BE1029904B1 - Control arrangement for controlling a hydraulic cylinder for adjusting a harvesting attachment - Google Patents

Abstract

A hydraulic control arrangement (116) for controlling a hydraulic cylinder (114) for adjusting a header (20) relative to a harvesting machine (10) comprises an electronic control unit (70), a tank (202) for receiving hydraulic fluid, a pump (110) for providing pressurized hydraulic fluid, a first valve assembly and a second valve assembly. The control unit (70) is signal-connected to the valve assemblies and configured to selectively connect the pump (110) or the tank (202) to the hydraulic cylinder (114) via the first valve assembly in a first mode of operation and to selectively connect the pump in a second mode of operation (110) or to connect the tank (202) to the hydraulic cylinder (114) via the second valve arrangement.

Description

1 BE2022/0055

Control arrangement for controlling a hydraulic cylinder

Adjusting a harvest header

Description

The invention relates to a hydraulic

Control arrangement for controlling a hydraulic cylinder

Adjustment of a harvest header relative to a harvester, comprising an electronic control unit, a tank for receiving hydraulic fluid, a pump for providing pressurized hydraulic fluid, a first valve arrangement and a second

Valve arrangement, wherein the control unit is connected and configured to transmit signals to the valve arrangements, optionally the

Pump or the tank in a first operating mode over the first

To connect the valve arrangement to the hydraulic cylinder and in a second operating mode to either connect the pump or the tank to the hydraulic cylinder via the second valve arrangement, as well as a harvesting machine equipped with it.

State of the art

Self-propelled harvesters include:

The body of the actual harvesting machine, which is supported on the ground by means of ground engagement such as wheels and/or tracks, also has a harvesting header with which it picks up the crop to be processed from a field. The harvest intention is through one

Feed conveyor connected to the body of the harvester. To

The height adjustment of the harvesting header is done by actuators in the form of hydraulic cylinders (usually arranged on both sides of the intake conveyor), which control the intake conveyor and thus the

Harvesting header oriented transversely to the forward direction,

2 BE2022/0055 rotate horizontal axis. This axis usually coincides with the

Axis of rotation of a conveyor or a crop processing device (e.g. tangential threshing drum of a combine harvester or

chopping drum of a forage harvester) of the harvesting machine.

In the prior art, various operating modes are provided for the height control of the header, which usually include a contact pressure control and a position control. When controlling the contact pressure, the cylinders are subjected to a certain pressure (usually specified by the operator of the harvesting machine or automatically using the respective harvesting header) so that the harvesting header has the desired contact force on the

on the ground. With position control, the cylinders are moved to a predetermined position in order to guide the harvesting header to a desired height above the ground. At the

Position control, the setpoint of the height of the header above the ground can be specified by an operator or detected by a forward-looking sensor or read from a card and the actual value is measured by the height sensor of the header and serves as a feedback value for the height control (EP 1 269 823 Al, WO 2008/088916 A2).

Details of the hydraulics of such

Height controls are described in EP 2 520 152 Al, which is considered to be generic. There is a pump over there

Proportional valve with the piston chamber of the single-acting

Hydraulic cylinder connected, which is opened in a position control mode to raise the header. A valve becomes

Lowering the harvest header opened. Furthermore, a valve that can be switched on and off and a proportional pressure control valve connected in series are provided for the support pressure control, which provide an adjustable pressure in the piston chamber of the hydraulic cylinder in the support pressure control operating mode.

Task

3 BE2022/0055

In the said prior art, the three valves mentioned are each assigned to a single operating mode (pressure and position control) and are only opened when the associated operating mode is active. That means that the

Valves must be dimensioned sufficiently large so that they are able to raise and lower even the largest and therefore heaviest harvesting headers that are to be used with a particular harvesting machine in a reasonable time. This applies in particular to the lowering process in the active contact pressure control, since there the pressure control valve only has a small pressure difference between the contact pressure to be regulated and that present in the cylinder

Load pressure works and in this operating state the flow is smaller due to the design than with a large pressure difference. This is more common when a relatively light harvesting head is attached, such as a pick-up on a forage harvester. But it also applies to heavy intentions when lowering into the headland.

