The invention discloses a self-propelled auxiliary fruit picker suitable for a mountainous region. The fruit picker comprises a manual working platform, a lifting and rotating driving mechanism, a crawler walking mechanism and a fruit collecting device; wherein the lifting and rotating driving mechanism comprises a lifting driving mechanism and a rotating driving mechanism; the rotating driving mechanism includes a rotating member and a rotating mechanism for driving rotation of the rotating member; the lifting driving mechanism includes a lifting arm and a lifting power member; the manual working platform is disposed on the lifting arm; the fruit collecting device comprises a fruit collecting box and a fruit collecting pipe; the upper end of the fruit collecting pipe extends to one side of the manual working platform, the middle is arranged along the lifting arm, and the lower end extends to the fruit collecting box, wherein the corner of the fruit collecting pipe is provided with a hose. The fruit picker can not only cope with orchards of different terrains, but also be used for picking work of fruit trees with different heights, and is favorable for collecting fruit after picking, thereby effectively improving the fruit picking efficiency.