For ensuring robustness of wireless sensor networks in three-dimensional space, this paper presents a k-coverage algorithm in large-scale three-dimensional wireless sensor networks and the target environment can be irregular to a certain extent. Firstly, the three-dimensional target environment is split in the form of points according to a certain granularity. And then, determine the position of sensors in the processed space with the iterative greedy heuristic method. Each iteration later, complete the placement of a sensor node until all the split points can be k-covered. From the simulation experiments we can see this algorithm can solve large-scale and irregular target...