This can result in crops being left in the field because the harvest header is set too high. Analogs

Problems can arise with position control, since the lowering valve provided for lowering the harvesting header must also be adapted to the lightest harvesting header that can be coupled to the harvesting machine. In order to avoid these problems, the experienced one controls

The operator of a pressure-controlled pick-up additionally and in some cases also proactively manually activates the lowering valve in order to accelerate the lowering process. This also arises when using a heavy green waste cutting system with pressure control

Problem that the lowering process mainly occurs at the last

centimeters too slow. This leads to delays

Lowering the harvest header when entering the area to be mowed

Stock or too high a bleed position.

The object underlying the invention is to provide a height control for a harvesting header

4 BE2022/0055

To provide a harvesting machine in which the disadvantages mentioned are not to be expected or are to be expected to a reduced extent.

Solution

This task is achieved according to the invention by the teaching of

Claims 1 and 7 solved, with further details

Patent claims features are listed that further develop the solution in an advantageous manner.

A hydraulic control arrangement for controlling a hydraulic cylinder for adjusting a harvesting head relative to a harvesting machine includes an electronic one

Control unit, a tank for holding hydraulic fluid, a

Pump for providing pressurized hydraulic fluid, a first valve arrangement and a second valve arrangement. The

The control unit is connected to the valve arrangements in a signal-transmitting manner and configures, selectively (i.e. one after the other) the pump or the tank in a first operating mode via the first

To connect the valve arrangement to the hydraulic cylinder and in a second operating mode either (i.e. the pump or the one after the other

Connect the tank to the hydraulic cylinder via the second valve arrangement. It is proposed that the control unit is configured to additionally connect the pump or the tank to the hydraulic cylinder via the second valve arrangement in the first operating mode and/or to additionally connect the pump or the tank to the hydraulic cylinder via the first valve arrangement in the second operating mode connect.

In this way, the disadvantages mentioned can be avoided without any major effort, namely just by reprogramming the control, by using the other (first or second)

Valve arrangement used to control the hydraulic flow through the

To enlarge the control arrangement and thus the harvesting head

To be able to adjust needs more quickly than before.

The first operating mode can be one

Be a contact pressure control operating mode, while the second operating mode is a

Position control mode can be. 5 The first valve arrangement can therefore be a

Pressure control valve and an on and off valve, wherein the on and off valve is connected between the hydraulic cylinder and a first connection of the pressure control valve and that

Pressure control valve is arranged to connect the first connection either to the tank or an outlet of the pump.

The second valve arrangement can have a lifting valve and a

Lowering valve include, with the lifting valve between the outlet of the

Pump and the hydraulic cylinder are connected and the lowering valve is connected between the hydraulic cylinder and the tank.

The pressure in the hydraulic cylinder can be controlled using a

Sensors can be detected and the control can be configured, the second

To activate the valve arrangement in the contact pressure control mode if there is a difference between a recorded setpoint and actual value

Pressure in the hydraulic cylinder exceeds a threshold value. Analogously, the position of the harvesting header can be detected by means of a sensor and the control can be configured, the first

To activate the valve arrangement in the position control mode if there is a difference between a recorded setpoint and actual value

Position of the harvest header exceeds a threshold value.

The control arrangement described can be anywhere

Harvesting machines, such as forage harvesters and combine harvesters, can be used in conjunction with any harvesting headers. As

Harvesting header in the sense of the present invention can also be a

Mowing device can be viewed as the one described

Control arrangement with what can be viewed as a harvesting machine

Carrier vehicle, e.g. a farm tractor or a self-propelled vehicle, is connected and is attached there to the front, side or rear. The harvested material therefore does not necessarily have to go into the

6 BE2022/0055

Harvesting machine can be promoted. In other words, the can

Control arrangement generally on agricultural machines and

Devices are used that use pressure and position controls for adjusting functional elements or attachments.

Example embodiment

An exemplary embodiment of the invention is explained using the illustrations. Show it:

Fig. 1 is a schematic side view of a harvesting machine with a harvesting header, and

Fig. 2 is a diagram of the control arrangement for the pressure or

Height control of the harvesting head of the harvesting machine in Figure 1.

In Figure 1 there is a self-propelled harvester 10 in

Shape of a forage harvester shown in a schematic side view.

