When the robot is to deliver goods to the designated quick response(QR) code target points,the simultaneous localization and mapping(SLAM) algorithm is Cartographer.In order to identify and mark the QR code target points on the map created by using SLAM,a method based on ZBar algorithm and combining Cartographer-SLAM and Hector-SLAM algorithm was proposed to identify and mark the target points of the QR code.The ZBar algorithm was used to identify the QR code captured by the camera;the Cartographer algorithm was used to write the corresponding service namely node communication and generate the Geotiff format map;when saving the map,the Hector-SLAM algorithm was called to draw the target point on the generated Geotiff map.The results show that compared with the method of QR code recognition,mapping and marking based on ZBar algorithm and Hector-SLAM algorithm,by using the proposed method,the QR code can be recognized and the target point can be mark at a place farther away from the target point with less error,and the average accuracy can be improved by 67.6%.