UNLOADING DEVICE

To easily grasp a condition of a cargo.SOLUTION: An unloading device includes: an area generation unit for generating a work area constituted of multiple small areas 402 that are three-dimensionally expanded, based on a specific position of a vessel 4; a measurement data acquisition unit for acquiring as needed measurement data for measurement points of a cargo 6 in a vessel tank, that is measured by a ranging sensor; a data accumulation unit 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 cargo height derivation unit for extracting lowermost small areas for which statistical data is accumulated, out of the multiple small areas arranged in a vertical direction, in order to derive a surface height of the cargo in the vessel tank on the basis of the extracted small areas.SELECTED DRAWING: Figure 18 【課題】積荷の状況を容易に把握させる。【解決手段】荷揚げ装置は、船舶４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４０２で構成される作業領域を生成する領域生成部と、測距センサによって計測された船庫内の積荷６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と、上下方向に並んで配置される複数の小領域のうち、統計データが蓄積されており、かつ、最も下方に位置する小領域を抽出し、抽出した小領域に基づいて船庫内の積荷の表面高さを導出する積荷高さ導出部と、を備える。【選択図】図１８