DEVICE FOR INVESTIGATION AND RECOVERY OF SUSPECTED OBJECTS IN THE UNDERWATER AREA

Description

[0001] The present invention relates to a device for examining and recovering suspected objects underwater, in particular munitions. The present invention also relates to a carrier device comprising a device for examining and recovering suspected objects underwater. Furthermore, the present invention relates to a method for examining and recovering suspected objects underwater.

[0002] Ordnance disposal (EOD) is a generally known process. It is partly carried out by certified civilian companies and serves the purpose of recovering unexploded ordnance, such as bombs, ammunition, or any kind of wartime munitions, from the ground for subsequent disposal. EOD can be broadly categorized into land-based and underwater EOD. Underwater EOD refers to the recovery of munitions or chemical agents from seas, rivers, lakes, bodies of water, and similar environments. To this day, hundreds of thousands of such munitions remain buried in the soil and on the seabed of seas, rivers, and other bodies of water.

[0003] In underwater ordnance recovery, it was common practice, after the ordnance had been roughly excavated using, for example, an excavator, for a diver to manually uncover and examine it. To replace the diver and to make the recovery of the ordnance safer and faster, recovery tools are available, such as the device described in WO document WO 2021 / 075965 A1.

[0004] The problem with underwater ordnance recovery in general is that it is very complex and requires great effort to recover ordnance from rivers, lakes or seas.

[0005] To recover the ordnance, the soil above and around it is removed underwater. This is very complex and time-consuming, especially when using large recovery equipment. Therefore, it is desirable to remove as little soil as possible during underwater recovery operations. If the recovery equipment is large, correspondingly more soil must be removed to create the necessary access space, for example, for a grabber, which lengthens the recovery process. Furthermore, protruding parts of the recovery equipment can limit the penetration depth into the ground or into an excavated pit.

[0006] Furthermore, the recovery of unexploded ordnance (UXO) includes an examination of the exposed ordnance. To conduct a final examination, soil is removed step by step until the exposed ordnance can be examined. This begins with a large-scale excavation using an excavator or grabber. To then expose the ordnance for examination, flushing nozzles are used to free it without contact with the surface. A problem arises from the fact that the digging and flushing process stirs up sediment, obstructing visibility and thus hindering the excavation, which also prolongs the recovery operation.

[0007] The object of the present invention is therefore to address one of the aforementioned problems, to improve the general state of the art, or to provide an alternative to what is known. In particular, a solution is to be provided that enables the rapid, safe, and simple investigation and recovery of suspected objects underwater.

[0008] According to the invention, a device according to claim 1 is thus proposed.

[0009] Accordingly, a device for the investigation and recovery of suspected unexploded ordnance (UXO) in underwater environments is proposed. In a preferred embodiment, the suspected objects are UXO or objects identified as potential UXO based on their characteristics during a reconnaissance procedure. The present device is intended for UXO recovery. It can therefore also be understood and described as an UXO recovery tool or an attachment primarily designed for UXO recovery in underwater environments.

[0010] An investigation of a suspected object includes, in particular, determining its position, for example, using a position probe. Furthermore, an investigation includes, in particular, identifying the suspected object to determine whether it is a munition or not, and / or determining its type or species, which may involve recording its size, shape, and / or material properties. For these purposes, the device may incorporate various technical features, such as an acoustic camera for visual identification or an optical camera for visual examination.

[0011] The recovery of a suspected unexploded ordnance (UXO) refers to exposing the munitions in the subsurface of the body of water, i.e., removing soil and deposits. Recovery therefore includes, in particular, removing the subsurface with a grab and flushing the suspected object free with a jet nozzle. Lifting an exposed suspected object with the grab can also be considered part of the recovery process.

[0012] The device comprises a support body. The support body serves as a mechanical mounting and is structurally rigid. The support body is preferably made of metal. Components of the device, such as a gripping device, a mounting arm, a probe arm, a carrying device mount, or the like, can be attached to the support body. The support body can therefore also be considered a support frame, a rigid frame structure, or a housing.

[0013] The device also includes a gripping device with at least two opposing gripper shells, with a receiving area formed between the two gripper shells. The gripping device can also be synonymously understood and referred to as a gripper or gripping device. The gripping device has at least two gripper shells, gripper shells being a generally known material. The gripping device can be hydraulically or electrically driven. Preferably, the gripping device is designed as a hydraulic gripper. This increases safety, as there are fewer electrical components that could pose a potential hazard during work in water. The inner or spatial area between the gripper shells is referred to as the receiving area. Preferably, the gripper shells are semi-open. Preferably, the gripper shells are made of a structurally rigid material, such as metal or the like.

[0014] The gripping device is mechanically connected to the support body at a connection point. The connection point thus refers to an area or location where the gripping device is mechanically connected to the support body. Preferably, the connection point is an area or location where the gripper shells are pivotably mounted to the support body. For example, the connection point is an area or location at a pivot bearing of the gripper shells.

[0015] Furthermore, a gripping area is formed, extending from the connection point in a direction away from the support body. The gripping area thus describes a spatial region located near the gripper. For example, if the support body and the gripping device are aligned perpendicular to each other, the gripping area lies below the connection point between the support body and the gripping device. The gripping area is therefore a spatial region in close proximity to the gripper. In contrast to the gripping area, a region extending from the connection point in a direction towards the support body can be understood and designated as the support body region. An object that is thus, for example, positioned directly on the support body, is therefore not assigned to the gripping area.

[0016] It is particularly proposed that the device also includes at least one mechanically attached rinsing nozzle in the gripper area, wherein the rinsing nozzle is configured to discharge a rinsing medium directed towards an area outside the gripping area to expose the suspected object. It is thus proposed that a rinsing nozzle be arranged in the gripper area, which discharges a rinsing medium, for example, as a directed jet. Water or the like is preferably proposed as the rinsing medium. It is understood that each rinsing nozzle is preferably fluid-conducting and connected to a pump. The pump can be a separate water pump, which can also be considered a rinsing pump. The rinsing pump is preferably an external pump that is not directly attached to the device, or a pump that is part of the device. Preferably, a rinsing pump connection is provided on the device to connect a rinsing pump.The flushing pump connection is fluid-conducting and connected to the flushing nozzles. The flushing pump is preferably a high-performance pump with a flow rate of up to 130 m³ / h. This ensures contactless exposure of the suspected object. The flushing nozzle can be attached directly to a gripper or held in the gripper area by a frame. It is also proposed that the exposure, which can also be described as flushing, takes place outside the gripper assembly, i.e., not within the gripper's receiving area. Therefore, the exposure of the suspected object does not occur within the gripper assembly.

