DE102021128441A1 - Device for examining and recovering suspicious objects in the underwater area - Google Patents

Abstract

Device for examining and recovering suspected objects in the underwater area, in particular munitions, the device comprising a carrying body and a gripping device with at least two gripper shells arranged opposite one another, with a receiving area being formed between the two gripper shells, and the gripping device mechanically at a connection point with the is connected to the supporting body, with a gripper area being formed which extends from the connection point in a direction away from the supporting body, the device also comprising at least one flushing nozzle mechanically fastened in the gripper area, the flushing nozzle being set up to release a flushing medium to expose the suspected object outside of the receiving area of the gripper shells, and comprises a suction pump which is fluidly connected to at least one suction nozzle, the suction nozzle being arranged in the gripper area in order to provide suction of sediment close to the suspicious object.

Description

The present invention relates to a device for examining and salvaging suspicious objects in the underwater area, in particular explosive ordnance. In addition, the present invention relates to a carrier device with a device for examining and recovering suspicious objects in the underwater area. In addition, the present invention relates to a method for examining and recovering suspicious objects in the underwater area.

The ordnance recovery is basically known. This is partly carried out by certified civilian companies and serves the purpose of recovering unexploded ordnance, such as high-explosive bombs, ammunition or any type of war legacy, from the underground in order to then dispose of them. In the area of explosive ordnance recovery, a fundamental distinction can be made between explosive ordnance recovery on land and on water. A munitions recovery in the underwater area refers to a salvage of munitions or warfare agents in seas, rivers, lakes, bodies of water or the like, with hundreds of thousands of such munitions in the ground and on the bottom of seas, rivers and bodies of water to date.

It is or was usual in underwater ordnance recovery, after the ordnance had been roughly excavated with an excavator, for example, for a manual uncovering and a manual examination of the ordnance to be carried out by a diver. In order to replace the diver and to implement the salvage of the ordnance more safely and quickly, salvage tools are known, such as the device from the WO document WO 2021/075965 A1 .

In general, the problem with the recovery of ordnance in the underwater area is that it is very complex and great efforts must be made to recover ordnance from the rivers, lakes or seas.

In order to salvage the munitions, the ground above and around the munitions is removed under water, which is very complex and time-consuming given the large dimensions of a salvage tool used. It is therefore desirable to have to remove as little soil as possible during salvage in the underwater area. If the dimensions of the excavation tool are large, correspondingly more soil has to be excavated in order to create the necessary access space for the excavation tool, e.g. for a grab, which prolongs the excavation process. In addition, protruding parts of the salvage tool can limit the depth of penetration into the ground or into a dug hole in the ground.

In addition, when the ordnance is recovered, the uncovered ordnance is examined. In order to carry out a final investigation of the ordnance, the ground is removed step by step until the uncovered ordnance can be examined. First, a large area is dug with an excavator device or gripper device. In order to then uncover the munition for the investigation, flushing nozzles are used to flush a near-surface munition free without contact. The problem here is that the digging and flushing out whirls up sediments, which obstruct the view and thus the uncovering, which also lengthens the salvage process.

The object of the present invention is therefore to address one of the problems mentioned above, to improve the general prior art or to provide an alternative to what was previously known. In particular, a solution is to be provided with which a quick, safe and simple examination and recovery of suspicious objects in the underwater area is achieved.

According to the invention a device according to claim 1 is proposed.

Accordingly, a device for examining and recovering suspicious objects in the underwater area is proposed. In a preferred embodiment, the suspicious objects are munitions of war or objects that were identified as possible munitions of war based on their properties in a probing process. This device is intended for ordnance recovery. The device can thus also be understood and referred to as an ordnance recovery tool or as an attachment that is primarily intended for ordnance recovery in the underwater area.

An examination of a suspected object includes in particular a position determination of the suspected object, for example with a measuring probe for determining the position of the suspected object. An examination also includes in particular an identification of the suspicious object as to whether the suspicious object is a weapon or not and/or a determination of a type or type of the suspicious object, whereby a size, a shape and/or material properties of the suspicious object can be recorded for this purpose. For these purposes, the device can have various technical devices, such as an acoustic camera for visually identifying the suspicious object or an optical camera for visually examining a suspicious object.

Recovering a suspicious object refers to uncovering the ordnance in the subsoil of the body of water, i.e. removing soil and deposits. The salvage thus includes, in particular, removing the subsoil with the gripper and rinsing the suspicious object free with a rinsing nozzle. Lifting an exposed suspicious object with the gripper can also be assigned to the salvage or salvage process.

The device includes a support body. The support body serves as a mechanical attachment and is structurally fixed. The support body is preferably made of metal. Components of the device can be fastened to the carrying body, such as a gripping device, a fastening arm, a probe arm, a carrying device mount or the like. The support body can therefore also be understood as a support frame or as a fixed frame structure or as a housing.

The device also includes a gripping device with at least two gripper shells arranged opposite one another, with a receiving area being formed between the two gripper shells. The gripping device can also be understood and referred to synonymously as a gripper or gripping device. The gripper device has at least two gripper shells, gripper shells being known in principle. The gripper device can be driven hydraulically or electrically. The gripper device is preferably designed as a hydraulic gripper. This increases safety because there are fewer electrical components that can be a potential source of danger when working on 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 clam shells are formed from a structurally strong material such as metal or the like.

