Xirui Zhang ¹ Weiqiang Ma ¹ Junxiao Liu ¹ Ruiwu Xu ² Xuanli Chen ¹ Yongqi Liu ¹ Zhifu Zhang ^1*

• ¹ School of Mechanical and Electrical Engineering, Hainan University, Haikou, Hainan Province, China
• ² School of Information and Communication Engineering, Hainan University, Haikou, Hainan Province, China

Aiming at the problem that lightweight algorithm models are difficult to accurately detect and locate tapping surfaces and tapping key points in complex rubber forest environments, this paper proposes an improved YOLOv8n-IRP model based on the YOLOv8n-Pose. First, the receptive field attention mechanism is introduced into the backbone network to enhance the feature extraction ability of the tapping surface. Secondly, the AFPN structure is used to reduce the loss and degradation of the lowlevel and high-level feature information. Finally, this paper designs a dual-branch key point detection head to improve the screening ability of key point features in the tapping surface. In the detection performance comparison experiment, the YOLOv8n-IRP improves the D_mAP50 and P_mAP50 by 1.4% and 2.3%, respectively, over the original model while achieving an average detection success rate of 87% in the variable illumination test, which demonstrates enhanced robustness. In the positioning performance comparison experiment, the YOLOv8n-IRP achieves an overall better localization performance than YOLOv8n-Pose and YOLOv5n-Pose, realizing an average Euclidean distance error of less than 40 pixels. In summary, YOLOv8n-IRP shows excellent detection and positioning performance, which not only provides a new method for the key point localization of the rubber-tapping robot but also provides technical support for the unmanned rubber-tapping operation of the intelligent rubber-tapping robot.