The invention discloses a movable charging device based on a light pole and a parking billing and charging method thereof. Each existing parking space needs to correspond to one charging pile so thatthe cost is increased. The movable charging device based on the light pole comprises the charging piles, a guide rope, a mobile robot, a lifting mechanism and a vision module; the vision module is used for identifying a license plate of a user; the mobile robot moves to a corresponding parking space, lowers charging guns for charging and takes back the charging guns after the charging is finished;and a control module, a parking timer, a charging timer, a parking billing module and a charging billing module are arranged in the charging pile, wherein the parking timer, the charging timer, the parking billing module and the charging billing module communicate with the control module. According to the movable charging device based on the light pole, the mobile robot alternately runs by usingrear moving wheels and a front moving wheel so as to guarantee the stability on the flexible guide rope; and by using a mode of fixing one charging pile at the bottom of one light pole and making themobile robot to carry the multiple charging guns, the city space is reasonably used, and the cost of the charging pile is saved.