I am not entirely sure why you would want to switch encodings for URLs, personally. If you use alphanumeric encoding and a URL in Base36, you are pretty much information-theoretically optimal.
base36 with alphanumeric mode encoding has around 6.38% overhead compared to base10's 0.34% overhead in numeric mode. So numeric mode gets you closer to optimal.
Ideally QR codes would have had a segment to encode URIs more efficiently (73-82 characters depending on how the implementation decided to handle the "unreserved marks"), but that ship has long sailed.