[0017] Furthermore, the device includes a suction pump connected to at least one suction port via a fluid-conducting system. It is understood that the suction port and the suction pump are connected for this purpose via a pipe or hose. The suction pump with suction port can also be considered a sediment pump. The suction pump with suction port is designed to remove sediment and water. The suction port can also be considered the end piece into which the water and sediment are drawn. The suction pump is preferably a submersible dredge pump.

[0018] The suction nozzle is located in the gripper area. This allows for sediment extraction close to the suspected object.

[0019] It was found that the uncovering of the suspected object can be accelerated if sediment suction is performed as close as possible to the area or location where the rinsing with the jet nozzles takes place. By positioning the suction nozzle in the grab area, sediments stirred up by the jet nozzles are drawn in early, as the suction occurs directly at the grab device. This improves visibility during the investigation and recovery, which benefits both safety and speed. Furthermore, underwater visibility is improved because the sediments are not stirred up over a large area. This allows, for example, the use of an optical camera to examine the suspected object. This contributes to the safety of the recovery operation.

[0020] In the aforementioned WO document 2021 / 075965 A1, suction takes place at the support structure within the support structure area. This is disadvantageous because a large proportion of the sediments are not captured by the suction flow due to the considerable distance between the suction point and the location of the free flushing.

[0021] Preferably, the suction nozzle and / or the rinsing nozzle is held on the at least one gripper shell by a gripper shell mounting in the gripper area. The gripper shell mounting can be understood as a fastening means that is directly mechanically connected to or arranged on the gripper shell. The gripper shell mounting serves as a fastening for the suction nozzle and / or the rinsing nozzle on the at least one gripper shell. The gripper shell mounting is preferably a frame that is part of the at least one gripper shell, and the gripper shell mounting is further preferably made of a structurally rigid material, such as metal or the like.

[0022] One advantage of this arrangement with regard to the rinsing nozzle is that a rinsing center can be set as desired by adjusting the gripper shell position, and targeted rinsing can be achieved by controlling the gripper shells. The rinsing center can also be understood as the target area or point where a fluid flow generated by at least one rinsing nozzle is intended to occur. If, for example, four rinsing nozzles are used, the rinsing center is a spatial area where the four fluid flows generated by the four rinsing nozzles meet. The rinsing nozzle is preferably located on an outer side of the gripper assembly or the gripper shells with respect to the receiving area. An advantage of this arrangement with regard to the suction port is that the suction can also be adjusted by changing the gripper shell position, and targeted suction can be achieved by controlling the gripper shell position.

[0023] In a particularly preferred embodiment, the suction nozzle and / or the flushing nozzle are held in a region at the gripper tip by the gripper shell attachment. It is therefore particularly preferred to attach the suction nozzle and, additionally or alternatively, the flushing nozzle in close proximity to the gripper tip. The gripper tip can also be considered the gripper end or gripper end piece. This further reduces the distance between the sediment suction point and the location of the flushing, thus enabling effective sediment suction close to the suspected object.

[0024] Preferably, the suction nozzle and / or the rinsing nozzle is additionally or alternatively held in the gripper area by a support frame. It is therefore proposed that a supporting frame be used to hold the suction nozzle and / or the rinsing nozzle in the gripper area. The support frame can be designed such that the suction nozzle and / or the rinsing nozzle is arranged in the gripper area, or the support frame can be arranged only partially within the gripper area. The support frame is preferably attached at the connection point or to the support body. The support frame is thus preferably designed to project into the gripper area. The support frame can be made up of several parts, and a separate frame can be provided for each suction nozzle and each rinsing nozzle. It is also possible for both a rinsing nozzle and a suction nozzle to be arranged on one frame. The frame can preferably be designed to be steerable, in the form of a controllable arm.

[0025] In a particularly preferred embodiment, the suction nozzle and / or the flushing nozzle is held in a region at a gripper tip on the support frame. This further reduces the distance between the sediment suction point and the location of the flushing, thus enabling effective sediment suction close to the suspected object.

[0026] Preferably, the device has carrier device connection means for connection to a carrier device, wherein the carrier device connection means are preferably hydraulic connection means and / or electrical connection means, in particular for the hydraulic power supply of hydraulic components of the gripping device and / or for the electrical power supply of electrical components that are arranged on the gripping device or on the support body. A carrier device is a device that receives and carries the device for the investigation and recovery of suspected objects underwater. For example, the carrier device is an excavator, preferably mounted on a floating body, or designed as a floating excavator. A floating body is, for example, an artificial island or a pontoon or the like. The device for the investigation and recovery of suspected objects underwater is received by the carrier device as an attachment.It is therefore proposed that the device has connection means to supply components of the device with electrical or hydraulic energy from the carrier device.

[0027] Preferably, the device includes a quick-change mount for mechanically connecting the device for examining and recovering suspected objects to a carrier device.

[0028] According to an alternative version of the invention, the device also includes an acoustic camera for the visual identification of the suspected object, wherein the acoustic camera is connected to the support body via an extendable mounting arm in order to move the acoustic camera relative to the support body with the extendable mounting arm. The acoustic camera can also be understood and referred to as sonar.

[0029] To visually monitor underwater operations and identify any suspicious objects, an acoustic camera is integrated into the equipment for investigating and retrieving such objects. The acoustic camera provides images based on hydroacoustic techniques. It is designed to display an image of the suspected object in optically turbid water, known as blackwater. The acoustic camera is preferably configured to depict suspicious objects within an operating range of 2 to 4 meters, and in particular to display them in high resolution with a resolution of up to 10 mm per pixel. This enables detailed visualization and identification of observed objects, especially in the sub-decimeter range.

[0030] The acoustic camera is connected to the support body via an extendable mounting arm. This arm can be, for example, telescopic or attached to the support body with a folding mechanism. The extendable arm allows the acoustic camera to be moved relative to the support body. It can be moved from a retracted to an extended position. These two positions can be considered the rest position and the working position, respectively. An extendable mounting arm is advantageous because less of the soil layer above and around the ordnance needs to be excavated, as the arm can be folded or stowed away after the object has been examined, thus positioning the acoustic camera out of reach.It is understood that the extendable mounting arm is also retractable; therefore, a retractable and extendable mounting arm is proposed. A retractable mounting arm allows the device's dimensions to be kept small. Extension and retraction are preferably achieved by a controllable electric or hydraulic drive.

[0031] In its resting position, the mounting arm, for example, requires minimal space.

[0032] Preferably, the support body has a longitudinal axis extending from the support body to the gripping device, wherein the extendable fastening arm is movable into at least a working position and a rest position.

[0033] In an additional or alternative preferred embodiment, the working position is a position of the mounting arm in which the acoustic camera performs the visual identification of the suspected object. The working position can also be understood as the working position, extended state, or folded-down state. In the working position, the acoustic camera is located sufficiently far from the support device to allow for undisturbed identification of the suspected object. The identification of the suspected object is thus less affected by the support body and / or the gripping device.

