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What about a long pole fishing net to scoop them out?Are they unable to get out because there is a physical barrier? or because they can't get up onto the ice? or some other reason? is there a gap that they could get through if they wanted to?
If there is a gap they could get through to get out then luring with treats or else scaring them out from the opposite side (with brooms, rakes, noise or something) are the only options I can think of. I guess it is getting dark where you are and you are keep to put them in their pen - is that right?