The harvester 10 is built on a frame 12 which is supported by front driven wheels 14 and steerable rear wheels 16. The harvesting machine 10 is operated from a driver's cab 18, from which a harvesting head 20 in the form of a pickup (so-called pick-up) can be seen. By means of the

Harvest header 20 crop picked up from the ground, e.g. B. Grass or the like is fed via an intake conveyor 22

Pre-pressing rollers, which are located within a feed housing 24 on the

Front side of the harvester 10 are arranged, one below the

Driver's cab 18 arranged chopping drum 26, which is in the

Cooperation with a counter-blade 102 chops it into small pieces and gives it to a conveyor device 28. The crop leaves the harvesting machine 10 to a transport vehicle driving alongside via an ejection chute 30 which can be rotated about an approximately vertical axis and whose inclination can be adjusted

Directional information, such as side, bottom and top, on the

Forward direction V of the harvester 10, which runs to the right in Figure 1.

7 BE2022/0055

The chopping drum 26 is driven by a pulley 48 which has an angular gear with a

Internal combustion engine 32 is connected via a drive belt 50, which has a pulley 54 for driving the chopping drum 26 and a

Pulley 52 for driving the conveyor device 28. A

Grinding device 100 is used to grind the chopping knives

Chopping drum 26. In addition, a metal detector 108 is provided in the lower, front pre-pressing roller, which can be used to quickly stop the

Intake conveyor 22 is used, and one with an electronic one

Control 70 (ECU) coupled operator input device 98 in the

Driver's cab 18.

The feed housing 24 with the feed conveyor 22 is as

The whole thing can be pivoted about the axis of rotation of the chopping drum 26. For this purpose, there is a hydraulic cylinder 114 on both sides with one end on the frame 12 of the harvester 10 and with the other

End hinged to the front area of the feed housing 24.

A hydraulic control arrangement 116 of the

Hydraulic cylinder 114 is shown in FIG. 2, which is based on the prior art according to EP 2 520 152 A1, the disclosure of which is by

Reference is included in these documents. The hydraulic control assembly 116 is configured

Piston chambers of the hydraulic cylinders 114 are under pressure

Supply hydraulic fluid to stretch them out in this way.

When the hydraulic cylinders 114 extend, it pivots

Feeder housing 24 upwards and lifts the harvesting header 20 further up above the ground. Similarly, when the control arrangement 116 releases hydraulic fluid from the piston chambers of the hydraulic cylinders 114 into a tank 202, the hydraulic cylinders 114 retract and the retraction housing 24 pivots downward and the

Harvest header 20 lowers towards the ground.

Figure 2 shows a hydraulic control arrangement 116 with a closed hydraulic circuit for raising and lowering

8 BE2022/0055 of the feed housing 24. A hydraulic pump 110 is powered by the

Internal combustion engine 32 rotates. The pump 110 has an adjustable displacement and also has a control connection 112, which is connected to a hydraulic control line 200, which

Pressure build-up of the pump 110 is controlled depending on the pressure applied to the control line 200. The greater the pressure on the control line 200, the greater the regulated pressure of the pump 110. The hydraulic flow provided by the pump 110 is determined by the cross section opened by the controlled valves.

The inlet of the pump 110 is in fluid communication with a tank 202 for withdrawing fluid therefrom. The outlet of the

Pump 110 is in fluid communication with the

Input port of a pressure compensation valve 204. A hydraulic

Lift valve 206 is between the cylinders 114 and the

Pressure compensation valve 204 arranged. In the line, which the

Outlet of the lifting valve 206 and the piston chambers of the

Hydraulic cylinder 114 connects, a check valve 208 is arranged, which allows a passage of hydraulic fluid from the lifting valve 206 into the cylinders 114 and a return flow from the

Cylinders 114 in the lifting valve 206 prevented.

A second check valve 210 connects a line that connects the inlet of the check valve 208 and the outlet of the

Lifting valve 206 connects to a sensing port of the pressure compensation valve 204, with the hydraulic control line 200. The second

Check valve 210 allows flow of hydraulic fluid from and prevents flow from the outlet of lift valve 206

Control line 200 into the inlet of the check valve 208, the

Sensing connection of the pressure compensation valve 204 and the outlet of the

Lifting valve 206.

A hydraulic valve designed as a proportional valve

Lowering valve 212 is arranged between the piston chambers of the cylinders 114 and the tank 202 to drain hydraulic fluid from the

To allow cylinders 114 into the tank 202 if that

9 BE2022/0055

Lowering valve 212 is energized. The header 20 is then lowered only by the effect of gravity. When the lowering valve 212 is not energized, it blocks the flow of hydraulic fluid from the cylinders 114 into the tank.