[0034] In a particularly preferred embodiment, the rest position is a position of the mounting arm in which the mounting arm is positioned radially closer to the longitudinal axis than in the working position. It is therefore proposed that the acoustic camera be arranged further away from the support device in the working position, i.e., in the rest position. The rest position can also be understood as the rest position, retracted state, or deployed state. In the rest position, the acoustic camera is arranged closer to the longitudinal axis of the support body. This is particularly advantageous because the radial dimensions of the device can thereby be kept small, and the device has no interfering, radially protruding parts. Thus, the hole to be excavated during the recovery process can be kept smaller, and the recovery process can be kept short.

[0035] Preferably, the device also includes an acoustic camera, which is equipped with a steerable mount allowing it to change its position. The steerable mount thus enables the acoustic camera to be swiveled. The steerable mount is further preferably designed as a 3D mount. "Changeable position" refers to the ability to change the orientation or viewing direction of the acoustic camera relative to the device. The steerable mount allows for continuous monitoring of the recovery process, even when the camera is in a moving position. It also enables viewing the object from different perspectives.

[0036] According to the invention, in an alternative version, the device also includes a measuring probe for determining the position of the suspected object in a non-exposed state, wherein the measuring probe is connected to the support body via an extendable probe arm in order to move the measuring probe relative to the support body with the extendable probe arm.

[0037] To determine the position of potential objects underwater, e.g., still covered by sediment and thus not yet exposed, a measuring probe is part of the device used for investigating and retrieving such objects. The measuring probe can determine the position of the object using an active locating method, preferably based on the principle of transient electromagnetics. Active locating or probing methods based on the principle of transient electromagnetics are generally known. The measuring probe can, for example, be designed as an electric coil that emits an electric field and receives reflections from bodies or the object in question. This subsequent determination of the object's position is also known as post-probing.

[0038] The measuring probe is connected to the support body via an extendable probe arm. The probe arm can be telescopic or equipped with a folding mechanism on the support body. The extendable probe arm allows the measuring probe to be moved relative to the support body. Thus, the probe arm can be moved from a retracted to an extended position. These positions can be considered the rest position and the working position, respectively. An extendable probe arm is advantageous because less of the soil layer above and around the unexploded ordnance needs to be excavated, as the probe arm can be folded in or deployed after the position of the suspected object has been determined. It goes without saying that the extendable probe arm is also retractable; therefore, a retractable and extendable probe arm is proposed. An extendable probe arm allows the radial dimensions of the device to be kept small.The retraction and extension are preferably carried out by a controllable electric or hydraulic drive.

[0039] Preferably, the support body has a longitudinal axis extending from the support body to the gripping device, wherein the extendable probe arm is movable into at least a working position and a rest position.

[0040] In its resting position, the probe arm, for example, requires minimal space.

[0041] In an additional or alternative preferred embodiment, the working position is a position of the probe arm in which the measuring probe determines the position of the object under investigation. The working position can also be understood as the extended state or the retracted state. In the working position, the measuring probe is located sufficiently far from the support structure and the gripping device to ensure interference-free position determination of the object under investigation. This minimizes interference with the position determination of the object by unwanted electromagnetic reflections from the support structure and / or the gripping device.

[0042] In a particularly preferred embodiment, the rest position is a position of the probe arm in which the probe arm is positioned radially closer to the longitudinal axis than in the working position. It is therefore proposed that the measuring probe be arranged further away from the support device in the working position, i.e., in the rest position. The rest position can also be understood as the rest position, retracted state, or deployed state. In the rest position, the measuring probe is arranged closer to the longitudinal axis of the support body. This is particularly advantageous because the radial dimensions of the device can be kept small and the device has no interfering protruding parts. Thus, the hole to be excavated during the recovery operation can be kept smaller, and the recovery operation can be kept short.

[0043] Preferably, the measuring probe for determining the position of the suspected object is equipped with an electrical transmitting coil and a receiving coil to perform a locating method based on the principle of transient electromagnetics, wherein the electrical transmitting coil is particularly designed as a high-power coil. The principle of transient electromagnetics is fundamentally known. The transmitting coil and the receiving coil can be separate coils, or they can be combined into a single coil. Preferably, a single coil is used as both the transmitting and receiving coils.

[0044] Preferably, one or the extendable mounting arm is connected to the support body via a first pivot joint to allow the mounting arm to pivot about a pivot axis perpendicular to the longitudinal axis of the support body. Additionally or alternatively, one or the extendable probe arm is connected to the support body via a second pivot joint to allow the probe arm to pivot about a pivot axis perpendicular to the longitudinal axis of the support body. It is advantageous to attach the mounting arm or the probe arm to the support body with a pivot joint, as this allows the measuring probe and the acoustic camera, which are located at the respective ends of the arms, to be pivoted out of the working area.In addition, the acoustic camera and / or the measuring probe are moved further away from the area where the digging and excavation are taking place, thus reducing the risk of damage and contamination to the equipment.

[0045] Preferably, an optical camera system is arranged in the gripper area for the visual examination of a suspected object. This optical camera system can be considered a video camera. An additional optical camera system is advantageous because the suspected object, after being exposed or rinsed clean, can be examined visually in color. Acoustic cameras, for example, do not display color. Thus, the condition of the suspected object can be further assessed during the examination using the optical camera images. The camera system is preferably arranged in an area between the gripper jaws. This allows monitoring independent of the gripper jaws' position and provides an unobstructed view of the suspected object.

[0046] Preferably, the camera system includes a lighting device for illuminating the suspected object and / or is equipped with a high-resolution camera. This allows for a detailed visual examination and / or a visual examination under good lighting conditions.

[0047] Preferably, the gripping device is designed as a multi-shell gripper, which has at least three gripper shells.

[0048] In a particularly preferred embodiment, the multi-shell gripper has five gripper shells.

[0049] Preferably, each gripper shell of the multi-shell gripper is equipped with a flushing nozzle and a suction port. This ensures particularly symmetrical sediment extraction and symmetrical rinsing.

[0050] Preferably, the gripping device is designed with semi-open gripper shells.

[0051] Preferably, the gripping device has a capacity of 50 to 500 liters and / or the gripping device has a maximum load capacity of 100 kg to 3000 kg and / or the gripping device has a closing force of 1 kN to 18 kN.

[0052] Preferably the suction pump has a delivery volume of 20m³ / h up to 360m³ / h and / or the suction pump has a delivery head of 5m up to 25m and / or the suction pump has a maximum particle passage of 10mm to 60mm.

[0053] Additionally or alternatively, it is proposed that the wear-prone components of the suction pump be made of alloyed chromium steel. This will increase the device's lifespan.

