A method of controlling an annular spinning machine service apparatus and an annular spinning machine for carrying it out

The invention relates to a method of controlling an annular spinning machine service apparatus, wherein the service apparatus can be shifted along with a row of spinning units on the spinning machine,each spinning unit having a spindle; the service apparatus can stop at a certain spinning unit to perform maintenance thereat. The method includes: initially shifting the service apparatus along witha row of the spinning units to detect a reference position; during the shifting process, detecting at least one reference element, indicating the reference position, at between the two ends of the row of the spinning units by a sensor; and, if the maintenance operation needs to be carried out at the corresponding spinning unit, positioning the service apparatus in front of the certain spinning unit by using the reference position during the operation of the service apparatus. The invention further relates to the annular spinning machine for carrying out the method. 本发明涉及操作环锭纺纱机的维修机器人的方法，其中维修机器人可沿着纺纱机的一排纺纱单元移位，每个纺纱单元包括