A method for controlling an accumulation conveyor, the accumulation conveyor comprising a plurality of zones, the plurality of zones comprising at least a first zone, a second zone and a third zone, wherein the first zone is upstream of the second zone and the second zone is upstream of a third zone, the method comprising: receiving, by a second control module associated with the second zone, a third feedback signal from a third control module associated with the third zone, wherein the third feedback signal indicates that a third sensor in the third zone is blocked; setting, by the second control module, a second drive assembly associated with the second zone to a disengaged state based on the third feedback signal received from the third control module associated with the third zone; characterised by: detecting, by a first sensor associated with the first zone, a boundary type of an article conveyed by the accumulation conveyor in the first zone, wherein the article corresponds to the one of the first article having the irregular boundary or the second article having the regular boundary; determining, by the first control module associated with the first zone, whether the first sensor is blocked by the first article or the second article in the first zone; generating, by the first control module, the first signal based on the determination of whether the first zone is occupied by the first article or the second article; transmitting, by the first control module, the first signal to the second control module associated with the second zone; receiving, by the second control module, the first signal from the first control module associated with the first zone, wherein the first signal indicates whether the first article having an irregular boundary or the second article having a regular boundary exits from the first zone; controlling, by the second control module, the second drive assembly and a second brake assembly associated with the second zone based on the indication of whether the first article or the second article exits from the first zone by the first signal received from the first control module. receiving, by a second control module associated with the second zone, a third feedback signal from a third control module associated with the third zone, wherein the third feedback signal indicates that a third sensor in the third zone is blocked; setting, by the second control module, a second drive assembly associated with the second zone to a disengaged state based on the third feedback signal received from the third control module associated with the third zone; characterised by: detecting, by a first sensor associated with the first zone, a boundary type of an article conveyed by the accumulation conveyor in the first zone, wherein the article corresponds to the one of the first article having the irregular boundary or the second article having the regular boundary; determining, by the first control module associated with the first zone, whether the first sensor is blocked by the first article or the second article in the first zone; generating, by the first control module, the first signal based on the determination of whether the first zone is occupied by the first article or the second article; transmitting, by the first control module, the first signal to the second control module associated with the second zone; receiving, by the second control module, the first signal from the first control module associated with the first zone, wherein the first signal indicates whether the first article having an irregular boundary or the second article having a regular boundary exits from the first zone; controlling, by the second control module, the second drive assembly and a second brake assembly associated with the second zone based on the indication of whether the first article or the second article exits from the first zone by the first signal received from the first control module. detecting, by a first sensor associated with the first zone, a boundary type of an article conveyed by the accumulation conveyor in the first zone, wherein the article corresponds to the one of the first article having the irregular boundary or the second article having the regular boundary; determining, by the first control module associated with the first zone, whether the first sensor is blocked by the first article or the second article in the first zone; generating, by the first control module, the first signal based on the determination of whether the first zone is occupied by the first article or the second article; transmitting, by the first control module, the first signal to the second control module associated with the second zone; receiving, by the second control module, the first signal from the first control module associated with the first zone, wherein the first signal indicates whether the first article having an irregular boundary or the second article having a regular boundary exits from the first zone; controlling, by the second control module, the second drive assembly and a second brake assembly associated with the second zone based on the indication of whether the first article or the second article exits from the first zone by the first signal received from the first control module.