[0054] Another aspect of the invention is a carrier device with a device for examining and recovering suspected objects underwater, wherein the recovery and examination device is designed according to one of the preceding embodiments. A carrier device is a device that receives and carries the device for examining and recovering suspected objects underwater. For example, the carrier device is an excavator, preferably mounted on a floating platform or designed as a floating excavator. The device for examining and recovering suspected objects underwater is attached to the carrier device as an attachment.

[0055] The carrier device preferably has a display system and a control system to control the carrier device and monitor the recovery process.

[0056] Preferably, the carrier device is equipped with a positioning system for positioning the device for the examination and retrieval of suspected objects. The positioning system includes a GPS module for determining the position of the carrier device and also includes angle sensors arranged on movable components of the carrier device. This is particularly important for determining a target position of the device for the examination and retrieval of suspected objects based on the position of the carrier device and the angle sensors. The positioning system thus enables precise control of the device for the examination and retrieval of suspected objects underwater to a target position of the device and the carrier device. The proposed basic principle is that a GPS position of the carrier device determined by the GPS module serves as the starting point or reference point, and the position of the gripping device is determined accordingly.The device's position for examining and recovering suspected objects is determined using measurements from the angle sensors. This allows the device to be precisely targeted to a predetermined location.

[0057] Another aspect of the invention is a method according to claim 10 for investigating and recovering

[0058] Suspected objects in underwater areas, especially munitions.

[0059] The procedure includes at least the following steps: Extending a measuring probe attached to an extendable probe arm into a working position to determine the position of a suspected object in a concealed state; further probing with the extended measuring probe in the working position; retracting the measuring probe into a rest position; recovering and / or exposing the suspected object with the retracted measuring probe in the rest position.

[0060] Preferably, the method also includes at least one of the following steps in parallel with or after the re-probing. Extending an acoustic camera attached to an extendable mounting arm into a working position for the visual identification of a suspected object that is at least partially exposed; identifying the suspected object with the acoustic camera in the working position; retracting the acoustic camera into a resting position, recovering and / or exposing the suspected object with the retracted acoustic camera in the resting position.

[0061] Preferably, the exposure is carried out with a device for examining and recovering suspected objects in the underwater area, which comprises at least one flushing nozzle mechanically attached in a grab area, wherein the flushing nozzle is configured to discharge a flushing medium for exposing the suspected object directed towards an area outside a receiving area of ​​grab shells, and the device comprises a suction pump which is fluidly connected to at least one suction nozzle, wherein the suction nozzle is arranged in the grab area, in particular to provide sediment suction close to the suspected object.

[0062] Preferably, the method is carried out with a device for investigating and recovering suspected objects in the underwater area according to one of the above embodiments and / or with a carrier device according to one of the above embodiments.

[0063] Generally speaking, ordnance recovery includes the steps of preliminary probing, site preparation, post-probing, recovery and excavation, identification of the ordnance, and restoration of the terrain.

[0064] Preliminary investigation involves roughly locating a suspected object and determining its position within a suspected area. After the preliminary investigation and site preparation are complete, a follow-up investigation and recovery of the ordnance take place. During the follow-up investigation, the position of the suspected object or ordnance is determined more precisely while it is still buried. Once the exact location of the suspected object is known, it is recovered and exposed, which can be understood as excavation. The recovery and exposure process is monitored, for example, with an acoustic and / or optical camera.

[0065] The advantages, explanations and definitions described above for the device for investigating and recovering suspected objects underwater apply analogously to the procedure described above for investigating and recovering suspected objects underwater.

[0066] Preferably, the at least one suction nozzle is connected to the support body via an extendable support frame to allow the suction nozzle to be moved relative to the support body. The support frame can, for example, be telescopic or pivotably mounted on the support body. The extendable support frame enables the suction nozzle to be moved relative to the support body. Thus, the suction nozzle can be moved from a retracted state to an extended state. These two states can be considered a rest position and a working position, respectively. It is therefore particularly preferred that the extendable support frame be movable into at least one working position and one rest position.An extendable suction nozzle is advantageous because it can be positioned for targeted extraction around the ordnance and removed when not needed, thus not obstructing visibility, measurements, other handling, or other work in its resting position. It is understood that the extendable support frame is also retractable; therefore, a retractable and extendable support frame is proposed. With a retractable support frame and suction nozzle, the dimensions of the device can be kept small, and targeted extraction directly at the ordnance can be achieved when the suction unit is in its working position. Extension and retraction are preferably achieved by a controllable electric or hydraulic drive. In its resting position, the support frame has a minimal footprint, for example...by swiveling the support frame and the suction nozzle it holds close to the supporting structure. The small footprint of the entire device speeds up the recovery of the suspected object, as less soil needs to be excavated.

[0067] In a particularly preferred embodiment, the working position is a position of the support frame in which the suction nozzle is partially located within the gripper area, and / or the rest position is a position of the support frame in which the suction nozzle is located outside the gripper area. It is therefore proposed that the suction nozzle be pivoted at least partially into the gripper area from its rest position, in order to position it at least partially within the gripper area in the working position. "Partially pivoting into the gripper area" means that at least a portion of the suction nozzle projects into the gripper area, in particular the suction opening, when the suction nozzle is positioned in its final working position. Another portion of the suction nozzle, in particular the end opposite the suction opening, can remain outside the gripper area, for example, to prevent damage.to be coupled to an extraction line in or on the support body.

[0068] Preferably, at least one flushing nozzle is held on the suction port. It is therefore proposed that at least one flushing nozzle, preferably several flushing nozzles, be mechanically attached to or held on the suction port. The at least one flushing nozzle is preferably arranged at the suction end of the suction port. It is understood that if a suction port movable with a support frame is used, the flushing nozzles are also movable due to their mechanical attachment to the suction port. It is advantageous to attach the flushing nozzle(s) to the suction port because flushing with the nozzles can take place directly in the suction area, thus minimizing underwater visibility obstruction caused by stirred-up sediment, as the suction occurs directly at the point of flushing and sediment resuspension. Furthermore, this allows for quick and easy investigation and recovery of suspected objects underwater.

[0069] Preferably, the suction nozzle is mechanically stabilized in its working position by the gripping device, whereby stabilization is achieved by the gripping device grasping the suction nozzle. It is therefore proposed that the suction nozzle is gripped by the gripping device in its working position, thus providing mechanical stabilization. In other words, the gripping device grasps the extended suction nozzle and holds it firmly between its gripping jaws. In this state, highly targeted suction can be carried out directly at the suspected object, and flushing can also be performed directly at the suspected object if additional flushing nozzles are attached to the suction nozzle. This results in a faster and safer investigation and recovery of suspected objects underwater, as suction and flushing can be carried out more precisely and efficiently.

[0070] Preferably, the suction nozzle includes gripper shell receptacles. These receptacles are mechanical supports for the gripper shells, used to stabilize the suction nozzle. When the suction nozzle is in its working position, the gripper shells of the gripping device are closed and engage with the receptacles. The pivoting into the working position and the closing of the gripper can occur simultaneously or sequentially, e.g., the gripper closing only after pivoting into the working position.

