Wireless rechargeable sensor network is a promising method to solve lifetime problem of wireless sensor network. Different wireless rechargeable sensor network environments have own suitable planning way for the chargers. This work aims to plan the chargers in a large indoor environment. Considering that distances between the dispersed sensor nodes are long, we try to set the charger on the vehicle then adopt concept of simulated annealing algorithm to design a charging planning way for solving the travelling salesman problem. The results of this paper shows that in comparison with the static charger planning, the dynamic charging schedule guarantees that any sensors will not be dead as well as it is able to significantly reduce the cost to extent the network lifetime efficiently.