In order to improve the accuracy of hand-eye calibration in the cooperative operation between line laser profilers and robots， a calibration method based on the two-step method was proposed. The method utilized a commonly available calibration sphere as the calibration object， and constructed the solution equations according to the characteristic of the sphere center coordinates being constant in the robot coordinate system. By changing the attitude once and translating once in a special measurement way， the direction and position matrices were solved independently by associating the solution equations in different attitudes. The experimental results show that the standard deviations of the spherical center coordinates in the X and Y directions of the two-step method are 0.324 9 mm and 0.246 2 mm， respectively， which are 29.5% and 61.5% higher than those of the one-step method of 0.460 8 mm and 0.639 1 mm， respectively. In addition， in the sphere fitting experiments， the difference between the radius of the sphere fitted by the two-step method and the nominal radius of 14.996 mm is 0.019 mm， while that of the one-step method is 0.278 mm， which is a higher fitting accuracy of the two-step method. The two-step hand-eye calibration method proposed in this paper significantly improves the calibration accuracy and 3D fitting accuracy compared to the one-step method.