The wireless energy transfer technology provides an effective solution of the energy shortage of wireless sensor networks. However, facing with complicated network areas and various kinds of applications, using one type of mobile devices and one data transmission mode: mobile sink mode or multihop transmission, cannot satisfy the requirements of the wireless rechargeable sensor networks (WRSN). To address this, a novel data collection and relay strategy is proposed. Under this strategy, considering various kinds of traffic requirements and limitations of sensor nodes, we propose a jointly scheduling of moving vehicles (MVs) and unmanned aerial vehicles (UAVs) to adapt to the complex environment and improve network performance. Through planning charging path and designing data transmission policy, the proposed algorithm prolongs the network lifetime while guarantees the quality of service of heterogeneous traffics. As the differences in moving speed, charging rate, and the amount of responsible data, there is some spare time of the MV or the UAV in a cycle and a global charging. A collecting algorithm is proposed to further charge and collect data from the cluster out of the original path. Finally, the results verify that the proposed algorithm can effectively reduce the dead time of the network and improve the energy efficiency simultaneously.