The invention discloses a whisker sensor suitable for an inclined angle between robot perception and a barrier, comprising a laser, a one-dimensional PSD sensor, a whisker, a base and a shell. The whisker sensor belongs to the detection device part of a robot and is arranged on a robot body, and an optical position provided with the whisker sensor is at the front end of the robot body; when the robot body is close to the barrier, the whisker sensor realizes the collection of the inclined angle theta between the whisker and the barrier by the one-dimensional PSD sensor and a laser source arranged on the root part of the whisker and then obtain the inclined angle theta between the machine body and the barrier according to the advancing amount S and the tail end displacement amount W of the machine body; in addition, the whisker sensor can realize the barrier avoidance by turning away from the inclined angle theta.