A wireless power transmitting device including a signal processing unit, a wireless transceiver, and a controller. The controller is configured to control a detection signal for detecting an external device to be transmitted via a wireless power transmitter, and if an authentication request signal is received from the external device in response to the detection signal, control an authentication response signal including an ID (Identification) assigned to the external device, and further, if a power profile signal including power amount information of the external terminal and change information indicating whether the power amount information is changed is received from the external terminal, control an allocation signal including wireless power allocation information indicating an allocated slot, determined based on the power amount information, to the external terminal.