Wireless charging method and device, electronic equipment and medium

Abstract

The invention provides a wireless charging method and device, electronic equipment and a medium, and the method comprises the steps: responding to a wireless charging starting instruction transmitted by a parking place, and periodically broadcasting a UWB positioning pulse signal through an ultra wide band UWB communication module of a moped; receiving the position information of the UWB communication module fed back by a UWB base station in the parking site, so as to determine the second coordinate information of the central point of the power receiving coil according to the position information; according to the deviation between the first coordinate information and the second coordinate information, generating a transverse and longitudinal adjustment instruction and a course angle adjustment instruction so as to start wireless charging when it is monitored that the deviation of the central point of the power receiving coil relative to the central point of the target charging coil is smaller than a preset range; and when it is monitored that the charge state value of the power battery on the moped reaches a preset termination threshold value, wireless charging is terminated. The objective of the invention is to improve the accurate alignment degree of the charging coil and the power receiving coil.

Description

Technical Field

[0001] This application relates to the technical field of power-assisted vehicles, and in particular, to a wireless charging method, device, electronic device, and medium. Background Art

[0002] Currently, the field of electric power-assisted vehicles has witnessed the innovative application of wireless charging technology. Through the wireless charging coil laid on the ground, when the power-assisted vehicle is parked at a preset position, charging is completed by means of the electromagnetic induction principle. However, although the wireless charging technology is advanced, it has high requirements for the precise alignment of the charging coil and the power-receiving coil. Even a slight deviation may lead to a significant reduction in charging efficiency. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a wireless charging method, device, electronic device, and medium, aiming to improve the precise alignment degree between the charging coil and the power-receiving coil.

[0004] In a first aspect, this application provides a wireless charging method, which is applied to the vehicle-mounted domain controller of a power-assisted vehicle. A power-receiving coil is installed at the chassis of the power-assisted vehicle. The method includes: in response to a wireless charging start instruction sent by a parking lot, periodically broadcasting a UWB positioning pulse signal through the ultra-wideband UWB communication module of the power-assisted vehicle. The wireless charging start instruction includes first coordinate information indicating the center point of a target charging coil, and the target charging coil is laid at the center position of a target parking space in the parking lot; receiving the position information of the UWB communication module fed back by a UWB base station in the parking lot, so as to determine second coordinate information of the center point of the power-receiving coil according to the position information; generating a horizontal and vertical adjustment instruction and a heading angle adjustment instruction according to the deviation between the first coordinate information and the second coordinate information, driving the power system of the power-assisted vehicle to execute the horizontal and vertical adjustment instruction, and driving the steering system of the power-assisted vehicle to execute the heading angle adjustment instruction, so as to start wireless charging when it is monitored that the deviation of the center point of the power-receiving coil relative to the center point of the target charging coil is less than a preset range; terminating the wireless charging when it is monitored that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold.

[0005] In a possible implementation manner, wireless charging is started in the following way: when it is monitored that the deviation is less than a preset range, sending a handshake request including identity authentication information to the charging controller of the parking lot; in response to the response signal of the charging controller confirming the identity authentication information, activating the resonant circuit of the power-receiving coil and starting wireless energy transfer to start wireless charging.

[0006] In a possible implementation, the UWB base station includes a plurality of UWB base stations. Among them, the plurality of UWB base stations obtain the position information in the following manner: receiving the UWB positioning pulse signal to measure the time difference of arrival and the phase difference of arrival of the UWB positioning pulse signal; calculating the initial coordinates of the UWB communication module according to the time difference of arrival, and correcting the angular deviation of the initial coordinates according to the phase difference of arrival to obtain the position information.

[0007] In a possible implementation, the step of receiving the position information of the UWB communication module fed back by the UWB base station in the parking lot and determining the second coordinate information of the center point of the power receiving coil according to the position information includes: when receiving the position information, sending an unfolding instruction to the folding motor of the power receiving coil to make the folding motor drive the power receiving coil to perform an unfolding action, so that the power receiving coil switches from the storage state to the unfolded state; obtaining the position information and the preset position of the power receiving coil in the unfolded state on the power-assisted vehicle to obtain the second coordinate information.

