This paper introduces our research work of a Robocup middle-sized robot team composed of SmartROB2 robots. Sensor modeling and environmental information processing are described firstly. Then several crucial techniques, such as vision-based identification and localization, path planning and decision-making methods are discussed further. Simulation and experiment results are also given in the last part of this paper, which clearly illustrate the practicability and availability of the methods used in our real robot soccer team