A method of scheduling welding operations, comprising: identifying, with a seam identification module, seams (S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, S14, S15, S16) on a welding object in a three-dimensional model for the welding object based on geometry of bodies contained in the welding object; wherein identifying seams on a welding object comprises: identifying intersection lines between the bodies contained in the welding object as the seams, wherein hidden intersection lines are removed from the identified intersection lines based on overlapping relationship among the identified intersection lines; wherein hidden intersection line removal includes removing a tail section of a welding seam if the welding seam is overlapping with another welding seam at the tail section of the welding seam and wherein the hidden intersection line removal is based on an overlapping relationship of two straight lines; determining, with a sequence determination module, a welding sequence based on the seams, welding parameters and welding process requirements; generating, with a procedure generation module, an operation procedure for a welding robot based on another three-dimensional model for the welding robot, the welding sequence, robot path parameters and the welding parameters to schedule the welding operations of the welding object; checking, with a procedure checking module, a feasibility of the generated operation procedure for the welding robot in a virtual environment which contains the three-dimensional model for the welding object and the other three-dimensional model for the welding robot; adjusting, with a parameter adjustment module, the robot path parameters in response to that the generated operation procedure failing to pass the checking; and wherein another operation procedure is generated with the procedure generation module for the welding robot based on the adjusted robot path parameters and checked again with the procedure checking module; wherein the operation procedure for the welding robot is generated automatically with the procedure generation module, based on the other three-dimensional model for the welding robot, in accordance with predetermined operation procedure generation rules. identifying intersection lines between the bodies contained in the welding object as the seams, wherein hidden intersection lines are removed from the identified intersection lines based on overlapping relationship among the identified intersection lines; wherein hidden intersection line removal includes removing a tail section of a welding seam if the welding seam is overlapping with another welding seam at the tail section of the welding seam and wherein the hidden intersection line removal is based on an overlapping relationship of two straight lines; determining, with a sequence determination module, a welding sequence based on the seams, welding parameters and welding process requirements; generating, with a procedure generation module, an operation procedure for a welding robot based on another three-dimensional model for the welding robot, the welding sequence, robot path parameters and the welding parameters to schedule the welding operations of the welding object; checking, with a procedure checking module, a feasibility of the generated operation procedure for the welding robot in a virtual environment which contains the three-dimensional model for the welding object and the other three-dimensional model for the welding robot; adjusting, with a parameter adjustment module, the robot path parameters in response to that the generated operation procedure failing to pass the checking; and wherein another operation procedure is generated with the procedure generation module for the welding robot based on the adjusted robot path parameters and checked again with the procedure checking module; wherein the operation procedure for the welding robot is generated automatically with the procedure generation module, based on the other three-dimensional model for the welding robot, in accordance with predetermined operation procedure generation rules.