A wireless power transmitting device is provided. The wireless power transmitting device may comprise an antenna, a memory, and a processor configured to control to store, as reference information, information of a first reflected signal of a pilot signal sent out through the antenna at a first time in the memory and control to compare the reference information with information about second reflected signals of a pilot signal sent out through the antenna at a second time, and determine a position of a target for detection based on a result of the comparison.