[0071] Preferably, the suction nozzle is designed to be connectable to a suction pipe connection via a suction tube, and in the operating position, the suction nozzle is coupled to the suction pipe connection via the suction tube. It is therefore proposed that the suction nozzle is connected to the suction pipe connection in the operating position, and that sediment extraction takes place in this position. In the rest position, the suction tube and the suction nozzle are, for example, not coupled to the suction pipe connection. The suction pipe connection is, for example, located on or within the support structure.

[0072] Preferably, the connection point where the gripping device is mechanically connected to the support body is designed with a quick-change mount for attaching the gripping device. The quick-change mount can also be referred to as a quick-change system or quick coupler. The quick-change system is designed, for example, with two hook-shaped receiving claws that engage a docking shaft of the mounted tool. Once the quick coupler is inserted into the docking shaft and the tool is mounted, locking pins are inserted into the tool. The quick-change mount simplifies the exchange of different tools on the support body. The quick-change mount can be designed, for example, to be mechanical, hydraulic, or fully hydraulic. Its purpose is to allow, for example, the gripping device to be exchanged for a different tool for the recovery and examination of the suspected object.A quick-change attachment thus enables faster investigation and recovery of suspected objects underwater, as the exchange of different tools can be carried out more quickly.

[0073] The quick-change mounting is particularly preferred for attaching a sorting grab and / or a rotating cutting tool, and the device's support body is equipped with connection means for operating the sorting grab and / or the cutting tool. It is therefore proposed that other tools for retrieving the suspected object can also be attached to the device's support body using the quick-change mounting. A first additional tool is a sorting grab, which is generally known. The sorting grab is a special clamshell grab with a rotating mechanism. The rotating mechanism allows the clamshells of the sorting grab to be rotated. The sorting grab is particularly well-suited for removing larger obstacles such as wood or stones from the location of the suspected object. A second additional tool is a rotating cutting tool.The cutting tool is, for example, designed with a rotatable basket on which cutting teeth are arranged. The cutting tool can also be understood as a rotary tiller. The connecting means are, for example, electrical or hydraulic connecting means or the like, to supply the tool with hydraulic or electrical energy or with an operating medium, or to mechanically couple the tool to an external drive. The present invention will now be explained in more detail below by way of example embodiments with reference to the accompanying figures, whereby the same reference numerals are used for identical or similar assemblies: . Fig. 1 schematically shows a side view of a device for examining and recovering suspected objects in an embodiment according to the invention. Fig. 2 schematically shows the device for examining and recovering suspected objects in a perspective view in one embodiment. Fig. 3 schematically shows the device for examining and recovering suspected objects in a bottom view in one embodiment. Fig. 4 schematically shows the device for examining and recovering suspected objects in a side view in various operating states in one embodiment. Fig. 5 schematically shows the device for examining and recovering suspected objects in a top view in various operating states in one embodiment. Fig. 6 schematically shows a carrier device with a device for examining and recovering suspected objects.Figure 7 schematically shows the device for examining and recovering suspected objects in a further embodiment with an extendable support frame. Figure 8 schematically shows the device for examining and recovering suspected objects from the . Figure 7 with an extendable support frame in another side view and in rest position. Fig. 9 schematically shows the device for examining and recovering suspected objects from the Figure 7 or 8 with an extendable support frame in working position. Figure 10 shows three devices with a quick-change mount for attaching three different tools.

[0074] The Figure 1 Figure 1 schematically shows a side view of a device 10 for the examination and recovery of suspected objects in an embodiment according to the invention.

[0075] Device 10 is intended for the investigation and recovery of suspected objects in underwater areas, namely for the investigation and recovery of munitions.

[0076] The device 10 includes a support body 100.

[0077] The device 10 also includes a gripping device 102 with at least two oppositely arranged gripper shells 104, wherein a receiving area 106 is formed between the two gripper shells.

[0078] The gripping device 102 is therefore designed as a multi-shell gripper with five gripper shells 104.

[0079] The gripping device 102 is mechanically connected to the support body at a connection point 108, forming a gripper area 110 that extends from the connection point 108 in a direction away from the support body 100. A support body area 111 is also shown.

[0080] The device 10 also includes at least one flushing nozzle 112 mechanically attached in the gripper area 110, the flushing nozzle being configured to discharge a flushing medium to expose the suspected object outside the gripping area 106. A flushing nozzle 112 is attached to each gripper shell 104 of the multi-shell gripper, which in the Figure 1 is not explicitly shown, but for example in the Figure 4 This illustrates the point.

[0081] The device 10 also includes a suction pump 114, which is fluidly connected to at least one suction port 116, the suction port 116 being arranged in the gripper area to provide sediment suction close to the suspected object. The suction port 116 is also not located in the Figure 1 The figure is shown and only illustrated as a rectangle for illustrative purposes. The suction pump 114 is arranged inside the support body 100 and is also not shown directly.

[0082] The suction nozzle 116 and the flushing nozzle 112 are each held on the five gripper shells 104 by a gripper shell fastening 118 in the gripper area, namely in an area at a gripper tip 120.

[0083] The gripper shell mounting 118 is designed as a semicircular frame on the gripper shells 104, as shown in the Figure 1 as an exemplary embodiment.

[0084] The device 10 has carrier device connection means 156 for connection to a carrier device 20, which is located, for example, in the Figure 6The carrier device connection means 156 are hydraulic connection means for the hydraulic power supply of hydraulic components of the gripping device, which has hydraulic cylinders, and electrical connection means for the electrical power supply of electrical components of the device 10, which are arranged on or in the support body 100, such as the electric suction pump 114. The electrical connection means are not shown in the figure.

[0085] The device 10 also includes an acoustic camera 124 for the visual identification of the suspected object, the acoustic camera being connected to the support body 100 via an extendable mounting arm 126 in order to move the acoustic camera 124 relative to the support body 100 with the extendable mounting arm. The extension and retraction of the mounting arm is, for example, in the Figure 4 and 5 depicted.

[0086] The support body 100 has a longitudinal axis 142 extending from the support body 100 to the gripping device 102, and the extendable mounting arm 126 is movable into at least one working position A1 and one rest position B1. In the Figure 1 The fastening arm 126 is in the rest position B1.

[0087] Working position A1 is a position of the mounting arm in which the acoustic camera 124 performs the visual identification of the suspected object. Working position A1 is used, for example, in the Figure 4 and 5 depicted.

[0088] The rest position B1 is a position of the mounting arm 126 in which the mounting arm 126 is positioned closer to the longitudinal axis 142 than in the working position A1. This is the case, for example, in the Figure 4 and 5 shown. Device 10 in the Figure 1 is in rest position B1.

