Design and realization of Robot football match system is innovative point and difficulty in artificial intelligence field, the system design including artificial intelligence, digital communication, robotics and sensor so on multiple fields leading edge research, the system realization is a standard high technology experiment platform. This paper takes RoboCup middle-size league robot match system’s goalkeeper speed features as research objects to make more scientific, accurate control in goalkeeper speed through reasonable model and algorithm. In this paper, first make analysis of goalkeeper sports object and speed control purpose in robot football match system, make research on world coordinate system and standard coordinate system features, and then carry out stage linear analysis of robot goalkeeper speed state switching , finally build BP neural network non-physical no linear model on the basis of speed theory analysis, get evident better than geometric calculation speed control, provide model base and theoretical evidence for perfecting and making accurate robot football match system.