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The environment monitoring system of household security robot is designed and implemented based on wireless mesh networks, which are used for monitoring temperature and humidity, gas leaking, fire and housebreaking in family. New tree routing and agent mechanism are proposed to find wireless sensor nodes and forward data. A set of design requirements are developed that cover the hardware design of intelligent sensor nodes and robot node. A mesh robot centering on network topology structure, composed of wireless sensor nodes and robot node, is proposed and realized. The results show that the monitoring system has strong anti-jamming ability and can work well with the robotpsila self-moving and monitoring.