Wireless mobile charging can be used in wireless sensor networks for energy replenishing of sensor nodes by RF energy transmission, where the mobile charging device is employed for charging multiple sensors distributed in different geographical locations. The scheduling of nodes in wireless mobile charging directly affects the energy acquisition effects and work efficiency of the nodes, which is difficult. In this paper, we will propose a novel algorithm-Adaptive Dynamic Programming (ADP) for wireless mobile charging optimization scheduling (ADP-WMCS). ADP-WMCS can jointly schedule node visit sequence and charging starting time for the visiting sensor node by optimizing the overall the energy run out times (i.e. death moment) of the sensor nodes using quadratic performance index, over the infinite horizon. Simulation results show that ADP-WMCS can effectively improve the charging performance of the sensor network.