The present invention is intended to protect an industrial wireless communication method based on self-adaptive channel hopping within timeslot, which belongs to industrial wireless communication technology field. Aiming to solving existing problem that wireless devices can not correspondingly self-adaptive channel hopping according to environment changing, a method for making the two communication sides self-generate and execute channel switch when the preferred channel was interfered. The sender will monitor whether the channel is idle within SWTW before sending data through mechanisms such as CCA or non-persistent CSMA. If the channel is still busy till the SWTW times out, the sender will give up sending data and implement channel switching control command by considering this communications channel as interfered. If no packets were received till the RWTW time-outs, the receiver will thinks the communication channel was interfered and automatically implement channel switching control commands. Thus, the receiver will change its backup channel into communication channel. So far, the sender and receiver all independently hop to the backup channel for new communication process after a channel switching cycle. Different time synchronization algorithm will be used in accordance with whether channel switch is carried out or not. The present invention can fully enhance the channel utilization and communication success rate, improve the reliability and real-time of data communication, reduce additional network load by means of reduced retransmission, and perfectly satisfy the requirement of industrial wireless application.