A
wireless power
transmitter that transmits power to a
wireless power
receiver, the
wireless power
transmitter including a
communication unit configured to communicate with the wireless power
receiver; and a controller, wherein the
communication unit receives a plurality of packets including a
foreign object detection (FOD) status packet from the wireless power
receiver, wherein the controller determines whether a
foreign object is present in a charging area of the wireless power
transmitter on the basis of the FOD status packet, wherein the
communication unit transmits, to the wireless power receiver, a response
signal indicating whether the
foreign object is present in the charging area of the wireless power transmitter on the basis of a result of the determination, wherein the response
signal is determined using a measured peak frequency of a power
signal transmitted by the wireless power transmitter and a reference peak frequency included in the FOD status packet received from the wireless power receiver, and wherein the plurality of packets further include at least one of a
signal strength packet, an end power transfer packet, a
power control hold-off packet, a configuration packet, an identification packet for transmitting receiver identification information, an extended identification packet, a general request packet, a special request packet, a
control error packet, a renegotiation packet, a 24-bit received power packet, an eight-bit received power packet, and a charging status packet.