[0089] The acoustic camera 124 is designed to be positionally variable with a steerable suspension 144.

[0090] The device 10 also includes a measuring probe 128 for determining the position of the suspected object in a concealed state, wherein the measuring probe 128 is connected to the support body 100 via an extendable probe arm 130 in order to move the measuring probe 128 relative to the support body 100 with the foldable probe arm 130. The extension and retraction of the probe arm is, for example, in the Figure 4 and 5 depicted.

[0091] The extendable probe arm 130 can be moved into at least a working position A2 and a rest position B2. In the Figure 1 The probe arm 126 is in rest position B2.

[0092] Working position A2 is a position of the probe arm 130 in which the measuring probe 128 determines the position of the suspected object. Working position A2 is used, for example, in the Figure 4and 5 depicted.

[0093] The rest position B2 is a position of the probe arm 130 in which the probe arm is positioned closer to the longitudinal axis than in the working position. This is the case, for example, in the Figure 4 and 5 shown. Device 10 in the Figure 1 is in rest position B2.

[0094] The measuring probe 128 is equipped with an electrical transmitting coil and receiver coil to determine the position of the suspected object, in order to carry out a localization procedure based on the principle of transient electromagnetics, and the electrical transmitting coil is designed as a high-performance coil.

[0095] The extendable mounting arm 126 is connected to the support body 100 via a first pivot joint 132 in order to provide a pivoting of the mounting arm about a pivot axis that runs perpendicular to one or the longitudinal axis of the support body 100.

[0096] The extendable probe arm 130 is connected to the support body 100 via a second pivot joint 134 in order to provide a pivoting of the probe arm about a pivot axis that runs perpendicular to one or the longitudinal axis of the support body 100.

[0097] Furthermore, in the Figure 1 A quick-change mounting bracket 152 is shown for connecting the device to a carrier device. Carrier device connection means 156 are arranged to the right and left of the quick-change mounting bracket 152.

[0098] Furthermore, an outlet 154 for the suction pump 114 is shown for connecting a hose and for discharging extracted medium or sediment. The outlet 154 is designed with a flanged elbow.

[0099] The Figure 2 schematically shows device 10 for the examination and recovery of suspected objects from the Figure 1in a perspective view. Both the mounting arm 126 and the probe arm 130 are in their rest positions B1 and B2, respectively.

[0100] In contrast to Figure 1 is in the Figure 2 It is shown more clearly that the device 10 has a quick-release port 152 for connecting a carrier device 20.

[0101] Furthermore, it can be seen that the mounting arm 126 and the probe arm 130 are hydraulically driven.

[0102] The Figure 3 schematically shows the device for examining and recovering suspected objects from the Figure 1 in a view from below.

[0103] Compared to the Figures 1 to 2 is in the Figure 3 An optical camera system 136 for the visual examination of a suspected object is shown.

[0104] The optical camera system 136 for visually examining a suspect object is arranged in the gripper area of ​​the gripping device 102, wherein the camera system includes a lighting device 138 for illuminating the suspect object and the camera system is equipped with a high-resolution camera 140. The camera system shown is equipped with a holder for receiving an HD camera with LED lighting.

[0105] The gripper device 102, designed as a multi-shell gripper, is in an almost closed state.

[0106] The Figure 4 schematically shows the device for examining and recovering suspected objects from the Figure 1 in a side view in different operating states.

[0107] The mounting arm 126 and the probe arm 130 are in the rest position B1 and B2 respectively.

[0108] The dashed lines indicate the positions of the mounting arm 126 and the probe arm 130, respectively, in working positions A1 and A2. As can be seen, in the working position, the two arms 126 and 130 are positioned further away from the longitudinal axis of the support body than in the rest positions B1 and B2.

[0109] The acoustic camera 124, which can be considered a sonar device, is mounted in a camera basket to protect it from damage. Due to its lateral positioning, the support body 100 and the gripping device 102 do not interfere with the identification of the suspected object using the acoustic camera. The acoustic camera can be hydraulically folded into its respective end position.

[0110] The measuring probe 128 is positioned in working position A1 in an area below the end of the grab tip, and the movement arm is designed to move the measuring probe into this position. This ensures uninterrupted probing in the subsurface.

[0111] Furthermore, in the Figure 4 A rinsing center is represented as a rhombus. The rinsing nozzles 112 attached to the grippers 104 each emit a fluid stream in the form of water, which converges at a point illustrated by the rhombus. This point or area is the rinsing center.

[0112] The Figure 5 schematically shows the device for examining and recovering suspected objects from the Figure 1 in a top view in various operating states. The explanations regarding the Figure 4 apply analogously to the Figure 5 .

[0113] In the Figure 5It is more intuitive to see that the mounting arm 126 and the probe arm 130 are further away from the longitudinal axis of the support body in the working position A1 and A2 respectively than in the rest position B1 and B2 respectively.

[0114] The Figure 6 Figure 1 schematically shows a carrier unit 20 with a device 10 for investigating and recovering suspected objects underwater. The carrier unit 20 is illustrated as a floating excavator, which floats on a water surface represented by a dotted line. However, the carrier unit can also be a conventional excavator standing on a floating platform or on land if recovery is taking place in a shoreline area. As the Figure 6As can be seen, the carrier device 20 has picked up the device 10 as a tool. The mounting arm 126 with the acoustic camera 128 and the probe arm 130 with the measuring probe 132 have moved into rest positions B1 and B2. As can be seen, the funnel-shaped excavation 146 can be kept small by the folded arms of the device. If the arms were to extend further to the sides, the excavation would have to be correspondingly larger. The suspected object 148 is shown as a black triangle.

[0115] The carrier device 20 is equipped with a positioning system for positioning the device for the examination and recovery of suspected objects, wherein the positioning system has a GPS module 150 for determining a position of the carrier device 20, and wherein the positioning system also has angle sensors which are arranged on movable components of the carrier device in order to determine a target position of the device for the examination and recovery of suspected objects depending on the position of the carrier device and depending on the angle sensors.

[0116] The Figure 7Figure 10 schematically shows a further embodiment of the device for examining and recovering suspected objects. Compared to the embodiments described above, device 10 has a suction nozzle 116, which is attached to the support body 100 by means of an extendable support frame 158. The at least one suction nozzle 116 is connected to the support body 100 via the extendable support frame 158 in order to move the suction nozzle 116 relative to the support body 100 with the extendable support frame. The extendable support frame 158 is movable into at least one working position A3 and one rest position B3. The two positions are, for example, in the Figures 8 and 9 depicted. The Figure 7 It also shows that at least one rinsing nozzle 112 is held on the suction nozzle 116, thus following the movements of the suction nozzle.

