The work aims to design a dynamic picking system of valve pocket, so as to solve the problem of low au-tomation in powder packaging field and reduce the great harm to human body caused by working environment. Firstly, the software and hardware design and working process of the valve pocket dynamic picking system were analyzed; secondly, the conversion relationship between camera image coordinates and robot world coordinates, hand-eye calibration process, image processing processes such as distortion correction and filtering were analyzed; finally, the valve pocket moving on the assembly line was positioned and picked up by Kalman filter algorithm. The robot could locate and pick up the valve pockets on the conveyor dynamically, and the pickup error was less than 1 mm. Moreover, the bagging speed of 5-7 bags per minute could be realized under continuous operation condition. The picking system runs stably with high efficiency and accuracy.