This paper presents a wireless power transfer design with pick-up device position detection for dynamic power transmission. Since the fixed-point inductive charging is short of providing the power to the moving equipment, the paper is hence motivated to sense the pick-up device, by which the power and flux can be better regulated, meanwhile benefiting the efficiency and maintaining the voltage profile. As for the control strategy made in this study, the voltage of transmission coil is served as the feedback signal, with which the dynamic protection is reached while the modular platform organized by inductive coils are well accomplished. To validate the effectiveness of this method, the prototype is tested to dynamically deliver the power at 5 cm gap. Test results indicate that the power of each transmission coil can be effectively adjusted, where an 82.55% efficiency of the system can be expected. This method owns a high potential of extending to industrial applications when the dynamic power delivery is considered.