[0008] In a possible implementation, when it is monitored that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold, the step of terminating wireless charging includes: real-time monitoring the state of charge value of the power-assisted vehicle, and when the state of charge value reaches the preset termination threshold, sending a charging termination request to the charging controller of the parking lot to terminate wireless charging; sending a folding instruction to the folding motor to make the folding motor drive the power receiving coil to perform a retracting action, so that the power receiving coil switches from the unfolded state to the storage state.

[0009] In a possible implementation, it further includes: during the wireless charging process, real-time detecting the temperature value of the power battery; when the temperature value is higher than the warning temperature value, sending a charging termination request to the charging controller of the parking lot to terminate wireless charging.

[0010] In a third aspect, the present application further provides a wireless charging device, which is applied to the vehicle-mounted domain controller of a power-assisted vehicle. A power receiving coil is installed at the chassis of the power-assisted vehicle. The device includes: a response module, configured to respond to a wireless charging start instruction sent by a parking lot, and periodically broadcast UWB positioning pulse signals through the ultra-wideband UWB communication module of the power-assisted vehicle. The wireless charging start instruction includes first coordinate information indicating the center point of a target charging coil, and the target charging coil is laid at the center position of a target parking space in the parking lot; a receiving module, configured to receive the position information of the UWB communication module fed back by a UWB base station in the parking lot, so as to determine second coordinate information of the center point of the power receiving coil according to the position information; a driving module, configured to generate a lateral and longitudinal adjustment instruction and a heading angle adjustment instruction according to the deviation between the first coordinate information and the second coordinate information, drive the power system of the power-assisted vehicle to execute the lateral and longitudinal adjustment instruction, and drive the steering system of the power-assisted vehicle to execute the heading angle adjustment instruction, so as to start wireless charging when it is monitored that the deviation of the center point of the power receiving coil relative to the center point of the target charging coil is less than a preset range; a termination module, configured to terminate wireless charging when it is monitored that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold.

[0011] In a possible implementation manner, the driving module is further configured to perform the following processing: when it is monitored that the deviation is less than the preset range, send a handshake request including identity authentication information to the charging controller of the parking lot; in response to the response signal of the charging controller confirming the identity authentication information, activate the resonant circuit of the power receiving coil and start wireless energy transmission, so as to start wireless charging.

[0012] In a third aspect, the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the above method are executed.

[0013] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the above method are executed.

[0014] The present application provides a wireless charging method, apparatus, electronic device and medium. The method includes: in response to a wireless charging start instruction sent by a parking lot, periodically broadcasting UWB positioning pulse signals through an ultra-wideband (UWB) communication module of a power-assisted vehicle; receiving position information of the UWB communication module fed back by a UWB base station in the parking lot, so as to determine second coordinate information of the center point of a power receiving coil according to the position information; generating a horizontal and vertical adjustment instruction and a heading angle adjustment instruction according to the deviation between the first coordinate information and the second coordinate information, so as to start wireless charging when it is monitored that the deviation of the center point of the power receiving coil relative to the center point of a target charging coil is less than a preset range; and terminating the wireless charging when it is monitored that the state of charge value of a power battery on the power-assisted vehicle reaches a preset termination threshold. The present application aims to improve the precise alignment degree between the charging coil and the power receiving coil.

[0015] To make the above objects, features and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given in conjunction with the accompanying drawings and are described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 A flowchart of a wireless charging method provided by an embodiment of the present application;

[0018] Figure 2 A flowchart of obtaining position information by multiple UWB base stations provided by an embodiment of the present application;

[0019] Figure 3 A flowchart of obtaining second coordinate information provided by an embodiment of the present application;

[0020] Figure 4 A schematic structural diagram of a wireless charging apparatus provided by an embodiment of the present application;

[0021] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without creative efforts belongs to the scope of protection of this application.

