Control method, inspection system, and storage medium

1. A processor configured to communicate with a plurality of sensors, one of the plurality of sensors emitting an ultrasonic wave and the plurality of sensors receiving a reflected wave, the processor performing: a first step of receiving a first detection result of the reflected wave from an object, the first detection result including intensity of the reflected wave at a plurality of positions in a transmitting direction of the ultrasonic wave; a second step of calculating a tilt angle based on a gradient of the intensity for each of the plurality of positions, the tilt angle indicating a tilt of the object, and

a third step of adjusting a transmission direction based on the tilt angle.

2. The processor according to claim 1 , wherein the first step and the second step are performed again after the third step.

3. The processor according to claim 1 , wherein

a first loop of repeating the first step, the second step, and the third step is performed after the third step,

the first loop further includes a fourth step of determining whether or not to end the first loop, and

the first loop is performed until the determining step determines to end the first loop has ended.

4. The processor according to claim 3 , wherein the fourth step determines that the first loop has ended when a number of repetitions of the detecting step or the calculating step reaches a prescribed number of times or more.

5. The processor according to claim 3 , wherein

a plurality of the tilt angles is calculated by the repeated first loops respectively, the plurality of tilt angles including a first tilt angle and a second tilt angle, the first tilt angle being calculated in one of the repeated first loops, the second tilt angle being calculated in another one of the repeated first loops, the second tilt angle being calculated after the first tilt angle,

a difference between the first tilt angle and the second tilt angle is calculated, and

the fourth step determines that the first loop has ended when the difference is less than a prescribed value.

6. The processor according to claim 3 , further comprising a fifth step of displaying a transition of the transmission direction or the tilt angle caused by the first loop.

7. The processor according to claim 1 , wherein

the third step causes a change of the transmission direction to be larger than a difference between a standard angle and the tilt angle, and

the first detection result is obtained when the transmission direction is set to the standard angle.

8. The processor according to claim 1 , wherein

after the third step, the processor receives a second detection result of the reflected wave from the object when the ultrasonic wave is transmitted along the adjusted transmission direction,

the processor inspects the object by using the second detection result.

9. The processor according to claim 8 , wherein in inspecting the object, the processor

determines whether each of a plurality of points is appropriately jointed or not, the plurality of points being arranged along a second direction and a third direction, the second direction crossing a first direction aligned with the transmission direction, the third direction crossing a plane including the first direction and the second direction, and

inspects the object based on a number of the points determined appropriately jointed.

10. The processor according to claim 1 , wherein

the first step receives a plurality of the first detection result detected at a plurality of points,

the plurality of points is arranged along a second direction and a third direction,

the second direction crosses a first direction aligned with the transmission direction,

the third direction crosses a plane including the first direction and the second direction, and

the second step calculates the tilt angle based on the gradient of the intensity in three-dimensional space defined by the first direction, the second direction, and the third direction.

11. An inspection system, comprising:

the processor according to claim 1 ; and

the plurality of sensors.

12. The inspection system according to claim 11 , further comprising a robot arm,

the plurality of sensors being provided in a probe,

the probe being attached a tip of the robot arm.

13. A method, causing a processor to: communicate with a plurality of sensors, one of the plurality of sensors emitting an ultrasonic wave and the plurality of sensors receiving a reflected wave; perform a first step of receiving a first detection result of the reflected wave from an object, the first detection result including intensity of the reflected wave at a plurality of positions in a transmitting direction of the ultrasonic wave; perform a second step of calculating a tilt angle based on a gradient of the intensity for each of the plurality of positions, the tilt angle indicating a tilt of the object, and

perform a third step of adjusting the transmission direction based on the tilt angle.

14. The method according to claim 13 , wherein the first step and the second step are performed again after the third step.

15. The method according to claim 13 , further causing the processor to:

receive, after the third step, a second detection result of the reflected wave from the object when the ultrasonic wave is transmitted along the adjusted transmission direction; and

inspects the object by using the second detection result.

16. A non-transitory computer readable storage medium storing a program causing the processor to perform the method according to claim 13 .