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In order to improve the efficiency of fine segmentation and obstacle removal in the road of tea plantation in hilly areas, a lightweight and high-precision DR-YOLO instance segmentation algorithm is proposed to realize environment awareness. Firstly, the road data of tea gardens in hilly areas were collected under different road conditions and light conditions, and data sets were generated. YOLOv8n-seg, which has the highest operating efficiency, was selected as the basic model. The MSDA-CBAM and DR-Neck feature fusion network were added to the YOLOv8-seg model to improve the feature extraction capability of the network and the feature fusion capability and efficiency of the model. Experimental results show that, compared with the YOLOv8-seg model, the DR-YOLO model proposed in this study has 2.0% improvement in AP@0.5 and 1.1% improvement in Precision. In this study, the DR-YOLO model is pruned and quantitatively compressed, which greatly improves the model inference speed with little reduction in AP. After deploying on Jetson, compared with the YOLOv8n-seg model, the Precision of DR-YOLO is increased by 0.6%, the AP@0.5 is increased by 1.6%, and the inference time is reduced by 17.1%, which can effectively improve the level of agricultural intelligent automation and realize the efficient operation of the instance segmentation model at the edge.