Most tree-grown fruits fall off the tree easily when ripe, so something like this cherry harvester seems like it would be a lot more efficient - https://youtu.be/YKu6xwJptkc?t=2m4s
Are most tree-grown fruits actually harvested when ripe? I seem to recall reading something a while back about how most fruit is picked before it is ripe, and picking is timed such that it ripens by the time it gets transported to the warehouse, grocery store, purchased, etc.