The invention discloses a control method of full-automatic article receiving and dispatching device. The control method comprises the steps that a, when an article dispatching button or an article receiving button is triggered, a receiving and dispatching unit located at a receiving and dispatching device storage track is activated, whether other receiving and dispatching units exist in the space between the receiving and dispatching unit and a first target position or not is judged, if yes, judgment is made every the time T until the space is unobstructed, the receiving and dispatching unit operates to the target position after the space is unobstructed, and if no, the receiving and dispatching unit directly operates to the target position; b, when a trigger on a straight track is triggered, a transitional track is in butt joint with the straight track, and when a trigger on a straight track on the other side of the transitional track is triggered, the transitional track restores to an initial state; and c, the receiving and dispatching unit stops operating and grabs articles after reaching the target position, operates to a second target position after grabbing the articles, and then releases the articles after reaching the second target position. Operation in the whole process is automatic and intelligent, the efficiency is improved, and the cost is lowered.