The present invention relates to a wireless power transmission device, a wireless power reception device, and a wireless charging system in a wireless power transmission field. The wireless power transmission device according to the present invention comprises: a power conversion unit having a plurality of transmission coils formed to transmit wireless power; a first communication module for sensing a wireless power reception device located in any one of power transmission areas respectively corresponding to the plurality of transmission coils; a second communication module for transmitting/receiving, through the first communication module, a power control message to/from the wireless power reception device, by corresponding to the sensing of the wireless power reception device located in any one power transmission area; and a control unit for transmitting, on the basis of the power control message, wireless power to the wireless power reception device located in any one power transmission area through a transmission coil arranged to correspond to any one power transmission area.