In order to transform the measurement data in the local coordinate system of line structured light sensor into global 3D data in the coordinate system of the robot,the relationship between the robot flange and the sensor needs to be determined,which is called the hand eye calibration.A new algorithm based on spatial orthogonal constraints is proposed for fast hand eye calibration of line structured light sensor,which requires no human involvement in the calibration process,and only a plane target with a spatially orthogonal constraints relationship.During the calibration process,the laser line is controlled to intersect with both sides of the target,and the intersection coordinates and the corresponding robot positions and postures are recorded.Then,a nonlinear optimization model is built based on the space orthogonal constraints and finally the interior point method is applied to iteratively obtain the optimal solution.The experimental results show that the calibration method is fast,stable and highly accurate,and the overall measurement accuracy of the system is better than 0.3mm,which can meet the needs of conventional measurement.