The gripping device is mechanically connected to the support body at a connection point. The connection point thus designates an area or a point at which the gripping device is mechanically connected to the support body. The connection point is preferably a point or area at which the clamshells are pivotally mounted to the support body. The connection point is thus, for example, a point or an area on a pivot bearing of the gripper shells.

In addition, a gripper area is formed, which extends from the connection point in a direction away from the supporting body. The gripper area thus describes a spatial area that is close to the gripper. If, for example, the supporting body and the gripping device are aligned perpendicular to one another, the gripping area lies below the connection point between the supporting body and the gripping device. The gripper area is therefore a spatial area in the immediate vicinity of the gripper. In contrast to the gripper area, an area that extends from the connection point in a direction toward the carrying body can be understood and referred to as the carrying body area. An object that is thus arranged directly on the support body, for example, is therefore not assigned to the gripper area.

In particular, it is proposed that the device also includes at least one rinsing nozzle mechanically fastened in the gripper area, the rinsing nozzle being set up to release a rinsing medium for exposing the suspicious object, directed at an area outside the receiving area. It is therefore proposed that a rinsing nozzle is arranged in the gripper area, which emits a rinsing medium, for example as a directed jet. Water or the like is preferably proposed as the flushing medium. It goes without saying that for this purpose each flushing nozzle is preferably connected in a fluid-conducting manner to a pump. The pump can be a separate water pump, which can also be regarded as a flushing pump. The scavenging pump is preferably an external pump that is not located directly on the device, or a pump that is part of the device. Preferably, a scavenging pump connector is located on the device for connecting a scavenging pump to the scavenging pump connector. The rinsing pump connection is in turn fluidly connected to the rinsing nozzles. The scavenging pump is preferably a high-performance scavenging pump with a volume flow of up to 130m ³ /h. A contact-free exposure of the suspicious object is thus provided. The flushing nozzle can be attached directly to a gripper shell or held in the gripper area with a frame. It is also proposed that the exposure, which can also be understood as flushing, takes place outside of the gripper device, ie not in the receiving area of the gripper device. The suspected object is therefore not uncovered within the gripper device.

In addition, the device includes a suction pump, which is connected to at least one suction port in a fluid-conducting manner. It goes without saying that the suction connector and the suction pump are connected via a pipeline or hose for this purpose. The suction pump with suction port can also be used as a sediment suction device. The suction pump with suction nozzle is set up to implement suction of sediments and water. The suction nozzle can also be understood as the end piece into which the water and the sediments to be sucked in. The suction pump is preferably a dredge submersible pump.

The suction nozzle is arranged in the gripper area. This provides a sediment suction near the suspicious object.

In the present case, it was recognized that exposing the suspected object can be accelerated if the sediment is suctioned off as close as possible to the area or location at which the rinsing with the rinsing nozzles takes place. Due to the arrangement of the suction nozzle in the gripper area, sediments that are whirled up by the flushing with the flushing nozzles are sucked in at an early stage, since the suction takes place directly at the gripper device. This improves visibility during investigation and recovery, which improves safety and speed of recovery. In addition, visibility under water is improved because the sediments are not whirled up over large areas. For example, an optical camera can also be used to examine the suspicious object. This contributes to the safety of the salvage operation.

In WO 2021/075965 A1 cited at the outset, suction takes place on the support body in the support body area. This is disadvantageous since a large part of the sediments are not caught by the suction flow due to the large distance between the suction and the location of the flushing.

The suction nozzle and/or the flushing nozzle is/are preferably held on the at least one gripper shell with a gripper shell attachment in the gripper area. The clamshell attachment can be understood as a fastener that is directly mechanically connected to or arranged on the clamshell. The gripper shell attachment serves as an attachment for the suction nozzle and/or for the flushing nozzle on the at least one gripper shell. The clamshell mount is preferably a frame that is part of the at least one clamshell, and more preferably the clamshell mount is formed of a structurally rigid material, such as metal or the like.

An advantage of this arrangement in relation to the rinsing nozzle is that by adjusting the positioning of the gripper shells, a rinsing center can be set as desired and a targeted flushing can take place by controlling the gripper shells. The rinsing center can also be understood as a target area or target point at which a fluid flow generated by the at least one rinsing nozzle should occur. For example, if four rinsing nozzles are used, the rinsing center is a spatial area where the four fluid streams generated by the four rinsing nozzles meet. The flushing nozzle is preferably arranged on an outside of the gripper device or the gripper shells in relation to the receiving area. An advantage of this arrangement with regard to the suction nozzle is that the suction can also be adjusted by adjusting the gripper shells and targeted suction can be carried out by controlling the gripper shell positioning.

In a particularly preferred embodiment, the suction nozzle and/or the flushing nozzle is held in an area on a gripper tip with the gripper shell attachment. Accordingly, it is particularly preferred to fasten the suction nozzle and additionally or alternatively also the flushing nozzle spatially close to the gripper tip. The gripper tip can also be understood as a gripper end or gripper end piece. This further shortens the distance between the sediment suction and the flushing location and thus implements effective sediment suction close to the suspected object.

