IEEE 802.15.4e Time Slotted Channel Hopping (TSCH) operates on a time-division scheme and uses 16 separate channels for each communication to ensure high reliability even in an industrial environment where many devices are concentrated. The process of participating in the network is indispensable because the entire network operates at the same time. However, there is a problem with TSCH's channel change technique, which results in longer network participation time for new nodes wanting to participate in the network. Previous research has randomly chosen channels for beaconing to reduce network formation time. However, this approach is effective for networks with fewer nodes, but conflicts in beacon messages in networks with approximately 20 or more networks result in network congestion, which increases network participation time. To solve this problem, this paper proposes a collision minimization scheduling technique. This strategy assigns a separate time zone to each node to exclude the possibility of beacon message collisions. This algorithm allocates timeslot based on RANK of RPL. By explicitly predicting the longest network joining time of the network participating nodes, the average network joining time was measured to be about 25 seconds to 27 seconds faster compared to the previous research.