The invention provides a method, a system, a storage medium and equipment for robot falling detection, and relates to the technical field of robot detection, in particular to the method, the system, the storage medium and the equipment for robot falling detection. The method for robot falling detection comprises the following steps: continuously obtaining measured data of a gyroscope and measureddata of an accelerometer, wherein the measured data of the gyroscope is taken as a k-moment estimated angle X (k), the measured data of the accelerometer is taken as a k-moment observed angle Y (k),and k is an integer greater than or equal to 1; according to a Kalman filtering principle, fusing the estimated angle with the observed angle, thus obtaining an included angle between a robot and ground; and if the included angle between the robot and the ground exceeds a preset range, judging that the robot falls. The invention provides an effective robot falling detection method on one hand, andprovides intelligent response on the other hand to avoid robot falling, and reduce safety risk.