A wireless power transmitting device, comprising: an antenna; a memory; and a processor configured to: store, in the memory, first information of a plurality of first reflected and received signals of a plurality of first pilot signals transmitted through the antenna at a first time, as reference information, wherein the plurality of first pilot signals are transmitted towards a plurality of directions respectively, compare the reference information with second information of a plurality of second reflected and received signals of a plurality of second pilot signals transmitted through the antenna at a second time, wherein the plurality of second pilot signals are transmitted towards the plurality of directions respectively, and identify a direction of a target for detection based on a result of the comparison, wherein the direction of the target for detection corresponds to a specific direction among the plurality of directions, wherein the specific direction is identified based on comparing characteristics of a first reflected signal of a first pilot signal transmitted towards the specific direction at the first time with characteristics of a second reflected signal of a second pilot signal transmitted towards the specific direction at the second time, wherein each of the plurality of first reflected and received signals is generated according to reflection of each of the plurality of first pilot signals, wherein each of the plurality of second reflected and received signals is generated according to reflection of each of the plurality of second pilot signals. an antenna; a memory; and a processor configured to: store, in the memory, first information of a plurality of first reflected and received signals of a plurality of first pilot signals transmitted through the antenna at a first time, as reference information, wherein the plurality of first pilot signals are transmitted towards a plurality of directions respectively, compare the reference information with second information of a plurality of second reflected and received signals of a plurality of second pilot signals transmitted through the antenna at a second time, wherein the plurality of second pilot signals are transmitted towards the plurality of directions respectively, and identify a direction of a target for detection based on a result of the comparison, wherein the direction of the target for detection corresponds to a specific direction among the plurality of directions, wherein the specific direction is identified based on comparing characteristics of a first reflected signal of a first pilot signal transmitted towards the specific direction at the first time with characteristics of a second reflected signal of a second pilot signal transmitted towards the specific direction at the second time, wherein each of the plurality of first reflected and received signals is generated according to reflection of each of the plurality of first pilot signals, wherein each of the plurality of second reflected and received signals is generated according to reflection of each of the plurality of second pilot signals. store, in the memory, first information of a plurality of first reflected and received signals of a plurality of first pilot signals transmitted through the antenna at a first time, as reference information, wherein the plurality of first pilot signals are transmitted towards a plurality of directions respectively, compare the reference information with second information of a plurality of second reflected and received signals of a plurality of second pilot signals transmitted through the antenna at a second time, wherein the plurality of second pilot signals are transmitted towards the plurality of directions respectively, and identify a direction of a target for detection based on a result of the comparison, wherein the direction of the target for detection corresponds to a specific direction among the plurality of directions, wherein the specific direction is identified based on comparing characteristics of a first reflected signal of a first pilot signal transmitted towards the specific direction at the first time with characteristics of a second reflected signal of a second pilot signal transmitted towards the specific direction at the second time, wherein each of the plurality of first reflected and received signals is generated according to reflection of each of the plurality of first pilot signals, wherein each of the plurality of second reflected and received signals is generated according to reflection of each of the plurality of second pilot signals.