[0023] First, the applicable application scenarios of this application will be introduced. This application can be applied to a power-assisted vehicle.

[0024] Through research, it is found that wireless communication technology uses electromagnetic waves to transmit information in space and can achieve data transmission between devices without physical connection. In the field of power engineering, this covers a wide range of research on power generation, transmission, distribution, and use. Ultra-wideband technology, as a type of wireless communication, supports high-speed data transmission with its broad frequency range. In the current technological progress, electric power-assisted vehicles have adopted wireless charging technology, and through the electromagnetic induction between the ground wireless charging coil and the vehicle receiving device, automatic charging during parking is realized. At the same time, ultra-wideband technology is also applied to high-precision positioning, which is achieved by measuring the signal phase difference and time difference. However, these technologies still face challenges in practical applications. The wireless charging technology requires precise alignment of the charging coil and the receiving device, otherwise the charging efficiency will be affected. Although the ultra-wideband positioning technology has high precision, its deployment cost is high, and it is easily interfered by the environment and requires a large number of base stations and transceiver devices to support. In addition, during the automatic charging process, manual intervention is still a necessary link, and full automation has not been achieved.

[0025] Based on this, the embodiments of this application provide a wireless charging method, device, electronic device, and medium, aiming to improve the precise alignment degree between the charging coil and the power receiving coil.

[0026] Please refer to Figure 1 , Figure 1 which is a flowchart of a wireless charging method provided by the embodiments of this application. As shown in Figure 1 , the wireless charging method provided by the embodiments of this application includes:

[0027] S101. In response to a wireless charging start instruction sent by a parking lot, periodically broadcast a UWB positioning pulse signal through the ultra-wideband UWB communication module of the power-assisted vehicle.

[0028] In an embodiment of the present application, a power receiving coil is installed at the chassis of the power-assisted vehicle. The diameter of the wireless charging power receiving coil is 10 cm, the thickness is 2 mm, and the material is copper.

[0029] Here, the power-assisted vehicle periodically broadcasts positioning pulse signals through its UWB communication module so that the UWB base stations in the parking area can receive these signals and calculate the position of the power-assisted vehicle. The wireless charging start instruction includes first coordinate information indicating the center point of the target charging coil. The target charging coil is laid at the center position of the target parking space in the parking area. The frequency of the UWB antenna is 6 GHz, and the bandwidth is 500 MHz.

[0030] In a possible implementation manner, the wireless charging start instruction can either initiate a charging request automatically by the user or the system when the power-assisted vehicle has occupied the target parking space, or send a charging request signal in advance before the power-assisted vehicle arrives at the target parking space. For the latter case, the wireless charging start instruction further includes the target parking space coordinate information. After receiving the coordinate information, the power-assisted vehicle can autonomously navigate to the designated target parking space according to the path planning algorithm and align with the charging coil to start wireless charging.

[0031] S102. Receive the position information of the UWB communication module fed back by the UWB base stations in the parking area, and determine the second coordinate information of the center point of the power receiving coil according to the position information.

[0032] Among them, at least 3 UWB base stations can be arranged in the parking area. For example, 4 are arranged to form three-dimensional positioning, and the base stations achieve nanosecond-level clock synchronization through a wired network.

[0033] Next, Figure 2 introduce the process of obtaining the position information by multiple UWB base stations in the following manner.

[0034] Please refer to Figure 2 , Figure 2 which is the flowchart of obtaining the position information by multiple UWB base stations provided by the embodiment of the present application.

[0035] S201. Receive the UWB positioning pulse signal to measure the time difference of arrival and the phase difference of arrival of the UWB positioning pulse signal.

[0036] Here, the power-assisted vehicle controller sends UWB pulse signals, and each base station records the signal arrival timestamps to calculate the time difference and convert it into a distance difference. By measuring the phase difference of the signal arriving at different antennas of the same base station, the signal incident angle is calculated to assist in improving the positioning accuracy.

