Abstract: The present disclosure relates to a self-propelled robotic tool (1) and a method in a self-propelled robotic tool (1), being used to detecting lifting of the self-propelled robotic device from the ground. The method includes collecting (21) driving data (31) related to the driving of a wheel (5), collecting (23) measured inertia data from an inertial measurement unit (13), .IMU, in the self-propelled robotic tool, determining (25), using an estimation function (33), a residual parameter corresponding to a differential between said measured inertia data and estimated inertia data resulting from said driving data being input to said estimation function, and determining a lifting condition based on the residual parameter.