaching box in a laser processing apparatus according to the present invention. The image from the CCD camera 13 is sent to the image processing unit 21 and sent to the monitor 69-2 through the image superimposing unit 22 for display. The image processing unit 21 detects at least one processing line that approximates a line to be processed on the work 20 by performing predetermined image processing described later. The detected processing line is sent to the control unit 23 and the drawing unit 24.

The teaching box 25 is used by an operator to perform a teaching operation to be described later. In the case of a configuration as shown in FIG. Or the movement and posture of the emission optical system 10 in the z-axis direction can be changed. When teaching is started, the operator performs an operation of designating a start point and an end point of the line to be processed and an automatic copying by operating a button on the teaching box 25.

The control unit 23 has a function of following a line to be processed and a function of generating a trajectory program for enabling playback of a trajectory obtained as a result of the following, in addition to an automatic positioning function described below. At the time of automatic alignment, the control unit 23 adjusts the focus position of the laser beam, that is, the center point of the image set in the CCD camera 13 (the center point C1 in FIG. 11, hereinafter referred to as a reference point) on the processing line detected. Calculates the shift between the reference point and the closest point, and calculates the amount of movement of the reference point required to make the reference point coincide with the closest point on the detected machining line. Here, the work table 65
The movement amount of how much should be moved is calculated.

The processing line tracking function and the trajectory program generation function will be described in detail later. Therefore, in brief, here, the reference point is made coincident with the detected processing line based on the calculated positional deviation. The control unit 23 controls the movement of the work table so that the reference point moves on the detected processing line in the direction determined from the positional relationship between the start point and the end point specified by the operator (processing line tracking). function). This control is performed at regular time intervals, for example, 40 times.
This is performed at 0 msec. Next, with the movement on the detected processing line, the position coordinate of the nearest point was stored in the memory as a teaching point each time the control was performed, and was stored in the memory when the movement from the start point to the end point was completed. A movement path program for actual machining is generated based on all position coordinates (path program generation function).

In the case of automatic positioning, the control unit 23
At the start of the automatic alignment, data indicating the position of the reference point, the coordinate system of the field of view of the CCD camera 13, the processing axis, that is, the positional relationship of the machine coordinate system of the work table 65, is obtained from the operation panel 69-1 and the plurality of position sensors 26. It is captured. Then, the position of the detected processing line and the position of the reference point on the image of the monitor 69-2 are determined. The control unit 23 calculates a moving amount for moving the reference point to the nearest point on the detected processing line. The control unit 23 controls the movement of the work table 65 based on the calculation result to make the reference point coincide with the detected processing line.

According to such automatic positioning, when the line to be processed on the work 20 is largely out of the field of view of the CCD camera 13 during the teaching operation, the operator operates the teaching box 25 to operate the CCD camera 13. Work table 6 so that the line to be processed is included in the image of
It is only necessary to move the reference point 5 to move the reference point close to the line to be processed, and the operation of matching the reference point with the line to be processed is automatically performed.

The teaching box 25 used in the present invention has a liquid crystal monitor, an emission optical system 10, and an operation section for operating the displacement of the work table 65, and is connected to the main control section 69 by wire or wirelessly. The operator
When teaching, hold this teaching box 25,
All that is required is to operate the operation unit while looking at the monitor 69-2, move the work table 65 so that the line to be processed is within the image, and perform operations for designating the start point and the end point of the line to be processed and automatic copying.

In the present invention, when teaching is designated by a button operation on the teaching box 25, the emission optical system 10 is controlled through the robot arm drive system 27, and the automatic attitude control function and automatic focusing described above are provided for each teaching point. When the function is activated, the optical axis of laser beam B1 and H
The optical axis of the e-Ne beam B2 is perpendicular to the surface of the workpiece 20, and the focal point coincides with the point to be processed. The data at this time is also stored in the memory for each teaching point as position data relating to the emission optical system 10.

Referring to FIG. 3, the flow of the processing line detection operation will be described. This processing line detection operation is performed by the control unit 2 for each teaching point.
3 is started by outputting a processing start command to the image processing unit 21. In step S <b> 1, after performing the rough alignment using the He-Ne beam as described above, the processing line L <b> 1 is
Is captured. In step S2, an analog image signal from the CCD camera 13 is converted into a digital signal and taken into the image processing unit 21. Image processing unit 2
First, in step S3, the digital signal is pre-processed. Here, as pre-processing, line emphasis and noise removal processing are performed utilizing the characteristics of the line to be processed. Next, the process proceeds to step S4 to perform a binarization process. This 2
The binarization process is a process in which a certain luminance is used as a threshold value, pixels having luminance higher than that are white, and pixels less than the threshold value are blackened to form a black and white image. Is displayed in black.

