While picking robots aim to address this, the complex growth environment poses challenges in identifying and locating fruits due to factors like light and leaf occlusion. This study focuses on designing a recognition and localization method tailored to the natural growth conditions of melons and fruits, aiming to provide precise positional information for effective harvesting. Leveraging GTR-Net and binocular stereo vision, the proposed technology integrates a lightweight backbone network with Ghost bottleneck and TCSPG modules.