The invention discloses a method of cooperative self-adaptation intelligent planning of a complex mixed path of a carrying robot. The method comprises the following steps: Step 1: constructing a three-dimensional coordinate system of a global map; Step 2: dividing the global map according to floor numbers, so as to acquire a two-dimensional map and a distance matrix of each floor; Step 3: acquiring coordinates of a starting point and a termination point of a transportation task in the three-dimensional coordinate system of the global map according to an instruction of the transportation task and planning a path by adopting a Floyd algorithm according to the distance matrix of each floor and distance matrixes of all corridors and rooms in each floor, so as to acquire a transportation planned path; Step 4: controlling the carrying robot to advance according to the planned path, so as to complete the transportation task. According to the method, module division is performed on a multi-floor environment, so that the calculated amount of the algorithm is decreased; the method comprises the interaction of an access control and an elevator and an obstacle avoidance strategy, so that the carrying robot can be configured to execute the transportation task in an intelligent environment conveniently.