Wireless power transfer method, apparatus and system

The present invention relates to a wireless power transmission method, a wireless power transmission apparatus, and a wireless charging system in the wireless power transmission field. The wireless power transmission method may include receiving first information of a first wireless power receiver and second information of a second wireless power receiver that receive power in a wireless manner within a first slot among a plurality of slots, transmitting NAK (not-acknowledge) signal to the first and the second wireless power receivers, and executing a collision resolution mechanism in the first and the second wireless power receivers. 本发明涉及种无线电力传输领域中的无线电力传输方法、无线电力传输装置、以及无线充电系统，并且无线电力传输方法可以包括：在多个时隙当中的第时隙内接收以无线方式接收电力的第无线电力接收器的第信息和第二无线电力接收器的第二信息；将NAK(否定应答)信号发送到第和第二无线电力接收器；以及在第和第二无线电力接收器中执行冲突解决机制。