The invention relates to a two-dimensional code guidance control method of an autonomous mobile robot, and belongs to the technical field of guidance control of mobile robots. The method comprises thesteps of: marking a guidance target position on a constructed map by using a plurality of two-dimensional code based on two-dimensional code vision and in combination with real-time positioning and composition of the mobile robot; moving, by the autonomous mobile robot, to a two-dimensional code area to complete rough positioning; and then, identifying, by the mobile robot, the two-dimensional code, calculating a three-dimensional coordinate point and pose coordinates of the point, adjusting the forward speed and direction of the mobile robot according to the identified posture of the two-dimensional code and a spatial position of the two-dimensional code relative to a camera, so that the robot moves to the guidance target position to complete target guidance. The two-dimensional code guidance control method provided by the invention has the advantages that a two-dimensional code label is used to cooperate with the camera to perform visual guidance, so that the posture characteristicsare obvious, the processing is fast, the hardware cost is low, and the guidance accuracy is high.