The lowering valve 212 and the raising valve 206 are electrically connected to the controller 70, which in turn is connected to the

Operator input device 98 in the driver's cab 18 is connected.

By means of the operator input device 98, the operator can thus (in a position control mode) cause the harvesting head 20 to be raised and lowered, for which purpose the controller 70 does this

Lifting valve 206 or the lowering valve 212 opens and thus the

Harvesting header 20 is raised or lowered.

A control valve 216 is between the hydraulic

Control line 200 and the tank 202 arranged. The control valve 216, shown here as a panel, empties the control line 200 when the lifting valve 206 is closed (i.e. when the operator does not attempt to lift the header 20) until the

Control line 200 prevailing pressure is almost zero. As long as that

If the pressure in the control line 200 is close to zero, it is on

Control signal present in control connection 112 of pump 110

Essentially eliminated and the specific displacement of the pump 110 reduced to almost zero in response. Since the pump 110 is not needed to lift the header 20, it represents

Pump 110 still provides a low pressure, but only needs a little

Propulsion energy.

When the operator lifts the harvesting header 20 via the operator input device 98 and the controller 70, this opens

Lifting valve 206, which then transfers the low pressure fluid provided by the pump 110 to the second

Check valve 210 applies, which in turn creates this low

Pressure is applied to the control line 200. As a result, the pressure in the control line 200 increases slightly and the specific displacement of the

Pump 110 grows slightly. This causes the pressure at the outlet to increase

10 BE2022/0055

Pump 110, whereby via the lifting valve 206 and the second

Check valve 210 also increases the pressure in the control line 200. This pressure feedback loop via the second

Check valve 210 gradually increases the specific

Displacement of the pump 110 until the pressure applied at its output

Pressure reaches the static pressure in the cylinders 114 and that

Check valve 208 opens and fills cylinders 114. This creates a certain time delay between the actuation of the operator input device 98 and the lifting of the

Harvest header 20.

The hydraulic control arrangement according to Figure 2 includes further elements that have a contact pressure control and a

Enable the pump 110 to be controlled via a check valve 306 in order to reduce the reaction time when controlling the

To shorten the lifting valve 206. This is an on and off

Off valve 302, a pressure control valve 304, the check valve 306 and a pressure sensor 308. The controller 70 is connected to the on and off valve 302 to open or close it. The controller 70 is connected to the pressure control valve 304 to provide a controllable, desired pressure at its output

to achieve pressure. In addition, the control is 70 with a

Pressure sensor 308 connected, which provides a signal indicating the pressure in the cylinder 114.

The on and off valve 302 has one side with the cylinder 114 and the check valve 208 and the other

Side connected to the pressure control valve 304. Second and third

Connections of the pressure control valve 304 are optionally connected to a first connection of the pressure control valve 304, depending on whether the pressure commanded by the controller 70 is greater or smaller than the current pressure at the first connection of the

Pressure control valve 304 is. The controller 70 controls this

Pressure control valve 304 so that when the pressure applied to the first connection is less than a commanded pressure, the first

Connection of the pressure control valve 304 via a check valve 324

11 BE2022/0055 and a line 320 is connected to the pump 110 until a pressure commanded by the controller 70 is present at the first connection.

Analogously, the first connection is connected to the tank 202 via a line 322 as long as the pressure at the first connection is greater than a pressure commanded by the controller 70. The first port of the pressure control valve 304 is coupled to the inlet of the check valve 306, the outlet of which is connected to the hydraulic control line 200. The pressure is therefore at the first connection of the

Pressure control valve 304 also on the control line 200, if that

Check valve 306 is open. This causes the displacement of the

Pump 110 adjusted so that the pressure at its outlet is slightly greater than the pressure in the control line 200.

In the circulation pressure control mode (which is also called

swimming mode) is the hydraulic

Control arrangement 116 is set up to provide a substantially constant pressure in the hydraulic cylinders 114.

