This article proposes a novel two-layer mission planning structure for multi-robot collaborative area coverage mission planning: (1) First, an improved co-evolving particle swarm optimization algorithm is utilized to resolve the virtual sensor configuration problem, obtaining a sensor configuration scheme that can fully cover the searchable mission area; (2) Using an improved K-means algorithm to cluster and partition the sensor configuration points, obtaining each sub-area and the search path within each sub-area. The simulation results confirm the effectiveness of the method proposed in this article.