The manipulation of surface acoustic wave (SAW) in phononic crystal plays an important role in the applications of SAW. The introduction of topological acoustic theory has opened a new field for SAW in phononic crystals. Here we construct pseudospin modes of SAW and topological phase transition along the surface of phononic crystal. The local SAW propagation is realized by air cylindrical holes in honeycomb lattice arranged on rigid substrate, and the Dirac cone is formed at the K point of the first Brillouin zone. Furthermore, using the band-folding theory, double Dirac cones can be formed at the center Г_s point in the Brillouin zone of compound cell that contains six adjacent cylindrical air holes. The double Dirac cone can be broken to form two degenerated states and complete band gap by only shrinking or expanding the spacing of adjacent holes in the compound cell. It is found that the direction of energy is in a clockwise or counterclockwise direction, thus the pseudospin modes of SAW are constructed. The shrinkage-to-expansion of the compound cell leads to band inversion, and the system changes from trivial state to nontrivial state, accompanied by the phase transition. According to the bulk-boundary correspondence, the unidirectional acoustic edge states can be found at the interface between trivial system and nontrivial system. Then we can construct a topologically protected waveguide to realize the unidirectional transmission of surface waves without backscattering. This work provides a new possibility for manipulating the SAW propagating on the surface of phononic crystals and may be useful for making the acoustic functional devices based on SAW.