This operating mode is used if the harvesting head 20 is to be guided over the ground with a certain tracking force. This constant pressure is achieved by the controller 70 switching on and off

Switch-off valve 302 is energized and thus connects the cylinders 114 directly to the pressure control valve 304. Here, additional fluid is supplied from the pump 110 by the pressure control valve 304 via the on and off valve 302 when the

Harvesting header 20 is uneven, rising in the forward direction

Floor moved upwards. Analogously, the pressure control valve 304 is activated when the ground is uneven and sinks in the forward direction, which leads to:

Retracting the cylinders 114 leads to excess hydraulic fluid being removed from the cylinders 114 via the on and off valve 302

Discharge line 322 into tank 202 to maintain pressure. The check valve 306 and the control line 200 ensure that the pump 110 only provides the required pressure, without any time delay when lifting.

In the second one already described above

Position control operating mode (height control) of the harvesting header 20 is

12 BE2022/0055 the on and off valve 302 is closed. By the

Pressure control valve 304, which also provides a certain pressure on the control line 200 in the height control mode via the check valve 306, even when the lifting valve 206 is closed, is the above-mentioned disadvantage of the time delay which only comes from the

Valves 204 and 206 constructed arrangement when lifting the

Harvest header 20 avoided. When the valve 302 is closed, the pressure control valve 304 sets a pressure that is slightly smaller than the load pressure. The pump 110 sets the pressure to this value - as an increased standby pressure - and is then faster during a lifting process because the time for pressure to build up from the normal low

Standby or another lower load pressure of another

consumer is shortened. You could possibly access this

Procedure for pressure control for lighter harvesting headers and position control for heavy harvesting headers at least for one

Do not lift the harvest header into the transport position as this causes unnecessary hydraulic power loss.

Up to this point the description corresponds to the current status

Technology according to EP 2 520 152 Al, with the exception that according to

Figure 2 also shows the lifting valve 206 and the lowering valve 212 with the

Control 70 are connected and controlled by it. It should be mentioned again that the prior art only opens the on and off valve 302 and closes the lifting valve 206 and the lowering valve 212 in the first (pressure control) operating mode and the on and off valve in the second (position control) operating mode 302 is always closed and if necessary the lifting valve 206 or that

Lowering valve 212 can be opened. This has the disadvantage that, for example, the dimensioning of the passage opening of the valve 212 determines how quickly a harvest header 20 can be lowered.

Since the lowering valve 212 is usually dimensioned so large that a relatively heavy header 20 with appropriate

Speed is reduced, results from lighter ones

Harvesting headers 20, like the pick-up shown in Figure 1, have the disadvantage that the harvesting header 20 sinks too slowly because it is through

Weight in the cylinders 114 resulting pressure is quite low. Man

13 BE2022/0055 could now enlarge the passage opening of the valve 212, but this has the disadvantage of higher manufacturing costs. In addition, heavy harvesting headers 20, such as corn mowing headers with 12 rows (9 m

Working width) sink too quickly and hit the ground almost unbraked, which is also undesirable. Analogous problems can occur in the

Position control mode occurs when lifting through the lifting valve 206, as well as in the contact pressure control mode through the

Pressure control valve 304.

It is therefore proposed that the controller 70 is configured and programmed to do more than just that in the position control mode when the harvesting head 20 is lowered under command

Lowering valve 212 to open, but also the on and off

Open the switch-off valve 302 and the pressure control valve 304 in the in

To spend the position shown in Figure 2, in which there is the on and off

Switch-off valve 302 connects to the tank 202 via line 322.

This allows the problem in question to be avoided and a relatively light harvesting header 20 to be lowered sufficiently quickly.

Furthermore, the controller 70 can be configured and programmed, not only in the position control mode when the harvesting head 20 is raised under command

Not only to open the lifting valve 204, but also to open the on and off valve 302 and to move the pressure control valve 304 into the position, not shown in FIG. 2, in which it switches on and off

Switch-off valve 302 connects to the pump 110. This makes it possible to avoid the problem in question and to lift a relatively heavy header 20 sufficiently quickly.

