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In more concentrated sensing area, the nodes of mobile crowd-sensing network tend to produce a large increase in the redundancy of sensing data in the uncontrolled mode, which reduces the quality of sensing network. In view of this situation, the sensing area is divided into spatial-temporal domain at first in this paper, and the sensing process is modeled. Then the concept of cell sufficient sensing coverage is intro 鄄 duced. Based on this, a cooperative sensing data collection algorithm is proposed for mobile nodes based on coverage table information fusion. Experimental simulation shows that compared with the original sensing mode and local control mode, the proposed algorithm can eliminate sensing redundancy data greatly, thus improving the data quality of the sensing network, and saving the cost of mobile nodes.