Preferably, the suction nozzle and/or the flushing nozzle is additionally or alternatively held with a support frame in the gripper area. It is thus proposed that a supporting frame is used to hold the suction nozzle and/or the flushing nozzle in the gripper area. The support frame can be designed in such a way that the suction nozzle and/or the flushing nozzle is arranged in the gripper area and the support frame is only partially arranged in the gripper area. The support frame is preferably attached to the connection point or to the support body. The support frame is therefore preferably designed to protrude into the gripper area. The support frame can be formed from several parts and a single frame can be provided for each suction nozzle and each flushing nozzle. Both a rinsing nozzle and a suction nozzle can also be arranged on one frame. The frame can preferably be steerable, in the form of a controllable arm.

In a particularly preferred embodiment, the suction nozzle and/or the rinsing nozzle is held in an area on a gripper tip with the support frame. This further shortens the distance between the sediment suction and the flushing location and thus implements effective sediment suction close to the suspected object.

The device preferably has carrier device connection means for connection to a carrier device, with the carrier device connection means more preferably being 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 which are connected to the gripping device or to the Supporting body are arranged. A carrier is including a device that receives and carries the device for examining and recovering suspected objects in the underwater area. For example, the carrier device is an excavator, which is preferably arranged on a floating body or is designed as a floating excavator. A floating body is, for example, an artificial island or a pontoon or the like. The device for examining and recovering suspicious objects in the underwater area is attached to the carrier device as an attachment. It is therefore proposed that the device has connection means in order to supply components of the device with electrical or hydraulic energy from the carrier device.

The device preferably includes a quick-change mount for mechanically connecting the device for examining and recovering suspicious objects to a carrier device.

Preferably, the device or the device according to the preamble of claim 1 also has an acoustic camera for visual identification of the suspicious object, the acoustic camera being connected to the supporting body via an extendable fastening arm in order to rotate the acoustic camera relative to the supporting body with the extendable to move the mounting arm. The acoustic camera can also be understood and referred to as a sonar.

An acoustic camera is part of the device for examining and recovering suspicious objects so that work under water can be visually monitored and any suspicious objects can be identified. The acoustic camera provides images based on hydroacoustic processes. The acoustic camera is configured to display an image of the suspect in optically clouded water known as black water. The acoustic camera is preferably set up to display suspicious objects in a surgical area of 2 to 4 meters away, in particular to display them in high resolution with a resolution of up to 10 mm per pixel. This enables a detailed representation and identification of observed objects, especially in the sub-decimeter range.

The acoustic camera is connected to the support body via an extendable mounting arm. The fastening arm can be designed to be telescopic, for example, or it can be arranged on the support body with a folding mechanism. The extendable mounting arm allows the acoustic camera to be moved relative to the support body. Thus, the mounting arm can be moved from a retracted condition to an extended condition. These two states can be understood as a rest position on the one hand and a working position on the other. An extendable mounting arm is advantageous because less of the soil layer above and around the munition needs to be excavated since the mounting arm can be folded or deployed after inspection of the object so that the acoustic camera is remote from the grasping area. It goes without saying that the extendable fastening arm is also designed to be retractable, ie a retractable and extendable fastening arm is proposed. The dimensions of the device can be kept small thanks to a fastening arm that can be retracted and extended. The extension and retraction is preferably carried out by a controllable electric or hydraulic drive.

In the rest position, for example, the mounting arm takes up minimal space.

Preferably, the support body has a longitudinal axis extending from the support body to the gripping device, the extendable attachment arm being movable at least into an operative position and an inoperative position.

In an additional or alternative preferred embodiment, the working position is a position of the fastening arm in which the acoustic camera carries out the visual identification of the suspicious object. The working position can also be interpreted as a working position, an extended state or a folded state. In the working position, the acoustic camera is far enough away from the carrying device to identify the suspicious object without interference. The identification of the suspicious object is thus less disturbed by the carrying body and/or the gripping device.

In a particularly preferred embodiment, the rest position is a position of the fastening arm in which the fastening arm is positioned closer to the longitudinal axis in the radial direction than in the working position. It is therefore proposed that the acoustic camera is arranged further away from the support device in the working position, ie in the rest position. The rest position can also be interpreted as a rest position, a retracted state, or an applied state. In the rest position, the acoustic camera is arranged closer to the longitudinal axis of the supporting body. This is particularly advantageous since the radial dimensions of the device can be kept small and the device has no disruptive, radially protruding parts. In this way, a hole to be excavated during the salvage process can be kept smaller and the salvage process can be kept short.

Preferably, the device also includes an acoustic camera, and the acoustic camera is designed to be variable in position with a steerable suspension. The acoustic camera can thus be swiveled with the steerable suspension. The steerable suspension is further preferably designed as a 3D suspension. Positionable refers to the ability to change the orientation or line of sight of the acoustic camera relative to the device. The steerable suspension enables continuous monitoring of the recovery process even when the camera position is moving. In addition, it is possible to view the object from different perspectives.

The device or the device according to the preamble of claim 1 preferably also has a measuring probe for determining the position of the suspicious object in a non-exposed state, the measuring probe being connected to the supporting body via an extendable probe arm in order to position the measuring probe relative to the supporting body with the to move the extendable probe arm.

