The existing power supply and communication system for indoor wheeled patrol robots relies on magnetic coupling mechanisms, but magnetic coupling mechanisms rarely meet the stability requirements of the system. In response to the challenge, a magnetic resonance-based wireless power and signal transmission system for robots is designed in this paper. It proposes transmitter coil switching control technology and receiver continuous energy harvesting technology, and establishes a communication model for one-to-many reception under different system states during motion. Based on this, a mathematical model for optimizing the structure of the magnetic coupling mechanism among transmitter and receiver coils was established. Optimal parameter values were determined using an enhanced particle swarm optimization algorithm (EAPSO). Experimental outcome implies that the transmission efficiency of the proposed method is 87.9%, representing an improvement of 4.8%–20.5%, and it can achieve efficient system stability control.