Laser-driven helium ion source with multi-MeV energy has an important application in the field of fusion reactor material irradiation damage. At present, the generating of high energy helium ions by relativistic ultraintense laser interacting with helium gas jet is the main scheme of laser-driven helium ion source. However, so far, this scheme has been hard to generate the helium ion beam with the characteristics, i.e., it is forward and quasi-monoenergetic and has multi-MeV in energy and high yield. These characteristics of helium ion beam are important for studying the material irradiation damage. In this paper, we propose a new scheme in which an ultraintense laser interacting with foil-gas complex target is used to generate helium ions. With this method, we perform an experiment on XingGuang III laser facility which has three laser beams with different laser durations (nanosecond, picosecond and femtosecond). In our experiment, we use a picosecond laser beam. The wavelength of this laser beam is 1054 nm and its duration is 0.8 ps. We use an off-axis parabola mirror to focus the 100 J energy of this laser beam onto a focal spot of 25 m far away. The laser intensity reaches 51018 W/cm2. The foil-gas target is composed of a copper foil with 7 m in thickness and a helium gas nozzle which is behind the copper foil. The helium gas nozzle can generate a helium gas jet with a full ionization electron density of 51019/cm3. We use the Thomson Parabola Spectrometer to record the helium ion signals and the Electron Magnetic Spectrometer to diagnose the hot electron temperature. In the experiment, the laser pulse interacts with the front surface of the copper foil and generates lots of hot electrons. These hot electrons result in the expansion of the rear surface of the copper foil. The expanding plasma accelerates the helium ions behind the copper foil. The experimental results show that the obtained helium ions are forward and quasi-monoenergetic (the peak energy is 2.7 MeV), and the total energy of the helium ions whose energies are all higher than 0.5 MeV is about 1.1 J/sr, and correspondingly the yield of helium ions is about 1013/sr. The helium ion spectrum and hot electron temperature given by particle in cell (PIC) simulation with using the experimental parameters are consistent with the experimental results. In addition, the PIC simulations also show that helium ions are accelerated by target normal sheath acceleration and collisionless shock acceleration-like mechanisms, and the maximum helium ion energy is proportional to the hot electron temperature.