In step S5, the image processing unit 21
A processing line is detected for the black portion after the value processing, and a processing line is determined in step S6. In order to perform such line detection, the present invention employs a line detection algorithm called “Hough transform processing”. The control unit 2 performs automatic alignment based on the detected processing line on the workpiece 20.
At 3, the deviation from the reference point of the CCD camera 13 is calculated. Then, based on the displacement amount, the CCD camera 1
The amount of movement of the work table 65 for moving the reference point of the third image to the nearest point on the detected processing line is calculated.
The “Hough transform process” is described in Japanese Patent Application No. 7-476.
28, the detailed description is omitted.

In FIG. 4, an image of a part of the machining line detected from the start point to the end point of the machining line L1 is overlapped with the machining line L1 portion by one straight line here. Shows. The control unit 23 controls the work table drive system 28 for moving the work table 65 based on the movement amount for automatic alignment obtained for each teaching point, so that the reference point is located on the detected processing line. The work table 65 is moved so as to coincide with. After the automatic alignment, the position data of the emission optical system 10 and the work table 65 are stored in the memory.

If the line to be processed L1 is a straight line, the teaching point may be two points, a start point and an end point. Even if the direction of the line to be processed L1 changes at an intermediate angle, the teaching point can be obtained. There is no problem because the time interval is short and the line to be processed is detected each time. Also, considering that the line to be processed L1 is gently meandering, it can be approximated by a straight line if it is separated at several mm intervals. No problem.
In any case, when teaching, the operator simply moves the work table so that the line to be processed L1 enters the image of the CCD camera 13, and performs the operation of designating the start and end points of the line to be processed and the automatic scanning. It is unnecessary to perform a precise positioning operation for matching the reference point to the line to be processed L1 and an operation for moving from the teaching point to the next teaching point.

The position data of the work table 65 for each teaching point is determined by the detected machining line, and this position data is stored in the memory in the control unit 23. Then, in the subsequent actual laser welding, the control unit 23 moves the work table 65 by a trajectory program generated based on the position data stored in the memory.

In the image processing section 21, 1
In some image processing, a plurality of processing lines may be detected. This is because the surface of the work 20 has not only the line to be processed L1 but also scratches and dirt. In the present invention, taking such points into consideration, an image superimposing unit 22 and a drawing unit 24 are provided as shown in FIG. 1, and a selector (not shown) for the detected processing line is provided in the teaching box 25. The operation is described below. When the image processing unit 21 detects a plurality of processing lines in one image processing, it sends them to the drawing unit 24. The drawing unit 24 creates approximate processed lines for displaying these processed lines on the monitor 69-2 from the information indicating these processed lines and sends them to the image superposition unit 22. In the image superimposing unit 22, the image of the work 20 including the processing line L 1 from the CCD camera 13 is added to the drawing unit 24.
A superimposing process for displaying a plurality of approximate processed lines from the above is overlapped and displayed. The superimposed image created by the image superimposing unit 22 in this way is displayed on the monitor 69-2. The selection by the selector is performed by the monitor 6
In order to select the most preferable processing line from the plurality of processing lines displayed in 9-2, the selection is performed by moving the cursor with a button on the teaching box 25.

A description will be given also with reference to FIG. 5 showing a display example. Here, as shown in FIG. 5, it is assumed that an image captured by the CCD camera 13 includes a line L2 due to a scratch or dirt in addition to the line to be processed L1. Upon receiving such image information, the image processing unit 21 detects not only the approximate processing line L1 'that matches the processing line L1, but also the approximate line L2' that matches the line L2. Therefore, the drawing unit 24 creates an image for displaying not only the approximated processing line L1 'but also the approximated line L2' on the monitor, and the image superimposing unit 22 generates the image.
The images from the drawing unit 24 are superimposed and sent to the monitor 69-2. As a result, as shown in FIG. 5, the monitor 69-2 displays an image in which the approximate processed line L1 ′ and the approximate line L2 ′ are overlapped with the processed line L1 and the line L2 due to scratches, stains, etc., respectively. .

When the operator looks at such a displayed image, the operator determines that the relationship between the processing line L1 near the center and the approximate processing line L1 'is most preferable, and determines that the relation between the processing line L1 and the approximate processing line L1'. Teaching box 2
5 Select with the selector above. This selection operation is performed by moving the cursor with a push button for moving the cursor on the monitor 69-2 provided on the selector, and specifying it. The selection is confirmed by another push button.

As described above, the monitor display is performed by overlapping the line detected by the image processing unit 21 with the line L1 to be processed photographed by the CCD camera 13 and other lines. The operator can quickly determine which of the detected lines is the processing line and can easily select it with the selector. Thereafter, the reference point is changed to the approximate processing line L1 'as shown in FIG.
Aligned to the closest point above.