In the position control mode, the controller 70 can act as

control work. For this purpose, a sensor 310 is provided for detecting the height of the harvesting head 20 above the ground (cf. for example

EP 1 911 342 A2 for a corn mowing header), which reports back to the controller 70 an actual value of the height of the harvesting header 20 above the ground. The operator input device 98 or another

Sensor, for example, the height of the crop and/or

14 BE2022/0055 detects the ground contour in advance, serves as the controller 70

Setpoint for the height or the angle of rotation of the feed housing 24 around its axis of rotation. It controls in a manner known per se

Controller 70 then activates the lowering valve 212 or the lifting valve 206 in order to control the hydraulic cylinders 114 in the sense of adjusting the actual value to the setpoint. Should the difference between setpoint and actual value be greater than a certain (first or second) threshold, indicating that the

If the lowering valve 212 or the lifting valve 206 alone is not able to fill or empty the hydraulic cylinder 114 sufficiently quickly, the controller 70 would open the on and off valve 302 in the manner described above and move the pressure control valve 304 into a suitable position, i.e. the on and off

Connect shut-off valve 302 to the outlet of pump 110 or tank 202.

If the harvesting header 20 does not have a suitable sensor

Having detection of the height above the ground, like the pick-up shown in Figure 1, the sensor 310 can also detect the angle of the

Capture the feed housing 24 relative to the frame 12. To this

In this way, the height of the harvesting head 20 can be adjusted at a predeterminable or fixed speed, regardless of its height

Weight, and if necessary, open the on and off valve 302 in the manner described above and move the pressure control valve 304 to a suitable position, i.e. connect the on and off valve 302 to the outlet of the pump 110 or the tank 202.

Analogously, there is the possibility in which

Support pressure control mode based on the pressure detected with the pressure sensor 308 in the hydraulic cylinders 114 when a threshold value of a deviation from the desired upward pressure is exceeded by the controller 70 to open the lowering valve 212 and / or when a threshold value of a deviation from the desired downward pressure is overwritten by the controller 70 to open the lifting valve 206. This can result in situations in which the header 20 is subject to a sudden change in position, for example when

Driving over a bump or driving through a depression can be compensated for more quickly than before

Claims (7)

16 BE2022/0055 PATENT CLAIMS 1. Hydraulic control arrangement (116) for controlling a hydraulic cylinder (114) for adjusting a harvesting header (20) relative to a harvesting machine (10), comprising an electronic control unit (70), a tank (202) for receiving hydraulic fluid, a pump (110 ) for providing pressurized hydraulic fluid, a first valve arrangement and a second valve arrangement, the control unit (70) being connected to the valve arrangements in a signal-transmitting manner and configured to selectively control the pump (110) or the tank (202) in a first operating mode via the first To connect the valve arrangement to the hydraulic cylinder (114) and in a second operating mode to optionally connect the pump (110) or the tank (202) to the hydraulic cylinder (114) via the second valve arrangement, characterized in that the control unit (70) is configured , to connect the pump (110) or the tank (202) in the first operating mode additionally via the second valve arrangement to the hydraulic cylinder (114) and / or in the second operating mode the pump (110) or the tank (202) additionally via the to connect the first valve arrangement to the hydraulic cylinder (114). 2. Control arrangement (116) according to claim 1, wherein the first operating mode is a contact pressure control mode and / or the second operating mode is a position control mode. 3. Control arrangement (116) according to claim 2, wherein the first valve arrangement comprises a pressure control valve (304) and an on and off valve (302), the on and off valve (302) between the hydraulic cylinder (114) and a first connection of the pressure control valve (304) is switched and the pressure control valve (304) is arranged to connect the first connection either to the tank (202) or an outlet of the pump (110). 4. Control arrangement (116) according to claim 2 or 3, wherein the second valve arrangement comprises a lifting valve (206) and a 17 BE2022/0055 lowering valve (212), the lifting valve (206) is connected between the outlet of the pump (110) and the hydraulic cylinder (114) and the lowering valve is connected between the hydraulic cylinder (114) and the tank (202). 5. Control arrangement (116) according to one of claims 2 to 4, wherein the position of the harvesting head (20) can be detected by means of a sensor (310) and the controller (70) is configured to activate the first valve arrangement in the position control mode if a Difference between a recorded target and actual value of the position of the harvesting head (20) exceeds a threshold value. 6. Control arrangement (116) according to one of claims 2 to 5, wherein the pressure in the hydraulic cylinder (114) can be detected by means of a sensor (308) and the controller (70) is configured to activate the second valve arrangement in the contact pressure control mode if a Difference between a recorded target and actual value of the pressure in the hydraulic cylinder (114) exceeds a threshold value. 7. Harvester (10) with a control arrangement (116) according to one of the preceding claims.