[0117] The device 10 is also equipped with a quick-change mount 160 for attaching at least the gripping device 102. For this purpose, the connection point 108, where the gripping device 102 is mechanically connected to the support body 100, is equipped with a quick-change mount 160 for attaching at least the gripping device 102. The quick-change mount 160 has two hook-shaped receiving claws 162 that engage a docking shaft 164 of the mounted tool 102. The tool shown is the gripping device 102, designed as a multi-shell gripper. Once the quick-change mount 160 is inserted into the docking shaft 164 and the tool 102 is mounted, locking bolts are inserted into the tool 102.

[0118] The Figure 8 schematically shows device 10 for the examination and recovery of suspected objects as in the Figure 7 shown in a side view with the multi-shell gripper 102 open. In the Figure 8Figure 8 shows that the extendable support frame 158 is positioned in the rest position B3. The rest position B3 is a position of the support frame 158 in which the suction nozzle 116 is located outside the gripper area 110. Figure 8 also shows a suction pump located inside a housing. The suction nozzle 116 can be connected to a suction pipe connection via a suction pipe 166. The suction nozzle 116 includes gripper shell receptacles 168. The gripper shell receptacles 168 are mechanical receptacles for the gripper shells 104 for stabilizing the suction nozzle 116. When the suction nozzle 116 is in the working position, the gripper shells 104 of the gripping device are closed and the gripper shells 104 engage with the gripper shell receptacles 168. This is shown in the Figure 9 shown. In addition, it is in the Figure 8A suction pipe connection 170 is shown. The suction pipe 166 connects to the suction pipe connection 170 in the working position A3. This is also shown in the Figure 9 depicted.

[0119] The Figure 9 schematically shows device 10 for the examination and recovery of suspected objects as in the Figure 7 and 8 shown in a side view with closed multi-shell grab 102. In the Figure 9 Figure 1 shows that the extendable support frame 158 is positioned in working position A3 and is lowered. Working position A3 is a position of the support frame 158 in which the suction nozzle 116 is partially located in the gripper area 110. In the working position, the suction nozzle 116 is connected to the suction pipe connection 170 via the suction pipe 166. Figure 9This shows that the suction port 116 is designed to be connectable to a suction pipe connection 170 via a suction pipe 166 and that the suction port 116 is coupled to the suction pipe connection 170 via the suction pipe 166 in working position A3.

[0120] The suction nozzle 116 includes gripper shell receiving means 168, which are gripped by the gripper shells 104 of the gripping device 102 to mechanically stabilize the suction nozzle 116. In the Figure 9 The suction nozzle 116 is arranged at the tip of the gripper shells 104 and projects into the gripper area 110. Several flushing nozzles 112 are held on the suction nozzle 116. The supply hoses of the flushing nozzles 112 are not shown for clarity. The suction nozzle 116 is therefore mechanically stabilized by the gripper assembly 102 in the working position A3, with the stabilization being achieved by the gripper assembly 102 gripping the suction nozzle 116.

[0121] Figure 10Figure 10 shows three devices with three different tools: a multi-shell gripper 102, a sorting gripper 172, and a rotating cutting tool 174. The quick-change mount 160 is designed to attach the sorting gripper 172 and also the rotating cutting tool 174. (Not shown in the) Figure 10 It is shown that the support body 100 of the devices 100 is designed with connection means for operating the sorting gripper 172 and / or for operating the cutting tool 174. Reference symbol list

[0122] 10 Device 20 Carrier device 100 Support body 102 Gripping device 104 Gripper shells 106 Pickup area 108 Connection point 110 Gripper area 111 Support body area 112 Flushing nozzle 114 Suction pump 116 Suction port 118 Gripper shell attachment 120 Gripper tip 122 Support frame 124 Acoustic camera 126 Extendable mounting arm 128 Measuring probe 130 Probe arm 132 First swivel joint 134 Second swivel joint 136 Optical camera system 138 Lighting device 140 Camera 142 Longitudinal axis 144 Steerable suspension 146 Ground excavation 148 Suspected object 150 GPS module 152 Quick-change mount 154 Outlet 156 Carrier device connection device 158 extendable support frame 160 quick-change holder 162 mounting claw 164 docking shaft 166 suction tube 168 gripper shell holder 170 suction pipe connection 172 sorting gripper 174 rotating cutting tool A1, A2, A3 working position B1, B2, B3 rest position

Claims

1. Device (10) for the inspection and recovery of suspicious objects in an underwater area, in particular of ordnance, comprising: - a support body (100); and - a gripping device (102) having at least two oppositely arranged gripper shells (104), wherein a receiving region (106) is formed between the two gripper shells, and - the gripping device being mechanically connected to the support body at a connection point (108), wherein a gripper region (110) is formed which extends from the connection point in a direction facing away from the support body, wherein the device furthermore - comprises at least one flushing nozzle (112) mechanically fastened in the gripper region, the flushing nozzle being configured to discharge a flushing medium for uncovering the suspicious object in a directed manner onto a region outside the receiving region of the gripper shells, and - comprises a suction pump (114) characterized in that the suction pump (114) is fluidically connected to at least one suction nozzle (116), the suction nozzle being arranged in the gripper region, in particular to provide sediment suction in the vicinity of the suspicious object, wherein the device (10) furthermore comprises an acoustic camera (124) for visual identification of the suspicious object, wherein the acoustic camera is connected to the support body via an extendable mounting arm (126) in order to move the acoustic camera relative to the support body (100) by means of the extendable mounting arm, and / or comprises a measuring probe (128) for determining the position of the suspicious object in a non-uncovered state, wherein the measuring probe is connected to the support body via an extendable probe arm (130) in order to move the measuring probe relative to the support body (100) by means of the foldable probe arm.

2. Device (10) according to claim 1, wherein the suction nozzle (116) and / or the flushing nozzle (112) is held on the at least one gripper shell by a gripper-shell fastening (118) in the gripper region, wherein preferably the suction nozzle and / or the flushing nozzle is held by the gripper-shell fastening in a region at a gripper tip (120); and / or wherein the suction nozzle and / or the flushing nozzle is held in the gripper region by a support frame (122), wherein preferably the suction nozzle and / or the flushing nozzle is held by the support frame in a region at a gripper tip.

3. Device (10) according to claim 1 or 2, wherein the device comprises carrier-device connection means for connection to a carrier device, wherein preferably the carrier-device connection means are hydraulic connection means and / or electrical connection means, in particular for supplying hydraulic energy to hydraulic components of the gripping device and / or for supplying electrical energy to electrical components arranged on the gripping device (102) or on the support body (100).

