A provided wireless power transmitting apparatus includes a plate, a communication circuit configured to communicate with a wireless device positioned on an upper surface of the plate, a plurality of distance sensors provided around a driving area of the plate and configured to acquire data about a distance to an object positioned on the upper surface of the plate, a transmitting coil configured to transmit wireless power to the wireless device, and a controller configured to determine whether a foreign material is present between the plate and the wireless device based on the data about the distance and determine transmission of the wireless power based on whether the foreign material is present.