The traditional global positioning method has high requirements on the environment background. Therefore, a mobile robot positioning method based on Quick Response (QR) code graphic features is proposed. First, based on the contour hierarchy features of the QR code, the six-layer contour was filtered to obtain the position of the position detection pattern. Then, the center positional coordinates and the steering angle of the QR code were solved by using the three position detection pattern positions to form a triangle feature. Finally, the positioning method was verified by experiments and the experimental data was analyzed. The position error obtained by this method does not exceed 4 cm, and the error of steering angle does not exceed 5°, which has good accuracy.