<p>Hand-eye calibration has been widely studied as a prerequisite for ensuring the accuracy of industrial robot vision systems, and the accuracy of calibration is mainly affected by two factors: the accuracy of camera posture and the accuracy of solving the hand-eye equation AX = XB. In response to the above two factors, this paper proposes a hand-eye calibration method based on a 3D calibrator. The method uses a certain number of high-precision spheres distributed in a specific spatial position as calibrators, and transforms the original equation into a linear equation using the Kronecker product to obtain the initial solutions of the rotation and translation components of the hand-eye matrix. The Kronecker product and quaternions are used to improve the Horaud’s method, which can enhance the convergence of the synchronous optimization equation to obtain closed solutions. The final simulation and experimental results indicate that the calibrator can effectively obtain the pose of the binocular camera, and the solution method for the AX = XB equation has higher calibration accuracy compared to other methods.</p>