A similar situation occured during the Central FL regional. Our partners, team 86, went to remove a capped mobile goal from the other alliance, and their human player shot two balls right at the 2x. This ensued a debate between the refs on wether or not there was goaltending, because the ball was removed from the goal (but still in the way of the goal.) We were penalized and lost the match. However, I dont't agree with the call because the human player shot the ball with no intenion of making the ball in the goal.
Go here and scroll down to match 92:
http://www.soap.circuitrunners.com/2004/movies/fl/