Recently, WSNs (Wireless Sensor Networks) with mobile robot is a growing technology that offer efficient communication services for anytime and anywhere applications. However, the tiny sensor node has very limited network resources due to its low battery power, low data rate, node mobility, and channel interference constraint between neighbors. Furthermore, most wireless sensor networks do not support real-time processing for Quality of Service (QoS) applications. Thus, in this paper, we proposed new sensor network architecture with autonomous robots based on beacon mode and implemented real time monitoring system under real test-bed environments. The proposed scheme offers beacon based real-time scheduling for reliable association process with parent nodes and dynamically and efficiently assigns network address by using NAA (Next Address Assignment) mechanism. For the large scale multi-sensor processing, our real-time monitoring system accomplished the intelligent database processing, which can generate and send the alert messages to the civilians by means of the fire-based sensor data and the air-based sensor data. Moreover, we also developed a mobile robot which has a network based mobility function. Finally, throughout the performance evaluation by using a real test-bed system, we illustrate that our proposed system demonstrates promising performance for emergence monitoring systems.