The invention relates to the field of fruit picking, in particular to a crossover type pineapple picking vehicle. The crossover type pineapple picking vehicle has the advantages that the translation mechanism of the vehicle regulates a picking mechanism and a lifting mechanism to an appropriate horizontal picking position; a guide mechanism guides a pineapple to the front end of the picking mechanism; the lifting mechanism ascends the picking mechanism to an appropriate picking height through a sprocket to fix the pineapple; the picking mechanism uses the friction force of a belt and the shearing force of a blade to apply backward acting force to the pineapple so as to cut the pineapple off from a stem to achieve pineapple picking. By the crossover type pineapple picking vehicle which is simple in structure, convenient to operate, high in picking efficiency and the like, the problem that existing manual picking or robot picking is low in efficiency and complex in operation is solved.