Abstract: The present disclosure provides a visual navigation method and system for mobile devices based on QR code signposts. The visual navigation method for movement includes: autonomously planning an optimal route according to a destination specified by a user, performing positioning in an image captured by a trolley camera and recognizing signpost information, and adjusting a pose according to the signpost information and going to a signpost in the path. In this process, positioning is performed in real time and route planning is updated, and a user may change the destination at any time in a trolley navigation process according to a robust anomaly recovery decision. The method disclosed by the present disclosure not only proposes an indoor navigation solution that does not rely on a GPS signal and strong computation resources, but also can effectively meet an indoor scheduling scenario in which a path needs to be planned intelligently.