Based on dynamics of rock bolt and kinematics of stress wave in grouted bolt system，the vibration characteristics of grouted bolt system and energy attenuation of stress wave are studied. A method of quick inspection for anchoring state by using sonic-frequency stress wave is proposed. Also nondestructive determination of anchoring force by intersection of secant lines of the turning segment of a drawing curve is discussed. All results are confirmed by construction quality inspection for bolting in the first coal mine of Panji.