Aiming at the operational problem that the battery replacement of the port automatic guided vehicle limits the production efficiency,the power replenishment method of the automatic guided vehicles(AGV) is studied.A scheme combining the AGV circulation operation with the fixed ground sliding contact line layout is adopted.Through the vehicle-mounted flexible power pickup device and the safety situation awareness system,the efficient and safe power replenishment of the automatic guided vehicle is realized.It is verified that this cyclic charging mode can cut charging downtime by over 5 min and lower the equipment allocation ratio by more than 18%.The vehicle-mounted power pickup device adopts a flexible structure,which can buffer abnormal contact forces during sliding engagement between carbon brushes and sliding contact lines.The displacement buffer travel is more than 200 mm,the rotational compensation angle of power pickup carbon brushes is greater than 2°,the carbon brush coupling deformation per 100 engagement cycles is reduced to 1.0-1.5 mm,and the total deformation of the device assembly is reduced to 0 mm.In addition,the safety situation awareness system is equipped with power pickup temperature measurement,contact detection and phase sequence detection functions.The response time of pre-charging detection is less than 0.3 s.It can rapidly cut off the charging circuit and send out fault warnings within 0.1 s,which further improves operational safety and adapts to unmanned charging scenarios for automated terminals and conventional ports.