The present invention discloses a sensing cloud data collection method based on multiple mobile base stations. The method is characterized in that a plurality of mobile base stations are used to collect the data in a sensor network monitoring area concurrently and upload the data to a cloud terminal, and the mobile base stations access a part of sensor nodes to collect the data, and comprises the steps of dividing a circumcircle of the sensor network monitoring area into a plurality of uniform fan sections, wherein each mobile base station covers a fan section; in each fan section, selecting a part of sensor nodes as the stationary points and the other nodes as the general nodes; utilizing a TSP algorithm to design an optimal access path for a stationary point set composed of the stationary points as the mobile path of the base station, when the base station accesses the stationary points, using the general nodes to transmit the data to the base station; calculating the data collection time delays of each mobile base station and taking the maximum collection time delay as the data collection time of a whole sensor network. According to the present invention, the situation that the perception data in the sensor network is uploaded to the cloud terminal within the schedule time is guaranteed, at the same time, the energy consumption is minimum on the condition of satisfying the time delay.