The invention relates to an automatic walking apparatus and a detection method for sensors thereof. The method comprises the steps of acquiring output signals of a sensor; starting an automatic detection period; if the sensor outputs a trigger signal in the automatic detection period, determining that the sensor is in a normal state; if the sensor never outputs a trigger signal in the automatic detection period, starting a manual detection period; if the sensor outputs a trigger signal in the manual detection period, determining that the sensor is in a normal state; if the sensor never outputs a trigger signal in the manual detection period, determining that the sensor is not in a normal state; if the sensor is in a normal state, starting the next automatic detection period. The method and a system judge whether a sensor is in a normal state according to whether the sensor is triggered to generate a corresponding signal in an automatic detection period; if the sensor is not triggered in the period, whether the sensor is in a normal state or not is judged through manual detection; through the combination of automatic detection and manual detection, whether a sensor is in a normal state can be detected effectively and the cost is low.