In order to realize one-time accurate measurement of position coordinates of cylindrical object locating points in vertical height direction and horizontal and transverse direction, the linear laser triangulation method was used. Linear laser triangulation positioning measurement model was established. The theoretical analysis was carried out. Based on this method, a set of positioning measurement experimental system was designed. Linear laser spot images reflected by a cylindrical surface were captured by an industrial camera. Blob algorithm was used to extract the vertex pixel coordinates of the laser spot according to the geometrical characteristics of the image. The position coordinates of the cylindrical object positioning points were calculated by combining with the system calibration parameters. The results show that the maximum relative measurement errors in vertical and horizontal directions are 0.14% and 0.89%, respectively. The research results can be used to grasp and locate cylindrical objects in different sizes by manipulators in industrial production.