HARVESTING MACHINE FOR HARVESTING FRUITS FROM THE GROUND AND METHOD OF CONTROL OF THE SAME

A harvesting machine (1) for harvesting fruit from the ground has a cart (2) having a frame (3), which is movable in a moving direction (A) and carries, connected to it in an integral manner, a fruit harvesting device (25) having a harvesting member (27) and wheels (29) rolling on the ground and designed for the height positioning the harvesting member (27); the cart (2) having a pair of front wheels (5) and a pair of rear wheels (7); at least the front wheels (5) being coupled to the frame (3) by means of respective height-adjustable suspensions (9), each having a respective actuator (10); an electric-hydraulic command and control assembly (14) being provided in order to adjust the height of the frame (3) relative to the front wheels (5) depending on the pressure of a chamber of at least one of the actuators (10) and in order to rotate the frame (3) around an instantaneous rotation axis, which is transverse to the moving direction (A), so as to adjust the load acting upon the positioning wheels (29) and upon the front wheels (5).