Abstract: In order to satisfy the football robot in real-time and variable environment demand, the authors presented a novel method that the primary colors were designed to be a polygon and vice colors were designed to be round. Players took gravity method with threshold to determine the center of robot-soccer, and used a compensation approach algorithm to obtain the direction angle of robot. The experimental results showed that the new color code design method could improve the identification of the system precision and response speed, improve robot loss.