A loading machine control device comprising: a measurement data acquisition unit that acquires measurement data of a measurement device mounted in a loading machine that has working equipment ; a target calculation unit that calculates, on the basis of the measurement data, a position of an upper end portion (BEs) of a loading target (BE) to which an excavation object excavated by a bucket of the working equipment is loaded; a bucket calculation unit that calculates position data of the bucket ; an overlap determination unit that determines whether or not the upper end portion (BEs) of the loading target (BE) and the bucket that are in the measurement data overlap each other; a working equipment control unit that controls the working equipment on the basis of the measured position of the upper end portion (BEs) of the loading target (BE) when it is determined that the upper end portion (BEs) of the loading target (BE) and the bucket that are in the measurement data do not overlap each other; wherein the overlap determination unit determines whether or not there is overlap on the basis of relative positions of the measurement device , the upper end portion (BEs) of the loading target (BE), and the bucket , characterized in that the bucket calculation unit calculates a position of a lower end portion of the bucket , and the target calculation unit calculates the position of the upper end portion (BEs) of the loading target (BE) when an angle specified on the basis of the measurement device , the upper end portion (BEs) of the loading target (BE), and the lower end portion of the bucket is equal to or larger than a predetermined angle. a measurement data acquisition unit that acquires measurement data of a measurement device mounted in a loading machine that has working equipment ; a target calculation unit that calculates, on the basis of the measurement data, a position of an upper end portion (BEs) of a loading target (BE) to which an excavation object excavated by a bucket of the working equipment is loaded; a bucket calculation unit that calculates position data of the bucket ; an overlap determination unit that determines whether or not the upper end portion (BEs) of the loading target (BE) and the bucket that are in the measurement data overlap each other; a working equipment control unit that controls the working equipment on the basis of the measured position of the upper end portion (BEs) of the loading target (BE) when it is determined that the upper end portion (BEs) of the loading target (BE) and the bucket that are in the measurement data do not overlap each other; wherein the overlap determination unit determines whether or not there is overlap on the basis of relative positions of the measurement device , the upper end portion (BEs) of the loading target (BE), and the bucket , characterized in that the bucket calculation unit calculates a position of a lower end portion of the bucket , and the target calculation unit calculates the position of the upper end portion (BEs) of the loading target (BE) when an angle specified on the basis of the measurement device , the upper end portion (BEs) of the loading target (BE), and the lower end portion of the bucket is equal to or larger than a predetermined angle. <EOS>