Data collection is the basic purpose of deploying in heterogeneous WSNs for Internet of things, and the problem of data collection is the key problem that needs to be solved in heterogeneous WSNs. How to collect energy-efficient and reliable data is one of the key technologies of heterogeneous WSNs. Collecting the sensor node data by mobile sink is an effective measure to solve data collection efficiency. To this end, a data collection strategy of mobile sink for heterogeneous WSNs based on pigeon-inspired optimization by PSO algorithm is proposed. The proposed algorithm uses the improved pigeon-inspired optimization by particle swarm optimization algorithm to select the best dwell point and then regards the construction of the moving path based on the dwell point as a traveling salesman problem to optimize the moving path and solve the optimal moving path. The experimental analysis and simulation results show that, compared with other algorithms, the algorithm proposed in this paper can effectively prolong the lifetime of the network and reduce the delay of data collection, increasing the amount of data collection.