Coordination and control of actions using sensors on the robot is the key technology for robots to become intelligent. Aiming at the communication and control problems of existing sensor robots, an object-oriented data communication framework based on OIO middleware is proposed. Through the research of serialization and deserialization of communication data, the problems of coordinated advancement, climbing, and turning of sensor robot clusters are explored, and the law of object data and intelligent control instruction transmission is revealed. The research in the paper provides new ideas for the development of sensor robot motion coordination and control modules, and promotes the intelligentization of sensor robots. The paper designs OIO middleware that can be used for sensor robot cluster communication and control, and regards the sensor robot as an object that encapsulates attributes and methods, and performs intelligent control based on object-oriented data. Experimental research on dual-robot and multi-robot collaborative climbing, collaborative turning, and collaborative obstacle avoidance based on OIO middleware was carried out. The experimental results show that this method simplifies the communication and control of the robot cluster and improves the control effect.