A method for inspecting the surface of a workpiece by a sensor moved by a robot, the method comprising the following steps: - obtaining a digital model of the workpiece, including the surface to be inspected; - determining an inspection path for the sensor relative to the surface based on the characteristics of the robot using the digital model of the workpiece; - determining inspection positions of the sensor along the path as a function of characteristics of the sensor using the digital model of the workpiece, the characteristics of the sensor comprising at least a distance between the sensor and the surface, and an orientation of the sensor relative to the surface; - computationally determining an area of the surface inspected by the sensor at each inspection position using the digital model of the workpiece and the characteristics of the sensor, and computationally verifying that the entire area is within a detection field of the sensor, without any concealed elements, using the digital model of the workpiece and the characteristics of the sensor; - computationally verifying that the entire surface is inspectable for the sensor, using the results of the verification steps for each area; - if the entire surface is not inspectable, adding an inspection position, and/or changing at least one of the inspection positions, and/or changing at least one of the characteristics of the sensor; - if the entire surface is inspectable, inspecting the surface by the sensor moved by the robot, using the determined path, inspection positions, and characteristics of the sensor, characterised in that the step of computationally verifying that the entire area is within the detection field of the sensor, without any concealed elements, comprises a segmentation sub-step comprising the following operations: - segmenting the area into unitary surfaces; - for each unitary surface, determining a centroid of the unitary surface, and the step of computationally verifying that the entire area is within the detection field of the sensor, without any concealed elements, comprising a sub-step of verifying that, for each unitary surface, the centroid of said unitary surface is within the detection field of the sensor - obtaining a digital model of the workpiece, including the surface to be inspected; - determining an inspection path for the sensor relative to the surface based on the characteristics of the robot using the digital model of the workpiece; - determining inspection positions of the sensor along the path as a function of characteristics of the sensor using the digital model of the workpiece, the characteristics of the sensor comprising at least a distance between the sensor and the surface, and an orientation of the sensor relative to the surface; - computationally determining an area of the surface inspected by the sensor at each inspection position using the digital model of the workpiece and the characteristics of the sensor, and computationally verifying that the entire area is within a detection field of the sensor, without any concealed elements, using the digital model of the workpiece and the characteristics of the sensor; - computationally verifying that the entire surface is inspectable for the sensor, using the results of the verification steps for each area; - if the entire surface is not inspectable, adding an inspection position, and/or changing at least one of the inspection positions, and/or changing at least one of the characteristics of the sensor; - if the entire surface is inspectable, inspecting the surface by the sensor moved by the robot, using the determined path, inspection positions, and characteristics of the sensor, - segmenting the area into unitary surfaces; - for each unitary surface, determining a centroid of the unitary surface, and the step of computationally verifying that the entire area is within the detection field of the sensor, without any concealed elements, comprising a sub-step of verifying that, for each unitary surface, the centroid of said unitary surface is within the detection field of the sensor