Inspection system, control unit, control method, and storage medium

An inspection system, comprising:

• a probe including a plurality of ultrasonic sensors arranged in a first direction, the probe contacting a weld portion by moving in a second direction crossing the first direction, each of the plurality of ultrasonic sensors transmitting an ultrasonic wave toward the weld portion and receiving a reflected wave;
• and
• a controller,
• the controller detecting, at a plurality of points along the first direction of a first surface of the weld portion, a position in the second direction of each of the plurality of points based on the plurality of reflected waves,
• the controller calculating a first tilt of the first surface around a third direction from a detection result of at least a portion of the plurality of positions, the third direction being perpendicular to the first direction and crossing the second direction,
• the controller adjusting an angle of the probe around the third direction to correct the first tilt.

A control method, comprising:

• causing a probe to contact a weld portion in a second direction crossing a first direction, the probe including a plurality of ultrasonic sensors arranged in the first direction;
• receiving a reflected wave by transmitting an ultrasonic wave toward the weld portion from each of the plurality of ultrasonic sensors;
• detecting a joint and a non-joint at a plurality of points along the first direction of the weld portion based on the plurality of reflected waves;
• and
• adjusting an angle of the probe around a third direction based on a number of the joints or the non-joints detected for the plurality of points, the third direction being perpendicular to the first direction and crossing the second direction.