The invention discloses a robot distributed type representation intelligent semantic map establishment method which comprises the steps of firstly, traversing an indoor environment by a robot, and respectively positioning the robot and an artificial landmark with a quick identification code by a visual positioning method based on an extended kalman filtering algorithm and a radio frequency identification system based on a boundary virtual label algorithm, and constructing a measuring layer; then optimizing coordinates of a sampling point by a least square method, classifying positioning results by an adaptive spectral clustering method, and constructing a topological layer; and finally, updating the semantic property of a map according to QR code semantic information quickly identified by a camera, and constructing a semantic layer. When a state of an object in the indoor environment is detected, due to the adoption of the artificial landmark with a QR code, the efficiency of semantic map establishing is greatly improved, and the establishing difficulty is reduced; meanwhile, with the adoption of a method combining the QR code and an RFID technology, the precision of robot positioning and the map establishing reliability are improved.