A wireless charging device includes: a power supply circuit configured to provide an alternating current signal; a transmitting coil configured to convert the alternating current signal into electromagnetic waves to radiate to the receiving end; the wireless charging device further includes: a plurality of detecting coils configured to radiate energy to a receiving coil of the receiving end and generate an inductive signal; a movable coil carrier, the transmitting coil and the plurality of detecting coils are disposed on the movable coil carrier; a driving mechanism connected to the movable coil carrier and configured to drive the movable coil carrier to move; the controller configured to acquire inductive signals of the plurality of detecting coils, and control the position of the movable coil carrier by controlling the driving mechanism.