By the way, when moving to the next teaching point,
Conventionally, the operator has moved along a processing line while performing operations on a plurality of processing axes, for example, x-axis and y-axis, on a work table while watching a monitor. On the other hand, in the present invention, the control unit 23 controls the work table 65 so that the reference point moves on the approximate machining line L1 ′ by the machining line following function after the automatic alignment.

Referring to FIG. 7, the function of following the line to be processed and the function of generating a trajectory program will be described. The control unit 23
A processing line position calculation unit 23-1 for calculating the position of the processing line detected by the image processing unit 21 in order to achieve the above function, a processing line input and specified by an operator at the start of teaching. Memory 23-2 for storing the positions of the starting point and the ending point, a tracking control unit 23-3 for controlling the line following operation, and a position for storing the teaching point during the line following operation. Locus data memory 23-4,
A trajectory program generation unit 23-5 for generating a trajectory program at the time of actual laser processing based on the storage contents of the trajectory data memory 23-4, and a work table 65 is moved based on the trajectory program to execute the actual laser processing. A playback unit 23-6 for performing processing.

By the way, the teaching operation is started and the line to be processed is
After the nearest point and the distance between the nearest point and the reference point are detected, there is a problem in which of two directions the reference point should be moved on the approximate processing line L1 'to follow the line to be processed. FIG.
In the following control unit 23-3, the approximate movement direction is determined by the operator at the start of the teaching and is determined by the start point A and the end point B of the processing line L1 stored in the position memory 23-2. Judge from the position data. This moving direction is the right direction among the left and right directions in FIG.
If the line to be processed extends in the vertical direction, the moving direction is also in the vertical direction. In any case, the approximate moving direction can be determined from the position data of the start point A and the end point B of the processing line L1. Next, in the case of FIG. 6, the movement angle can be calculated from the angle θ between the approximate processing line L1 ′ and the x-axis.

Of course, when the movement is started based on the moving direction and the moving angle, the approximate processing line L1 'is set at the position where the reference point is to be the next teaching point determined by the above-mentioned fixed time interval.
May be deviated from the approximated processing line L1 'by the processing line tracking function based on the distance between the closest point and the reference point. Also, position data of the nearest point detected at regular time intervals is stored. As a result of performing such a follow-up operation, the reference point moves along the approximate processing line L1 ′, and the ACDEFEGGHIJJKB at a fixed time interval.
Are located on the approximate processing line L1 'for each of the teaching points, and the position data Da, Dc, D obtained from the position sensor 26 at that time.
d, De, DDf, Dg, Dh, Di, Dj, Dk, D
b is stored in the locus data memory 23-4.

Next, in the trajectory program generation unit 23-5, the position data Da, Dc, Dd, De, Df, Dg, Dh, Di, D stored in the trajectory data storage unit 23-4.
Movement data when laser processing is actually performed by j, Dk, and Db is generated as a trajectory program. The playback unit 23-6 supplies the movement data of the trajectory program generation unit 23-5 to the work table driving system 28 at regular time intervals when starting the actual laser processing, and the work table 65
Control movement. As a result, even during actual laser processing, the laser beam is irradiated on the line to be processed along the locus as described in FIG. The trajectory program can be displayed on the display of the teaching box 25 for editing. For example, the start point and end point of the first work and the next work are the same, and the position of the processing line between them is the same. In other cases, it can be reused.

FIG. 14 shows an input program (FIG. 14a) for starting and ending points created by the operator using the teaching box 25 during the teaching operation, and a trajectory program (FIG. 1) generated by the trajectory program generation unit 23-5.
4b) shows an example. With reference to FIG.
M (focus closes to the set value by automatic focusing), AFCS (automatic focusing start), ATT
C ON (following operation on), SPD1000 (moving speed 1000 mm / sec), LINE POS A (position data of starting point Da), POS b (position data of ending point Db), ATTC OFF (following operation off), AFC E
(End of automatic focusing) and EOF (End of File) are input in this order.

On the other hand, the program shown in FIG. 14B is composed of position data Da, Dc, Dd, De, Df, Dg, Dh, D
It is automatically created based on i, Dj, Dk, and Db.

The above description is for the case of welding. In this case, straight lines can be detected by the presence of a welding line as a line to be processed. On the other hand, in the case of cutting, the cutting line is drawn as a line to be processed by scribing etc. in the part to be cut of the work, the cutting line is detected by the same processing, and automatic positioning and automatic positioning are completed. Later moves can be made.