In order to be able to determine the position of any suspicious objects under water, e.g. still covered by sediment, i.e. in a non-exposed state, a measuring probe is part of the device for examining and recovering suspicious objects. The measuring probe can determine the position of the suspicious object using an active locating method, with the active locating method preferably being based on the principle of transient electromagnetics. Active locating methods or probing methods that are based on the principle of transient electromagnetics are known in principle. The measuring probe can be designed, for example, as an electric coil that emits an electric field and receives reflections from bodies or from the suspected object. Subsequent determination of the position of the suspicious object is also known as reconnaissance.

The measuring probe is connected to the supporting body via an extendable probe arm. The probe arm can be designed to be telescopic or can be designed with a folding mechanism on the support body. The extendable probe arm makes it possible to move the measuring probe relative to the support body. Thus, the probe arm can be moved from a retracted condition to an extended condition. These states can be understood as a rest position on the one hand and a working position on the other. An extendable probe arm is advantageous because less of the layer of earth above and around the munitions has to be removed since the probe arm can be folded in or laid out after the position of the suspicious object has been determined. It goes without saying that the extendable probe arm is also designed to be retractable, ie a retractable and extendable probe arm is proposed. The radial dimensions of the device can be kept small thanks to a retractable and extendable probe arm. The extension and retraction is preferably carried out by a controllable electric or hydraulic drive.

More preferably, the support body has a longitudinal axis that extends from the support body to the gripping device, the extendable probe arm being movable at least into a working position and a rest position.

In the rest position, for example, the probe arm requires minimal space.

In an additional or alternative preferred embodiment, the working position is a position of the probe arm in which the measuring probe carries out the position determination of the suspicious object. The working position can also be understood as working position, extended state or clipped state. In the working position, the measuring probe is sufficiently far away from the carrying device and the gripping device to carry out an interference-free determination of the position of the suspicious object. Determining the position of the suspicious object is thus less disturbed by undesired electromagnetic reflections from the supporting body and/or the gripping device.

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 is arranged further away from the carrying device in the working position, ie in the rest position. The rest position can also be interpreted as a rest position, a retracted state, or an applied state. In the rest position, the measuring probe is arranged closer to the longitudinal axis of the supporting body. This is particularly advantageous since the radial dimensions of the device can be kept small and the device does not have any protruding parts. In this way, a hole to be excavated during the salvage process can be kept smaller and the salvage process can be kept short.

The measuring probe for determining the position of the suspicious object is preferably set up with an electrical transmission coil and receiver coil to carry out a locating method based on the principle of transient electromagnetics, with the electrical transmission coil being designed in particular as a high-performance coil. The principle of transient electromagnetics is fundamentally known. The transmitter coil and the Receiving coils can be separate coils or the transmitting and receiving coils can be formed as one coil. A single coil is preferably used as the transmission coil and reception coil.

Preferably, an extendable mounting arm is connected to the support body via a first pivot joint to provide pivoting of the mounting arm about a pivot axis perpendicular to a 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 in order to provide pivoting of the probe arm about a pivot axis which runs perpendicular to a or the longitudinal axis of the support body. It is advantageous to fasten the fastening arm or the probing arm to the support body with a swivel joint, since the measuring probe and the acoustic camera, which are arranged at the respective ends of the arms, can also be swiveled away from the working area in addition to the arms. In addition, the acoustic camera and/or probe are further removed from the area where the digging and excavation takes place, with less risk of damage and contamination of the equipment.

An optical camera system is preferably arranged in the gripper area for the visual examination of a suspicious object. The optical camera system can be understood as a video camera. An additional optical camera system is advantageous since the suspicious object can be optically examined in color after it has been uncovered or flushed out. For example, acoustic cameras do not display color. In this way, the condition of the suspicious object during the examination can also be evaluated using the optical camera images. The camera system is preferably arranged in an area between the gripper shells. Monitoring is possible regardless of the position of the gripper shells and a clear view of the suspicious object is possible.

More preferably, the camera system has lighting means for illuminating the suspicious object and/or the camera system is designed with a high-resolution camera. A detailed visual inspection can thus be implemented and/or a visual inspection can be implemented with good lighting.

The gripping device is preferably designed as a multi-shell grab that has at least three grab shells.

In a particularly preferred embodiment, the orange peel grab has five grab shells.

A flushing nozzle and a suction nozzle are preferably attached to each grab shell of the orange peel grab. This provides a particularly symmetrical suction of sediment and also provides symmetrical flushing.

The gripping device is preferably designed with half-open gripper shells.

The gripping device preferably 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.

The suction pump preferably has a delivery volume of 20m ³ /h to 360m ³ /h and/or the suction pump has a delivery height of 5m to 25m and/or the suction pump has a maximum grain passage of 10mm to 60mm.

In addition or as an alternative, it is proposed that the components of the suction pump that are at risk of wear are made of alloyed chromium steel. This increases the longevity of the device.

A further aspect of the invention is a carrier device with a device for examining and recovering suspicious objects in the underwater area, the rescue and investigation device being designed according to one of the above embodiments.

A carrier device is a device that picks up and carries the device for examining and recovering suspicious objects in the underwater area. For example, the carrier device is an excavator, which is preferably arranged on a floating body or is designed as a floating excavator. The device for examining and recovering suspicious objects in the underwater area is attached to the carrier device as an attachment.

