Abstract: In order to improve the intelligent level of the control parameter adjustment in the drilling process of the gas extraction hole, the mechanism of intelligent sensing and adaptive control in drilling condition of drilling robot is revealed and the adaptive control technology of drilling parameters is developed. Taking the maximum drilling efficiency as the control objective, the boundary conditions including the probability of sticking, the smoothness of slag discharge and the stability of anchoring are selected, according to which the types of drilling states are classified. The mathematical model system of the mechanism of intelligent sensing and adaptive control in drilling condition is built on the base of the mathematical models of boundary conditions, which are established by analyzing the influence of boundary conditions to the drilling process. According to the mechanism of intelligent sensing and adaptive control, the adaptive control technology based on differential evolution algorithm is developed, which realizes the automatic optimization of the control vector of the drilling robot. The ground drilling experiments show that, when the drilling strata changes, the intelligent sensing and adaptive control technology can control the drilling robot to realize the automatic adjustment of control parameters quickly.