Intelligence is one of the upgrading direction of engineering equipment. Taking the workspace of the middle boom as the collaborative workspace and converting the drilling sequence into three-traveling salesman problem（ TSP） which involving interference between booms

improve ant colony optimization（ ACO） algorithm to balance the time of drilling between booms. Meanwhile

optimizing distribution drill task of each boom

n/4 dynamic candidate list method is adopted to accelerate algorithm convergence and gain optimal solution. Remove the intersections in optimal paths of every iteration

develop graphical interface software and embed algorithm.Simulation result shows it can increase efficiency by 35 %.