A method of determining search parameters for welding seam point calibration, comprising: determining, with a reference face determination module, for a seam vertex point on a welding seam, three reference faces (F1, F2, F3) which are perpendicular to each other, based on geometry of an object to be weld in a virtual model; and determining, with a start & search points determination module, a start point of a search motion for welding seam point calibration based on the three reference faces (F1, F2, F3) and predetermined criteria respectively for the start point and a search point (B1, B2, B3) based on the start point and another predetermined criterion for the search point, wherein determining three reference faces (F1, F2, F3) comprises: determining, based on the geometry of the object to be weld in the virtual mode, a first reference face and a second reference face which pass through the welding seam; and determining a third reference face by detecting an intersection between a virtual detection part and other parts of the object to be weld in the virtual model, wherein the virtual detection part extends away from the welding seam along a direction of the welding seam, wherein the predetermined criterion for the start point indicates a predetermined distance from the start point to a respective one of the three reference faces (F1, F2, F3), and/or wherein the other predetermined criterion for the search point (B1, B2, B3) indicates that the search point (B1, B2, B3) is determined as a projection point of the start point on the respective reference faces (F1, F2, F3). determining, with a reference face determination module, for a seam vertex point on a welding seam, three reference faces (F1, F2, F3) which are perpendicular to each other, based on geometry of an object to be weld in a virtual model; and determining, with a start & search points determination module, a start point of a search motion for welding seam point calibration based on the three reference faces (F1, F2, F3) and predetermined criteria respectively for the start point and a search point (B1, B2, B3) based on the start point and another predetermined criterion for the search point, wherein determining three reference faces (F1, F2, F3) comprises: determining, based on the geometry of the object to be weld in the virtual mode, a first reference face and a second reference face which pass through the welding seam; and determining a third reference face by detecting an intersection between a virtual detection part and other parts of the object to be weld in the virtual model, wherein the virtual detection part extends away from the welding seam along a direction of the welding seam, wherein the predetermined criterion for the start point indicates a predetermined distance from the start point to a respective one of the three reference faces (F1, F2, F3), and/or wherein the other predetermined criterion for the search point (B1, B2, B3) indicates that the search point (B1, B2, B3) is determined as a projection point of the start point on the respective reference faces (F1, F2, F3). determining, based on the geometry of the object to be weld in the virtual mode, a first reference face and a second reference face which pass through the welding seam; and determining a third reference face by detecting an intersection between a virtual detection part and other parts of the object to be weld in the virtual model, wherein the virtual detection part extends away from the welding seam along a direction of the welding seam, wherein the predetermined criterion for the start point indicates a predetermined distance from the start point to a respective one of the three reference faces (F1, F2, F3), and/or wherein the other predetermined criterion for the search point (B1, B2, B3) indicates that the search point (B1, B2, B3) is determined as a projection point of the start point on the respective reference faces (F1, F2, F3).