I need a image processor software for tube to tubesheet welding robot.

We build a tube to tubesheet welding robot.We couldn't use the welding robots which are in the market cause of the short pneumatic tail. Because our distance between tube to tubes are different. So we build a new one. We stabilize robot with hoist and there is a balancer between hoist and robot, so we can easily move the robot.As our software, our robot can weld the pipe one by one with someones control. What i want is; can our robot do all the pipe weldings in order with a image processing.It can communicate with hoist bluetooth to movement or if you have another idea for movement process it may be too. Also image processing will control the weldings if its not good as we want robot will weld again on same pipe. We can also improve this project. If you have more idea about it. Our software only do 180+180 degree welding now. If you have any information that you want to know please feel free to ask me. I'll attach the welding process video and our boilers welding area.