In order to solve the problems of supporting efficiency and complex process caused by the roof of Sangshuping Coal Mine of Hancheng Mining, Analyze the overall spatial layout of TBM rapid tunneling system, The evaluation method of drilling and anchor equipment layout based on spatial overlap coefficient is proposed; Construct an optimization model of spatial layout of TBM drilling and anchor system based on support requirements, drilling and anchor equipment layout and operation scope constraints, Solve the best layout scheme of the drilling and anchor system; Combined with the requirements of the drilling and anchor support process, The RRT-Star trajectory planning method based on dynamic varying step size, Realize the fast track planning based on task driving; For the optimization of multi-objective and multi-process, With the aim of taking the shortest time, Construct the optimization model of drilling and anchor process, Solve the optimal drilling and anchor process arrangement matrix; Based on the optimal process arrangement matrix, Simulate the actual working process of the drilling and anchor system. After the verification of practical engineering application effect, the optimized spatial layout, trajectory planning method and drilling and anchor process of TBM drilling and anchoring system can significantly improve the operation efficiency of TBM rapid tunneling system．