[0037] S202. Calculate the initial coordinates of the UWB communication module according to the time difference of arrival, and correct the angular deviation of the initial coordinates according to the phase difference of arrival to obtain the position information.

[0038] Here, through the fusion positioning of the time difference of arrival and the phase difference of arrival, the initial coordinates are obtained first using the time difference of arrival, and then the position is corrected through the angle measurement of the phase difference of arrival to obtain the position information.

[0039] In a possible implementation, the power receiving coil adopts a foldable design, which is convenient for accurately aligning with the charging device when the motorcycle is parked, and can be folded and stored when not in use, saving space.

[0040] Next, Figure 3 the process of obtaining the second coordinate information is introduced.

[0041] Please refer to Figure 3 , Figure 3 which is the flowchart for obtaining the second coordinate information provided by the embodiment of the present application.

[0042] S301. When receiving the position information, send an unfolding instruction to the folding motor so that the folding motor of the power receiving coil drives the power receiving coil to perform an unfolding action, causing the power receiving coil to switch from the storage state to the unfolding state.

[0043] Here, the unfolding angle of the power receiving coil can be monitored by a Hall sensor, and when a position feedback signal is received, for example, when the angle ≥ 85°, a coil unfolding ready signal is sent, indicating that the switching is completed.

[0044] S302. Obtain the position information and the preset position of the power receiving coil in the unfolded state on the moped to obtain the second coordinate information.

[0045] Here, the preset position refers to the preset geometric relationship of the power receiving coil in the moped to calculate the coordinates of the center point of the power receiving coil.

[0046] Return Figure 1 , S103. According to the deviation between the first coordinate information and the second coordinate information, generate a lateral and longitudinal adjustment instruction and a heading angle adjustment instruction, drive the power system of the moped to execute the lateral and longitudinal adjustment instruction, and drive the steering system of the moped to execute the heading angle adjustment instruction, so as to start wireless charging when the deviation of the center point of the power receiving coil relative to the center point of the target charging coil is less than the preset range.

[0047] Here, by considering the heading angle, a path deviation that more conforms to the actual driving requirements can be calculated. In the automatic driving of the moped, the controller calculates the required steering angle and path deviation according to the current heading angle and the heading angle of the target path, so as to ensure that the moped can smoothly and accurately travel along the predetermined path, making the alignment of the power receiving coil with the target charging coil more accurate.

[0048] The steering system and power system of the moped are controlled by an automatic controller in the moped. The processor of the automatic controller uses Intel Core i5, the memory is 8GB, and the storage is 128GB.

[0049] In a possible implementation, when the monitoring deviation is less than a preset range, a handshake request including identity authentication information is sent to the charging controller of the parking lot; in response to the response signal of the charging controller confirming the identity authentication information, wireless charging is started.

[0050] S104. When the state of charge value of the power battery on the moped is monitored to reach a preset termination threshold, wireless charging is terminated.

[0051] Here, by real-time monitoring the state of charge value of the moped, when the state of charge value reaches the preset termination threshold, a charging termination request is sent to the charging controller to terminate wireless charging, and a folding instruction is sent to the folding motor to make the folding motor drive the power receiving coil to perform a retracting action, so that the power receiving coil switches from the unfolded state to the stored state. The charging controller uses the BQ25691 chip of TI Company, and the maximum output power is 30W.

[0052] In a preferred example of the present application, during the wireless charging process, the temperature value of the power battery is detected in real time; when the temperature value is higher than the warning temperature value, a charging termination request is sent to the charging controller to terminate wireless charging.

