In view of the robot hand-eye calibration process of artificial time is long and the calibration of the problem of the great error. Based on the binocular measuring, this paper designs a robot hand-eye calibration method based on the depth of the camera. Depth of the calibration imaging camera and a point cloud model, By parallax of calibration feature points and depth value reflect the space relationship between the camera and import coordinate robot base coordinate system at the same time, the moment of hand-eye relation transforms. Experiments show that the calibration methods of plane error is less than 0. 40 mm, space error is less than 0. 46 mm, calibration time not more than 5 min. To verify the correctness and validity of the method, and improve the operational efficiency of the industrial robot calibration process.