4. Device (10) according to any one of the preceding claims, insofar as the device (10) comprises the acoustic camera (124) for visual identification of the suspicious object according to claim 1, wherein the support body (100) has a longitudinal axis extending from the support body toward the gripping device (102), and the extendable mounting arm (126) is movable at least into a working position (A1) and a rest position (B1), and in particular the working position (A1) is a position of the mounting arm in which the acoustic camera performs the visual identification of the suspicious object, and / or the rest position (B1) is a position of the mounting arm in which the mounting arm is positioned closer to the longitudinal axis than in the working position, and / or wherein preferably the acoustic camera is designed to be position-adjustable by means of a steerable suspension.

5. Device (10) according to any one of the preceding claims, insofar as the device (10) comprises the measuring probe (128) for determining the position of the suspicious object in a non-uncovered state according to claim 1, wherein the support body (100) has a longitudinal axis extending from the support body toward the gripping device (102), and the extendable probe arm (130) is movable at least into a working position (A2) and a rest position (B2), and in particular the working position (A2) is a position of the probe arm in which the measuring probe performs the position determination of the suspicious object, and / or the rest position (B2) is a position of the probe arm in which the probe arm is positioned closer to the longitudinal axis than in the working position.

6. Device (10) according to claim 5, wherein the measuring probe (128) for determining the position of the suspicious object comprises an electrical transmitting coil and a receiving coil and is configured to perform a locating method based on the principle of transient electromagnetics, and wherein in particular the electrical transmitting coil is designed as a high-power coil.

7. Device (10) according to any one of the preceding claims, wherein one or the extendable mounting arm (126) is connected to the support body via a first pivot joint (132) in order to provide pivoting of the mounting arm about a pivot axis extending perpendicular to one or the longitudinal axis of the support body (100); and / or one or the extendable probe arm (130) is connected to the support body via a second pivot joint (134) in order to provide pivoting of the probe arm about a pivot axis extending perpendicular to one or the longitudinal axis of the support body (100).

8. Device (10) according to any one of the preceding claims, wherein an optical camera system (13) is arranged in the gripper region for visual inspection of a suspicious object, and wherein the camera system preferably comprises illumination means (138) for illuminating the suspicious object and / or the camera system is designed with a high-resolution camera (140), and / or wherein the gripping device (102) is designed as a multi-shell gripper and comprises at least three gripper shells (104), in particular five gripper shells (104), and a flushing nozzle (112) and a suction nozzle (116) are fastened to each gripper shell of the multi-shell gripper, and / or wherein the gripping device (102) is designed with semi-open gripper shells and preferably has a capacity of 50 to 500 liters and / or a maximum load capacity of 100 kg to 3000 kg and / or a closing force of 1 kN to 18 kN, and / or wherein the suction pump (114) has a delivery rate of 20 m3 / h to 360 m3 / h and / or a delivery head of 5 m to 25 m and / or a maximum particle passage of 10 mm to 60 mm and / or wear-prone components of the suction pump are made of alloyed chromium steel.

9. Carrier device (20) with a device (10) for the inspection and recovery of suspicious objects in an underwater area according to any one of claims 1 to 8, wherein preferably the carrier device is designed with a positioning system for positioning the device for the inspection and recovery of suspicious objects, wherein the positioning system comprises a GPS module for determining a position of the carrier device, and wherein the positioning system furthermore comprises angle sensors arranged on movable components of the carrier device, in particular for determining a target position of one or the device for the inspection and recovery of suspicious objects as a function of the position of the carrier device and as a function of the angle sensors.

10. Method for the inspection and recovery of suspicious objects in an underwater area, in particular of ordnance, comprising the steps of: - providing an extendable probe arm (130) with a measuring probe (128) fastened thereto; - extending the measuring probe (128) fastened to the extendable probe arm (130) into a working position (A2) for determining the position of a suspicious object in a non-uncovered state; - subsequent probing with the extended measuring probe (128) in the working position; - retracting the measuring probe (128) into a rest position (B2); - recovering and / or uncovering the suspicious object with the measuring probe retracted into the rest position, wherein the method is carried out - with a device (10) for the inspection and recovery of suspicious objects in an underwater area according to any one of the preceding claims 1 to 8; and / or - with a carrier device (20) according to claim 9.

11. Method according to claim 10, wherein in parallel with the subsequent probing or after the subsequent probing at least one of the following steps is carried out: - providing an extendable mounting arm (126) with an acoustic camera (124) fastened thereto; - extending the acoustic camera (124) fastened to the extendable mounting arm (126) into a working position (A1) for visual identification of a at least partially uncovered suspicious object; - identifying the suspicious object with the acoustic camera (124) in the working position; - retracting the acoustic camera (124) into a rest position (B1); - recovering and / or uncovering the suspicious object with the acoustic camera retracted into the rest position.

12. Method according to claim 10 or 11, wherein the uncovering is carried out with a device (10) for the inspection and recovery of suspicious objects in an underwater area, which comprises at least one flushing nozzle (112) mechanically fastened in a gripper region, the flushing nozzle being configured to discharge a flushing medium for uncovering the suspicious object in a directed manner onto a region outside a receiving region of gripper shells (104), and wherein the device (10) comprises a suction pump (114) which is fluidically connected to at least one suction nozzle (116), the suction nozzle being arranged in the gripper region, in particular to provide sediment suction in the vicinity of the suspicious object.

13. Device (10) according to any one of claims 1 to 8, wherein the at least one suction nozzle (116) is connected to the support body (100) via an extendable support frame in order to move the suction nozzle (116) relative to the support body (100) by means of the extendable support frame, wherein preferably the extendable support frame is movable at least into a working position (A3) and a rest position (B3), and in particular the working position (A3) is a position of the support frame in which the suction nozzle (116) is partially arranged in the gripper region (110), and / or the rest position (B3) is a position of the support frame in which the suction nozzle (116) is arranged outside the gripper region (110), wherein preferably the at least one flushing nozzle (112) is held on the suction nozzle (116).

14. Device (10) according to claim 13, wherein - the suction nozzle (116) in the working position (A3) is mechanically stabilized by the gripping device (102), wherein the stabilization is effected by gripping the suction nozzle (116) with the gripping device (102), and wherein preferably the suction nozzle comprises gripper-shell receiving means (168) for mechanical stabilization; and / or - the suction nozzle (116) is designed to be connectable to a suction pipe connection (170) via a suction pipe (166), and the suction nozzle (116) in the working position (A3) is coupled to the suction pipe connection (170) via the suction pipe (166).

15. Device (10) according to any one of claims 1 to 8, 13 and 14, wherein the connection point (108) at which the gripping device (102) is mechanically connected to the support body is designed with a quick-change coupling for fastening the gripping device (102), wherein preferably the device comprises a plurality of interchangeable tools which can be detachably fastened to the quick-change coupling, wherein the plurality of tools comprises at least the gripping device and preferably a sorting gripper and / or a rotating cutting tool, and wherein the support body (100) of the device (10) is designed with connection means for operating the sorting gripper and / or with connection means for operating the cutting tool.