Our conutry ancient football originate from disappearance when getting late and clear by oneself, kick and bring up change of goal deduced and published different activities and contest ways, It has reflected the change and the rise and decline of ancient football to a certain extent.

This article mainly aims at the problem of the path planning of an automatic tracking,a goal arithmetic is presented, the validity and the project practicability of this arithmetic are validated through experiment.

This paper introduced a goal feature extraction method for RoboCup Middle Size league based on the transition of hue value.