[0053] Compared with the prior art, the present technical solution realizes high automation and convenience. The present application integrates the functions of automatic parking and automatic wireless charging. Users do not need to operate manually. Using UWB positioning technology, the moped can be accurately parked and aligned with the wireless charging coil to achieve efficient charging. This feature greatly improves the user experience, especially adapting to the modern high-efficiency and fast-paced life rhythm. Secondly, the positioning accuracy is up to centimeter level. The present solution uses UWB technology, requires fewer base stations and transceiver devices, has lower costs, and the positioning result is stable, and is less affected by the environment, which ensures high-precision positioning effects in different environments and has obvious advantages compared with other ultra-wideband positioning technologies. Moreover, the design of the wireless charging power receiving coil is ingenious and can be folded and stored. When the moped is not in use, the coil can be easily folded, saving space and facilitating storage and carrying. This design not only improves the convenience of the moped, but also solves the problem of the coil occupying space and enhances the practicability. Finally, the present solution has good compatibility and expandability, and the design concept is easy to be applied to other vehicles or devices, only need to make adaptive modifications. In summary, the present technical solution not only improves the charging automation and convenience of the electric moped, but also significantly improves the positioning accuracy and stability, and enhances the practicability and expandability through the foldable design, and has significant advantages compared with the prior art.

[0054] Based on the same inventive concept, an embodiment of the present application also provides a wireless charging device corresponding to the wireless charging method. Since the principle of problem-solving of the device in the embodiment of the present application is similar to that of the above-mentioned wireless charging method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be elaborated here.

[0055] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a wireless charging device provided by an embodiment of the present application. As Figure 4 shown in

[0056] The response module 401 is configured to respond to a wireless charging start instruction sent by a parking site, and periodically broadcast a UWB positioning pulse signal through the ultra-wideband UWB communication module of the power-assisted vehicle. The wireless charging start instruction includes first coordinate information indicating the center point of a target charging coil, and the target charging coil is laid at the center position of a target parking space in the parking site;

[0057] The receiving module 402 is configured to receive the position information of the UWB communication module fed back by the UWB base station in the parking site, so as to determine the second coordinate information of the center point of the power receiving coil according to the position information;

[0058] The driving module 403 is configured to generate a lateral and longitudinal adjustment instruction and a heading angle adjustment instruction according to the deviation between the first coordinate information and the second coordinate information, drive the power system of the power-assisted vehicle to execute the lateral and longitudinal adjustment instruction, and drive the steering system of the power-assisted vehicle to execute the heading angle adjustment instruction, so as to start wireless charging when it is monitored that the deviation of the center point of the power receiving coil relative to the center point of the target charging coil is less than a preset range;

[0059] The termination module 404 is configured to terminate the wireless charging when it is monitored that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold.

[0060] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 5 shown in

[0061] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 runs, the processor 510 communicates with the memory 520 through the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of the wireless charging method in the method embodiment as shown in the above Figures 1 to 3 can be executed. The specific implementation manner can refer to the method embodiment and will not be elaborated here.

[0062] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it can execute the steps of the wireless charging method in the method embodiment as described above. For the specific implementation manner, reference can be made to the method embodiment, which will not be elaborated herein. Figures 1 to 3 Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiment, which will not be elaborated herein.

[0063] In several embodiments provided by the present application, it should be understood that the disclosed system, device, and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical, or other form.

[0064] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] In addition, each functional unit in various embodiments of the present application can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0066]

[0067] ​When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0068] Finally, it should be noted that the above-mentioned embodiments are only specific implementation manners of this application, used to illustrate the technical solutions of this application, rather than limiting it. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A wireless charging method, characterized in that: A vehicle-mounted domain controller applied to a power-assisted vehicle, wherein a power receiving coil is installed on the chassis of the power-assisted vehicle, and the method comprises: In response to a wireless charging start instruction issued by the parking lot, a UWB positioning pulse signal is periodically broadcasted through the ultra-wideband UWB communication module of the power-assisted vehicle, wherein the wireless charging start instruction includes first coordinate information indicating a center point of a target charging coil, and the target charging coil is laid at a center position of a target parking space in the parking lot; receiving the position information of the UWB communication module fed back by the UWB base station in the parking lot, so as to determine the second coordinate information of the center point of the power receiving coil according to the position information; Generate a lateral and longitudinal adjustment instruction and a heading angle adjustment instruction according to the deviation between the first coordinate information and the second coordinate information, drive the power system of the power-assisted vehicle to execute the lateral and longitudinal adjustment instruction, and drive the steering system of the power-assisted vehicle to execute the heading angle adjustment instruction, so as to start wireless charging when it is detected that the deviation of the center point of the power receiving coil relative to the center point of the target charging coil is less than a preset range; When it is monitored that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold, the wireless charging is terminated.

