The invention discloses a sensor self-adaptive heating method which is implemented to a heating system, the heating system comprises a controller, a heating device, a temperature sensor and a timer, and the sensor self-adaptive heating method comprises the following steps: S1, enabling the temperature sensor to detect the temperature T; s2, if the temperature T is higher than the heating thresholdT0, executing the step S3, and if the temperature T is lower than the heating threshold T0, executing the step S4; s3, entering a standby mode, and repeatedly executing the step S1; s4, entering a rapid heating mode, starting a heating device, and continuously heating; s5, judging whether the temperature T reaches the target temperature T1 or not, executing the step S6 if the temperature T does not reach the target temperature T1, and executing the step S7 if the temperature T reaches the target temperature T1; s6, continuously heating, and repeatedly executing the step S5; s7, entering a PWMself-adaptive heating mode, and periodically switching on and off the heating device in turn with a period of t0; and S8, maintaining the target temperature T1.