Working machine and working device

A working machine comprising:

• a traveling vehicle;
• a working device coupled to the traveling vehicle to rake grass in an agricultural field and form a swath;
• a sensor to obtain a state of the grass or the swath in the agricultural field;
• and
• a controller to, when the working device performs raking, change one or more pieces of setting information regarding the working device based on the state obtained by the sensor, wherein
• the sensor includes at least one imager to obtain imaging data by capturing an image of the state of the grass or the swath in the agricultural field;
• the controller is configured or programmed to change the one or more pieces of setting information regarding the working device based on the imaging data obtained by the at least one imager;
• the at least one imager includes a first imager to obtain imaging data by capturing an image of the state of the swath formed by the working device;
• the working device includes a rake assembly including a body, a rotor rotatably supported by the body, tine arms coupled to the rotor and radially extending from the rotor, one or more tines coupled to each of the tine arms and extending downward, and a plate to form the swath;
• the controller is configured or programmed to change the one of the one or more pieces of setting information regarding the working device that indicates a clearance between the plate and the body based on the imaging data of the work product obtained by the first imager and indicating the state of the formed swath;
• and
• the controller is configured or programmed to:
• (i) change the one or more pieces of setting information to first setting information to pull out the plate so that the clearance achieves an increased distance indicated by the first setting information if the controller determines that a width of the swath indicated by the imaging data is smaller than or equal to a first lower limit width;
• (iia) change the one or more pieces of setting information to second setting information to push inward the plate so that the clearance achieves a reduced distance indicated by the second setting information if the controller determines, after determining that the width of the swath indicated by the imaging data is not smaller than or equal to the first lower limit width, that the swath indicated by the imaging data has a two-pile shape;
• (iib) change the one or more pieces of setting information to the second setting information to push inward the plate so that the clearance achieves the reduced distance indicated by the second setting information if the controller determines, after determining that the width of the swath indicated by the imaging data is not smaller than or equal to the first lower limit width and the swath indicated by the imaging data does not have the two-pile shape, that the width of the swath indicated by the imaging data is larger than or equal to the first upper limit width;
• and
• (iii) employ current setting information if the controller determines that the swath indicated by the imaging data does not have the two-pile shape, the width of the swath is not larger than or equal to the first upper limit width, and the width of the swath is not smaller than or equal to the first lower limit width.