2. The method according to claim 1, characterized in that Start wireless charging by: When the deviation is detected to be less than a preset range, a handshake request including identity authentication information is sent to a charging controller of the parking lot; In response to a response signal from the charging controller confirming the identity authentication information, the resonant circuit of the power receiving coil is activated and wireless energy transmission is started to start wireless charging.

3. The method according to claim 1, characterized in that The UWB base station includes a plurality of UWB base stations, The multiple UWB base stations obtain the location information in the following manner: Receiving the UWB positioning pulse signal to measure the arrival time difference and arrival phase difference of the UWB positioning pulse signal; The initial coordinates of the UWB communication module are calculated according to the arrival time difference, and the angle deviation of the initial coordinates is corrected according to the arrival phase difference to obtain the position information.

4. The method according to claim 1, characterized in that: The step of receiving the position information of the UWB communication module fed back by the UWB base station in the parking lot to determine the second coordinate information of the center point of the power receiving coil according to the position information comprises: When receiving the position information, sending an unfolding instruction to the folding motor of the power receiving coil, so that the folding motor drives the power receiving coil to perform an unfolding action, so that the power receiving coil switches from a stored state to an unfolded state; The position information and the power receiving coil in the unfolded state are acquired at a preset position of the power-assisted vehicle to obtain the second coordinate information.

5. The method according to claim 4, characterized in that When it is monitored that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold, the step of terminating the wireless charging includes: monitoring the state of charge of the power-assisted vehicle in real time, and sending a charging termination request to a charging controller of the parking lot to terminate wireless charging when the state of charge reaches the preset termination threshold; A folding instruction is sent to the folding motor so that the folding motor drives the power receiving coil to perform a retracting action, so that the power receiving coil switches from the unfolded state to the retracted state.

6. The method according to claim 1, characterized in that Also includes: During the wireless charging process, the temperature value of the power battery is detected in real time; When the temperature value is higher than the warning temperature value, a charging termination request is sent to a charging controller of the parking lot to terminate wireless charging.

7. A wireless charging device, characterized in that: A vehicle-mounted domain controller applied to a power-assisted vehicle, wherein a power receiving coil is installed on the chassis of the power-assisted vehicle, and the device comprises: a response module, configured to periodically broadcast a UWB positioning pulse signal through an ultra-wideband (UWB) communication module of the power-assisted vehicle in response to a wireless charging start instruction issued by the parking lot, wherein the wireless charging start instruction includes first coordinate information indicating a center point of a target charging coil, and the target charging coil is laid at a center position of a target parking space in the parking lot; a receiving module, configured to receive the position information of the UWB communication module fed back by the UWB base station in the parking lot, so as to determine the second coordinate information of the center point of the power receiving coil according to the position information; a driving module, configured to generate a lateral and longitudinal adjustment instruction and a heading angle adjustment instruction according to the deviation between the first coordinate information and the second coordinate information, drive the power system of the power-assisted vehicle to execute the lateral and longitudinal adjustment instruction, and drive the steering system of the power-assisted vehicle to execute the heading angle adjustment instruction, so as to start wireless charging when it is detected that the deviation of the center point of the power receiving coil relative to the center point of the target charging coil is less than a preset range; The termination module is used to terminate the wireless charging when it is detected that the state of charge value of the power battery on the power-assisted vehicle reaches a preset termination threshold.

8. The device according to claim 7, characterized in that The driver module is also used to perform the following processing: When the deviation is detected to be less than a preset range, a handshake request including identity authentication information is sent to a charging controller of the parking lot; In response to a response signal from the charging controller confirming the identity authentication information, the resonant circuit of the power receiving coil is activated and wireless energy transmission is started to start wireless charging.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are executed.

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