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Getting Targets from camera after sealing treatment

Hi everyone;

Currently I'm working in a project which includes four IRB 1300 robots.The project is a sealing project and we are planning to check this "sealing path" with Omron Camera.If sealing is OK,The Part will go to other station.

But sometimes during sealing treatment we migh not see a perfect sealing on the surfaces.During tests  we saw that some areas might be empty because of valve of pump.

In this case, our 3 cameras will check the path and sealing.If there is a empty surface or area.Robot will go there and appy sealing treatment again.And this coordinates will be randomly in every part if it happens.

My question is, How Can I get these x,y,z coordinates and apply on rapid programing?

I have radius and circular areas in this path btw.