A high-efficiency pickup baler crawler and automatic bale stacking system, includes a straw pickup stubble harvesting device, a continuous conveying preloading device, a lower feeding type compression and baling device, a bale transportation and arraying device, a bale stacking device, a walking device and a counting control. The counting control which controls the amount of bale compression chamber discharge, is used to control the bale conveying device and bale stacking device, to achieve the goals of automatic conveying, pushing and stacking, and avoids artificial secondary handling and improves the working efficiency of the system.