UNLOADING DEVICE

To easily grasp a shape of a vessel tank.SOLUTION: An unloading device includes: an area generation unit 152 for generating a work area constituted of multiple small areas that are three-dimensionally expanded, based on a specific position of a vessel; a measurement data acquisition unit 156 for acquiring as needed measurement data for measurement points of a vessel tank, that is measured by a sensor; a data accumulation unit 160 for accumulating statistical data of the measurement points for small areas containing measurement points, based on the measurement data of the measurement points; and a shape derivation unit 164 for deriving a shape of the vessel tank, based on the statistical data.SELECTED DRAWING: Figure 7 【課題】船庫の形状を容易に把握させる。【解決手段】荷揚げ装置は、船舶の特定位置を基準として、３次元に展開する複数の小領域で構成される作業領域を生成する領域生成部１５２と、測距センサによって計測された船庫の計測点における計測データを随時取得する計測データ取得部１５６と、計測点の計測データに基づいて、計測点が含まれる小領域について、計測点の統計データを蓄積するデータ蓄積部１６０と、統計データに基づいて、船庫の形状を導出する形状導出部１６４と、を備える。【選択図】図７