Funny you ask that, one of my claims to fame is that I helped build and to a lesser degree design a machine to do it. We built our own harvesters. They were largely copied from a manufacture but we added all modifications we wanted. It was hot rodding on a large scale! Used to you paid folks to pick. You pay them by the pound so you get a bunch of green unusable fruit. When ripe, the berries fall off quite easily. So the machine straddles the bush that you have pruned to fit, it then shakes the bush dropping ripe fruit onto a conveyer that moves it up on the deck into flats. The under carriage is made like fish trap so you can go right thru the post. I will look and post a picture of one if I still have them. The machine is the ultimate low rider and self levels every wheel to the contours of the soil.