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

Preferably, the carrier device is designed with a positioning system for positioning the device for examining and recovering suspicious objects, the positioning system having a GPS module for determining a position of the carrier device, and the positioning system also having angle sensors that move to Lichen components of the carrier device are arranged, in particular to determine a target position of a device for examining and recovering suspicious objects depending on the position of the carrier device and depending on the angle sensors. The positioning system can thus be used to precisely control the device for examining and recovering suspected objects in the underwater area to a target position of the device with the carrier device. The proposed basic principle is that a GPS position of the carrier device determined with a GPS module serves as the starting point or reference point and the position of the gripping device or a position of the device for examining and recovering suspicious objects is determined via measured values from the angle sensors. In this way, a specified target position of the device can be locally controlled.

A further aspect of the invention is a method for examining and recovering suspicious objects in the underwater area, in particular explosive ordnance.

• - Ausfahren einer an einem ausfahrbaren Sondenarm befestigten Messsonde in eine Arbeitsstellung zur Positionsbestimmung eines Verdachtsobjektes in einem nicht freigelegten Zustand;
• - Nachsondieren mit der ausgefahrenen Messsonde in der Arbeitsstellung;
• - Einfahren der Messsonde in eine Ruhestellung;
• - Bergen und/oder Freilegen des Verdachtsobjektes mit der eingefahrenen Messsonde in der Ruhestellung.

The method comprises at least the steps:

• - Extending a measuring probe attached to an extendable probe arm into a working position for determining the position of a suspicious object in a non-exposed state;
• - Probing with the extended measuring probe in the working position;
• - retraction of the measuring probe into a rest position;
• - Recovery and/or exposure of the suspicious object with the retracted measuring probe in the rest position.

• - Ausfahren einer an einem ausfahrbaren Befestigungsarm befestigten akustischen Kamera in eine Arbeitsstellung zur visuellen Identifizierung eines wenigstens teilweise freigelegten Verdachtsobjektes;
• - Identifizieren des Verdachtsobjektes mit der akustischen Kamera in der Arbeitsstellung;
• - Einfahren der akustischen Kamera in eine Ruhestellung,
• - Bergen und/oder Freilegen des Verdachtsobjektes mit der eingefahrenen akustischen Kamera in der Ruhestellung.

The method preferably also comprises at least one of the steps in parallel with the re-probing or after the re-probing

• - Extension of an acoustic camera attached to an extendable attachment arm into a working position for the visual identification of an at least partially uncovered suspicious object;
• - Identification of the suspicious object with the acoustic camera in the working position;
• - moving the acoustic camera into a rest position,
• - Recovery and/or exposure of the suspicious object with the retracted acoustic camera in the rest position.

The exposure preferably takes place with a device for examining and recovering suspicious objects in the underwater area, which comprises at least one flushing nozzle mechanically fastened in a gripper area, the flushing nozzle being set up to release a flushing medium for exposing the suspected object, directed onto an area outside of a receiving area of gripping shells , and the device comprises a suction pump which is connected to at least one suction connection in a fluid-conducting manner, the suction connection being arranged in the gripper area, in particular in order to provide suction of sediment close to the suspicious object.

The method is preferably carried out with a device for examining and recovering suspicious objects in the underwater area according to one of the above embodiments and/or carried out with a carrier device according to one of the above embodiments.

A munitions recovery generally includes the steps of pre-exploration, site preparation, post-exploration, recovery and exposure, identification of the munitions and restoration of the site.

Pre-probing refers to roughly searching for a suspicious object and determining its position in a suspected area. After the pre-exploration and the preparation of the terrain have been completed, the explosive ordnance is re-explored and recovered. During the follow-up probing, the position of the suspicious object or the munition is determined more precisely in the unexposed state. If the more precise position of the suspected object is known, the suspected object is recovered and uncovered, which can be understood in the sense of an excavation. During the recovery and exposure, the process is monitored, for example with an acoustic camera and/or optical camera.

The previously described advantages, explanations and definitions for the device for investigating and recovering suspected objects in the underwater area apply analogously to the previously described method for investigating and recovering suspected objects in the underwater area.

• 1 zeigt schematisch eine Seitenansicht eines Gerätes zur Untersuchung und Bergung von Verdachtsobjekten in einer erfindungsgemäßen Ausführungsform.
• 2 zeigt schematisch das Gerät zur Untersuchung und Bergung von Verdachtsobjekten in einer perspektivischen Ansicht in einer Ausführungsform.
• 3 zeigt schematisch das Gerät zur Untersuchung und Bergung von Verdachtsobjekten in einer Ansicht von unten in einer Ausführungsform.
• 4 zeigt schematisch das Gerät zur Untersuchung und Bergung von Verdachtsobjekten in einer Seitenansicht in verschiedenen Betriebszuständen in einer Ausführungsform.
• 5 zeigt schematisch das Gerät zur Untersuchung und Bergung von Verdachtsobjekten in einer Draufsicht in verschiedenen Betriebszuständen in einer Ausführungsform.
• 6 zeigt schematisch ein Trägergerät mit einem Gerät zur Untersuchung und Bergung von Verdachtsobjekten.

