apple, pear and quince picking time

I live in the Northern Catskill of N.Y. and this year I've had good success with my apple, pear and quince trees.  At night lately, we've flirted with frosts but haven't yet had a "killing" frost.

Do any of you readers know when I should pick these fruits?  The quince are still a light green, and I'm doubtful they will get to turn very yellow before we have a severe frost.

Similarly, the pears and apples are still quite hard, and not very sweet .  The apples are yellow delicious but I'm not sure what type of pears I've got - they're roundish, brown, and about three inches in diameter.  Besides my concern about the temperature, I also wonder how long it will be before all the critters discover my bounty.

any suggestions?

Chops