Method and device for process control of work tasks by means of a tool on an object

A method for process control of work tasks by at least one tool on at least one object, the work tasks having to be performed in three-dimensional work zones defined on the at least one object, the method comprising:

• optically determining a position and orientation of the at least one tool over time by a position detection system in a higher-level coordinate system of the position detection system, for which purpose at least one marker of the position detection system is captured in an image by a camera, the at least one marker being attached to the at least one tool;
• optically determining a position and orientation of the at least one object over time by the position detection system, wherein the position detection system includes at least one sensor that optically captures a scene with the at least one object and the at least one tool over time, and each pixel is associated with distance information in a form of a 3D point cloud, the at least one object being recognized and the position and orientation of the at least one object being determined from the pixels and the distance information;
• determining the defined 3D work zones on the at least one object in the higher-level coordinate system from the optically determined position and orientation of the at least one object at any one time;
• determining over time, by comparison, when the at least one tool is in one of the defined 3D work zones on the at least one object, in which case a working position of the at least one tool is signaled;
• and
• based on the working position of the at least one tool being signaled, enabling, parameterizing and/or recording, by a process control system, execution of one of the work tasks for the at least one object in the respective defined 3D work zone.