The present invention will now be explained in more detail below by way of example using exemplary embodiments with reference to the accompanying figures, the same reference numbers being used for identical or similar assemblies:

• 1 FIG. 12 schematically shows a side view of a device for examining and retrieving suspicious objects in an embodiment according to the invention.
• 2 FIG. 12 schematically shows the device for examining and retrieving suspicious objects in a perspective view in one embodiment.
• 3 FIG. 12 schematically shows the device for examining and recovering suspected objects in a bottom view in one embodiment.
• 4 shows schematically the device for examining and recovering suspicious objects in a side view in different operating states in one embodiment.
• 5 shows schematically the device for examining and recovering suspicious objects in a top view in different operating states in one embodiment.
• 6 shows schematically a carrier device with a device for examining and recovering suspicious objects.

The 1 FIG. 12 schematically shows a side view of a device 10 for examining and retrieving suspicious objects in an embodiment according to the invention.

The device 10 is provided for examining and recovering suspicious objects in the underwater area, namely for examining and recovering ordnance.

The device 10 comprises a carrying body 100.

The device 10 also includes a gripping device 102 with at least two gripper shells 104 arranged opposite one another, with a receiving region 106 being formed between the two gripper shells.

The gripping device 102 is therefore designed as a multi-shell grab with five grab shells 104 .

The gripping device 102 is mechanically connected to the support body at a connection point 108 , a gripper area 110 being formed, which extends from the connection point 108 in a direction away from the support body 100 . A support body area 111 is also shown.

The device 10 also includes at least one rinsing nozzle 112 mechanically fastened in the gripper area 110, the rinsing nozzle being set up to release a rinsing medium for exposing the suspected object outside of the receiving area 106 of the gripping shells. A flushing nozzle 112 is attached to each clamshell 104 of the orange peel clamshell 1 is not explicitly shown, but for example in the 4 is illustrated.

The device 10 also includes a suction pump 114, which is connected to at least one suction nozzle 116 in a fluid-conducting manner, the suction nozzle 116 being arranged in the gripper area in order to provide suction of sediment close to the suspicious object. The suction port 116 is also not in the 1 shown and only shown as an example as a rectangle. The suction pump 114 is arranged internally in the support body 100 and is also not shown directly.

The suction nozzle 116 and the flushing nozzle 112 are each held on the five gripper shells 104 with a gripper shell attachment 118 in the gripper area, namely in an area on a gripper tip 120.

The clamshell attachment 118 is formed as a semi-circular frame on the clamshells 104, as shown in FIG 1 shown as an example.

The device 10 has carrier device connection means 156 for connection to a carrier device 20 that, for example, in FIG 6 is shown. The carrier device connection means 156 are hydraulic connection means for supplying hydraulic energy to hydraulic components of the gripping device, which has hydraulic cylinders and electrical connection means for supplying electrical energy to electrical components of the device 10, which are arranged on the supporting body 100 or in the supporting body, such as the electric suction pump 114. The electric Connection means are not shown in the figure.

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

The support body 100 has a longitudinal axis 142 extending from the support body 100 to the gripping device 102, and the extensible mounting arm 126 is movable into at least an operative position A1 and an inoperative position B1. In the 1 the mounting arm 126 is in the rest position B1.

The working position A1 is a position of the attachment arm in which the acoustic camera 124 performs the visual identification of the suspect object. The working position A1 is, for example, in the 4 and 5 shown.

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

The acoustic camera 124 is designed to be variable in position with a steerable suspension 144 .

The device 10 also includes a measuring probe 128 for determining the position of the suspicious object in a non-exposed state, the measuring probe 128 being connected to the supporting body 100 via an extendable probe arm 130 in order to move the measuring probe 128 relative to the supporting body 100 with the foldable probe arm 130 . The retraction and extension of the probe arm is, for example, in 4 and 5 shown.

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

The working position A2 is a position of the probe arm 130 in which the measuring probe 128 carries out the position determination of the suspicious object. The working position A2 is, for example, in the 4 and 5 shown.

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 operative position. This is for example in the 4 and 5 shown. The device 10 in the 1 is in the rest position B2.

To determine the position of the suspicious object, the measuring probe 128 is set up with an electrical transmission coil and receiver coil to carry out a locating method that is based on the principle of transient electromagnetics, and the electrical transmission coil is designed as a high-performance coil.

The extensible mounting arm 126 is connected to the support body 100 via a first pivot joint 132 to provide for pivoting of the mounting arm about a pivot axis perpendicular to a longitudinal axis of the support body 100 .

The extendable probe arm 130 is connected to the support body 100 via a second pivot joint 134 to provide for pivoting of the probe arm about a pivot axis that is perpendicular to a longitudinal axis of the support body 100 .

In addition, in the 1 a quick-change receptacle 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 mount 152 .

In addition, an outlet 154 for the suction pump 114 is shown for the connection of a hose line and for the discharge of suctioned medium or sediments. The outlet 154 is formed with a flanged elbow.

The 2 shows schematically the device 10 for examining and recovering suspicious objects from the 1 in a perspective view. Both the mounting arm 126 and the probe arm 130 are in the rest positions B1 and B2, respectively.

