The invention relates to a communication process between an intelligent micro-sized ground robot and wireless sensor nodes, which comprises the following steps that firstly sending a message to the intelligent micro-sized ground robot by the wireless sensor nodes, secondly receiving the message by the intelligent micro-sized ground robot, and analyzing the data pocket which is received according to the communication protocol which is defined by the both sides in advance, thirdly processing the SIP in a data buffer pool and the CP in a command buffer pool according to the message disjunction principle which is defined in advance, fourthly obtaining disjunction results, wherein if the robot sends the command pocket RCP to other robots through the wireless sensor nodes which are connected with the robot, and the wireless sensor nodes which are connected with the robot receive the command pocket RCP and are wirelessly transferred. The advantages of the invention lie in providing a communication protocol and a message processing method which has low power consumption and can guarantee the transmission quality for the intelligent micro-sized ground robot in the moving process, greatly reducing the data size which is wirelessly sent and received among the wireless sensor nodes, and reducing the energy consumption of nodes.