Abstract: Currently, research on improving the efficiency of coal roadway heading mostly focuses on improving heading equipment, with less consideration given to the working procedures and personnel allocation of coal roadway heading. Maintaining a harmonious and stable human-machine relationship is the key to ensuring the efficiency of coal roadway heading. Taking the 2404 air inlet roadway of 8404 working face in Madaotou Coal Mine as the engineering background, and considering the human-machine matching relationship, an optimization plan for coal roadway heading operation is proposed. The coal cutting support process of the anchor excavator has been optimized. A support system for the heading roadway with non-aligned top and side anchor spaces has been proposed. This means that after two consecutive cycles of footage, the anchor heading unit is not retracted. The top anchor is 300 mm ahead of the side anchor to save roadway support time. The numerical simulation results indicate that the stress field of non-aligned support with top and side anchor bolts in space is not significantly different from that of aligned support with top and side anchor bolts in space. It verifies the reliability of the non-aligned support system with top and side anchor bolts in space. The process of coal roadway heading is optimized through the multi-process parallel operation. The task volume of each process is calculated to optimize the personnel allocation related to each process. The engineering application results show that after optimizing the coal roadway heading operation based on the human-machine relationship, the daily cycle number increases from 10 to 15, the monthly footage increases from 300 m to 450 m, the worker efficiency increases from 0.1 m/worker to 0.14 m/worker, and the cycle is reduced from 80 minutes to 44.6 minutes. It significantly improves the efficiency of coal roadway heading.