In contrast to 1 is in the the 2 shown more clearly that the device 10 has a quick mount 152 for connecting a carrier device 20 .

It can also be seen that the fastening arm 126 and the probe arm 130 are hydraulically driven.

The 3 shows schematically the device for examining and recovering suspicious objects from the 1 in a bottom view.

Compared to the 1 until 2 is in the 3 an optical camera system 136 for the visual examination of a suspicious object.

The optical camera system 136 for visually examining a suspicious object is arranged in the gripper area of the gripping device 102 , the camera system having lighting means 138 for illuminating the suspicious object and the camera system being designed with a high-resolution camera 140 . The camera system shown is designed with a holder for accommodating an HD camera with LED lighting.

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

The 4 shows schematically the device for examining and recovering suspicious objects from the 1 in a side view in different operating states.

The mounting arm 126 and the probe arm 130 are in the rest positions B1 and B2, respectively.

The dashed position of mounting arm 126 and probe arm 130 illustrate operating positions A1 and A2, respectively. As can be seen, the two arms 126 and 130 protrude further from the longitudinal axis of the supporting body in the working position than in the rest positions B1 and B2.

The acoustic camera 124, which can be thought of as a sonar, is placed in a camera basket to protect the acoustic camera from damage. Due to the lateral arrangement, the supporting body 100 and the gripping device 102 do not interfere with the identification of the suspicious object with the acoustic camera. The acoustic camera can be folded hydraulically in its respective end position.

The measuring probe 128 is arranged in the working position A1 in an area below the end of the gripper tip and the movement arm is accordingly set up to move the measuring probe into this position. This provides undisturbed probing in the subsoil.

In addition, in the 4 a sink center shown as a rhombus. The flushing nozzles 112 attached to the grippers 104 each discharge a stream of fluid in the form of water, which meet at a point illustrated by the diamond. This point or area is the flushing center

The 5 shows schematically the device for examining and recovering suspicious objects from the 1 in a top view in different operating states. The remarks on the 4 apply analogously to the 5 .

In the 5 It is clearer that the fastening arm 126 and the probe arm 130 are further away from the longitudinal axis of the supporting body in the working position A1 and A2 than in the rest position B1 and B2.

The 6 shows schematically a carrier device 20 with a device 10 for examining and recovering suspicious objects in the underwater area. The carrier 20 is illustrated as a dredger floating on a water surface shown as a dotted line. However, the carrier device can also be a conventional excavator that stands on a floating island or that stands on land when a salvage operation takes place in a shore area. Again 6 can be seen, the carrier device 20 has received 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 are moved to rest positions B1 and B2. As can be seen, the funnel-shaped ground excavation 146 can be kept small by the folded arms of the device. If the arms were to protrude further to the side, the ground excavation would have to be correspondingly larger. Suspicious object 148 is shown as a black triangle.

The carrier device 20 is designed with a positioning system for positioning the device for examining and recovering suspicious objects, the positioning system having a GPS module 150 for determining a position of the carrier device 20, and the positioning system also having angle sensors which are mounted on movable components of the carrier device are arranged to determine a target position of a device for examining and recovering suspected objects depending on the position of the carrier device and depending on the angle sensors.

Reference List

10

Device

20

carrier device

100

body

102

gripping device

104

clam shells

106

recording area

108

connection point

110

gripper area

111

supporting body area

112

flushing nozzle

114

suction pump

116

suction port

118

clamshell attachment

120

claw 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

illuminants

140

camera

142

longitudinal axis

144

steerable suspension

146

soil excavation

148

suspect object

150

GPS module

152

quick-change mount

154

outlet

156

carrier attachment means

A1, A2

working position

B1, B2

rest position

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• WO 2021/075965 A1 [0003]

Claims (18)

