This project belongs to civil engineering: the technical field of civil engineering machinery design and manufacturing, including drilling rig design and manufacturing, development and application of supporting software and systems for trenchless engineering, etc. Trenchless construction refers to an advanced construction method that uses various drilling and excavation techniques to lay or detect, inspect, repair and replace various underground pipelines on unexcavated surfaces. It has little impact on traffic, fast construction speed, and short period, and can reduce environmental pollution and noise pollution. In recent years, China has only built more than 5000 kilometers of large-diameter long-distance oil and gas pipelines every year. The rivers, mountains, etc. that drilling equipment needs to cross have put forward high requirements on the control performance and construction capabilities of directional drilling rigs. It also puts forward high requirements on the environmental protection emissions of drilling rigs, etc.; pipeline laying in complex urban environments, repair of old pipelines, and penetration of overhead lines into the ground all place high requirements on intelligent control of drilling rigs and drilling tools for trenchless projects, drilling trajectory design and engineering control, pipeline trajectory detection and information management, and software. During construction in these complex environments, accidents such as breaking gas pipelines, causing combustion and explosion accidents, power pipelines being cut off, and communication interruptions often occur. Precise control of drilling rigs, drilling tools and other equipment and underground drilling trajectory design have become urgent problems to be overcome. After cooperative research, we have broken through the intelligent control technology of drilling rigs and drilling tools to meet environmental protection restrictions in Europe and the United States; developed a pipeline trajectory detection system, and formed supporting software for trenchless engineering construction design.  The main scientific and technological innovations are: (1) Based on load-sensitive adaptive theory and technology, research a) intelligent control system of drilling rigs to overcome the problem of drilling rigs emission standards. b) The development and application of double-walled drill pipes, etc. greatly improves work efficiency; c) Develop and apply rock drilling guide control devices to achieve precise guided drilling;d) Develop domestic leading and internationally advanced detachable drilling unit operating stations to control drilling rigs and drilling tools. Each control system, the operating station can be closely integrated and installed with the drilling rig, and can also be separated from the drilling rig. Through remote communication, drilling construction can be remotely controlled to ensure the safety of construction personnel in dangerous environments. Dewei's DDW series trenchless drilling rigs integrating the above advanced technologies and equipment manufacturing have reached the international advanced level, replaced imports, and exported abroad. (2) Improve supporting technologies and software for trenchless engineering: a) Development and application of IMU-based pipeline trajectory measurement instruments to improve the accuracy of spatial three-dimensional trajectory measurement and modeling of existing and completed pipelines in complex environments;b) Research and software on covering geotechnical survey and fine three-dimensional modeling based on frequent pattern matching and logging interface technology, and development of refined pipeline modeling technology and application software to improve the construction design level of trenchless drilling projects; c) Formation three-dimensional modeling and visualization system, drilling trajectory design software, mud formula selection and dosage optimization software. d) The development and application of underground pipeline information systems based on Baidu Map API plays a very important role in filing, trenchless project trajectory design, project planning, economic accounting, etc. These supporting technologies and software lay the foundation for overall improvement of the efficiency, intelligence and environmental protection of trenchless projects. Overall, the construction and service levels of the trenchless industry have been improved. The results of the project have enabled trenchless engineering drilling rigs, drilling tools, trajectory measurement, supporting software, etc. to achieve localization, intelligence and environmental protection of equipment. Drilling rigs and drilling tools are exported to the United States, countries along the Belt and Road Initiative and other countries, and are widely used in domestic West-East Gas Pipeline Projects and Municipal Pipelines. Significant economic, social and ecological benefits. The cumulative new output value in the past three years has been 509 million yuan. The project has obtained 15 intellectual property rights, of which 1 core invention patent has been authorized, 4 core utility model patents have been authorized, and 4 supporting utility model patents have been authorized; 6 software copyrights have been obtained, and 2 invention patents have been applied for entry into actual review.