[0043]

As described above, in the laser processing apparatus according to the present invention, when teaching, the operator specifies and inputs the start point and the end point of the line to be processed, and the line to be processed on the workpiece is within the field of view of the CCD camera. It is only necessary to move the worktable so that it enters the work table. The image processing unit detects the line to be processed, and the control unit adjusts the work table so that it matches the processing line that detected the reference point set in the image of the CCD camera. Since the operator is moved, the operation of the operator is easy, and the amount of work and time are greatly reduced. Moreover, it is possible to detect a processed line of 0.1 mm or less with an accuracy of 0.1 mm or less. Further, even if a plurality of processing lines are detected due to scratches or dirt on the work in the image processing apparatus, these are displayed on the monitor, and the operator can quickly determine the processing line by selecting one of them.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration necessary for a teaching operation in the present invention.

FIG. 2 is a sectional view schematically showing an internal structure of an emission optical system in the laser processing apparatus according to the present invention.

FIG. 3 is a flowchart for explaining an operation necessary for detecting a processing line in the present invention.

4 is a diagram showing an example in which a processing line detected by the operation described with reference to FIG. 3 is displayed so as to overlap a processing line.

FIG. 5 is a diagram showing an example of a monitor display for explaining a selection operation when a plurality of processing lines are detected in the image processing unit.

FIG. 6 is a diagram showing an example of a monitor display automatically aligned according to the present invention.

7 is a functional block diagram for realizing a machining line following function and a trajectory program generating function in the control unit shown in FIG. 1;

8 is a diagram for explaining a processing line following function and a trajectory program generation function of FIG. 7;

FIG. 9 is a perspective view showing a schematic configuration of a laser processing apparatus to which the present invention is applied.

FIG. 10 is a diagram for explaining rough alignment of an emission optical system in the conventional teaching.

FIG. 11 is a diagram for explaining precise alignment of the emission optical system according to the conventional teaching.

FIG. 12 is a diagram for explaining the focus adjustment of the laser beam of the emission optical system in the conventional teaching.

FIG. 13 is a diagram for explaining optical axis alignment of a laser beam of an emission optical system in the conventional teaching.

FIG. 14 is a diagram showing an example of a program created by an operator and a trajectory program generated by a trajectory program generator in the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Emission optical system 11 Mirror 12 Processing lens 13 CCD camera 14 Observation lens 61 First ball screw mechanism 62 Second ball screw mechanism 63 Third ball screw mechanism 64 Arm 65 Work table 66 Drive unit 67 Optical fiber 68 Teaching box 69-1 Operation panel 69-2 Monitor 100 Laser irradiation unit

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI Technical display location G05B 19/42 G05B 19/42 J G06T 7/00 G06F 15/62 400

Claims (3)

[Claims] 1. Laser processing by moving at least one of the emission optical system and a work table on which the work is mounted so that the optical axis of a laser beam emitted from the emission optical system moves on a line to be processed of the work. In the laser processing apparatus for performing, a CCD camera provided in the emission optical system for photographing an area of a predetermined range including the line to be processed of the work, and moving the emission optical system and the work table. A teaching box that can be remotely operated by an operator, a control unit for controlling movement of the emission optical system and the work table based on the operation of the teaching box, and an image including the line to be processed from the CCD camera. An image processing for detecting a processing line approximate to the processing line by performing a predetermined process on the processing line The operator specifies and inputs a starting point and an ending point of the line to be processed by operating the teaching box in the teaching operation, and the control unit controls the start and end points of the image of the CCD camera in the teaching operation. A reference point that is set in advance to be the focal point of the laser beam, and calculates a positional deviation between a nearest point between the reference point and the detected processing line, based on the calculated positional deviation. A reference line coincides with the line to be processed, and a line following operation to control the movement of the work table so that the reference point moves in a direction determined from the positional relationship between the start point and the end point. It is executed at regular time intervals, and the position coordinates of the nearest point are stored in a memory at regular time intervals in accordance with the movement in the detected processing line direction, and the start point and the end point are stored. Laser processing apparatus characterized by having the ability to create movement trajectory program for actual processing by the position coordinates of the moving up is stored in the memory and ends. 2. The laser processing apparatus according to claim 1, wherein the movement trajectory program is editable. 3. The laser processing apparatus according to claim 1, wherein the processing unit detects the processing line detected by the image processing unit as an approximate processing line to be displayed on a monitor, and the approximation generated by the drawing unit. An image superimposing unit for superimposing a processing line and an image from the CCD camera and displaying the processed line and the approximate processing line on the monitor in a state where they are coincident with each other; When there are a plurality of processing lines detected at one time by the image processing unit, a selection unit for selecting any one of the plurality of approximate processing lines superimposed and displayed on the monitor and the selected approximation line A designating means for designating a processing direction on a processing line.