Device (10) for examining and salvaging suspicious objects in the underwater area, in particular munitions, comprising: - a carrying body (100); and - a gripping device (102) with at least two gripper shells (104) arranged opposite one another, with a receiving area (106) being formed between the two gripper shells, and - the gripping device being mechanically connected to the support body at a connection point (108), with a gripper area (110) which extends from the connection point in a direction away from the supporting body, characterized in that the device also - comprises at least one rinsing nozzle (112) mechanically fastened in the gripper area, the rinsing nozzle being set up to release a rinsing medium for exposing the suspicious object directed to an area outside the receiving area of the grab shells, and - a suction pump (114) which is connected to at least one suction nozzle (116) in a fluid-conducting manner, the suction nozzle being arranged in the grab area, in particular in order to provide suction of sediment close to the suspicious object. Device (10) after claim 1 , wherein the suction connector (116) and/or the rinsing nozzle (112) is held on the at least one gripper shell with a gripper shell attachment (118) in the gripper area, with the suction connector and/or the rinsing nozzle preferably being held in an area on a gripper tip (120). the clam shell mount is held; and/or the suction nozzle and/or the rinsing nozzle is held with a support frame (122) in the gripper area, with the suction nozzle and/or the rinsing nozzle preferably being held in an area on a gripper tip with the support frame. Device (10) after claim 1 or 2 , wherein the device has carrier device connection means for connection to a carrier device, the carrier device connection means preferably being 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 which are on the gripping device (102) or are arranged on the supporting body (100). Device (10) according to one of the preceding claims or according to the preamble of claim 1 , wherein the device (10) also has an acoustic camera (124) for visual identification of the suspicious object, the acoustic camera being connected to the supporting body via an extendable fastening arm (126) in order to rotate the acoustic camera relative to the supporting body (100). to move the extendable fastening arm, the support body (100) preferably having a longitudinal axis which extends from the support body to the gripping device (102), and the extendable fastening arm (126) at least into a working position (A1) and a rest position (B1) is movable, and in particular the working position (A1) is a position of the fastening arm in which the acoustic camera carries out the visual identification of the suspicious object, and/or the rest position (B1) is a position of the fastening arm in which the fastening arm is closer to the longitudinal axis positioned than in the working position. Device (10) according to one of the preceding claims, wherein the device (10) also comprises a or the acoustic camera (124) and the acoustic camera is designed with a steerable suspension so that it can be changed in position. Device (10) according to one of the preceding claims or according to the preamble of claim 1 , wherein the device (10) also has a measuring probe (128) for determining the position of the suspicious object in a non-exposed state, the measuring probe being connected to the supporting body via an extendable probe arm (130) in order to position the measuring probe relative to the supporting body (100) to be moved with the foldable probe arm, the supporting body (100) preferably having a longitudinal axis which extends from the supporting body to the gripping device (102), and the extendable probe arm (130) moving at least into a working position (A2) and a resting position (B2 ) is movable, and in particular the working position (A2) is a position of the probe arm in which the measuring probe carries out 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 is than in the working position. Device (10) after claim 6 , wherein the measuring probe (128) for determining the position of the suspicious object is set up with an electrical transmitter coil and receiver coil to carry out a locating method which is based on the principle of transient electromagnetics and in particular the electrical transmitter coil is designed as a high-performance coil. Apparatus (10) according to any one of the preceding claims, wherein a or the extendable mounting arm (126) has a first pivot joint (132) connected to the support body to provide pivoting of the mounting arm about a pivot axis perpendicular to a longitudinal axis of the support body (100); and/or an extendable probe arm (130) is connected to the support body via a second pivot joint (134) to provide pivoting of the probe arm about a pivot axis perpendicular to a longitudinal axis of the support body (100). Device (10) according to one of the preceding claims, wherein an optical camera system (13) is arranged in the gripper area for the visual examination of a suspicious object, and wherein the camera system preferably has lighting means (138) for illuminating the suspicious object and/or the camera system with a high-resolution camera (140) is formed. Device (10) according to one of the preceding claims, wherein the gripping device (102) is designed as a multi-shell grab, has at least three grab shells (104), in particular five grab shells (104), and on each grab shell of the multi-shell grab a rinsing nozzle (112) and a suction nozzle (116) is attached. Device (10) according to one of the preceding claims, wherein the gripping device (102) is designed with half-open gripper shells and preferably the gripping device 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 from 1 kN to 18 kN. Device (10) according to one of the preceding claims, wherein the suction pump (114) has a delivery volume of 20m ³ /h up to 360 m ³ /h and/or a delivery head of 5m up to 25m and/or a maximum grain passage of 10 mm to 60 mm and/or components of the suction pump that are at risk of wear are made of alloyed chromium steel. Carrier device (20) with a device (10) for examining and recovering suspicious objects in the underwater area according to one of Claims 1 until 12 . Carrier (20) after Claim 13 , wherein the carrier device is designed with a positioning system for positioning the device for examining and recovering suspicious objects, wherein the positioning system has a GPS module for determining a position of the carrier device, and wherein the positioning system also has angle sensors that are arranged on movable components of the carrier device are, in particular to determine a target position of a device for investigating and recovering suspicious objects as a function of the position of the carrier device and as a function of the angle sensors. Procedures for examining and recovering suspected objects in the underwater area, in particular explosive ordnance, include the following steps: - Extending a measuring probe (128) attached to an extendable probe arm (130) into a working position (A2) for determining the position of a suspicious object in a non-exposed state; - Probing with the extended measuring probe (128) in the working position; - Retracting the measuring probe (128) into a rest position (B2); - Recovery and/or exposure of the suspicious object with the retracted measuring probe in the rest position. procedure after claim 15 , wherein at least one of the steps takes place parallel to the re-probing or after the re-probing: - extending an acoustic camera (124) attached to an extendable attachment arm (126) into a working position (A1) for the visual identification of an 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 exposing the suspicious object with the retracted acoustic camera in the rest position. procedure after claim 15 or 16 , wherein the uncovering takes place with a device (10) for examining and recovering suspicious objects in the underwater area, which comprises at least one flushing nozzle (112) mechanically fastened in a gripper area, the flushing nozzle being set up to direct a flushing medium for uncovering the suspected object onto a area outside a receiving area of grab shells (104), and the device (10) comprises a suction pump (114) which is connected to at least one suction nozzle (116) in a fluid-conducting manner, the suction nozzle being arranged in the grab area, in particular in order to provide suction of sediment close to the suspicious object . Method according to one of the preceding claims, wherein the method with - a device (10) for investigating and recovering suspicious objects in the underwater area according to one of the preceding ones Claims 1 until 12 is performed; and or - With a carrier device (20) according to one of the above Claims 13 or 14 .

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