An order-picking method, comprising: autonomously routing a plurality of mobile robotic units in an order fulfillment facility; and picking articles to or putting articles from said robotic units in said order fulfillment facility, wherein said order fulfillment facility has a stationary automated order-picking station (40, 240) and wherein said picking or putting articles includes docking said robotic units to said order-picking station wherein said order-picking station receives articles put from said robotic units, characterized in that: at least one of said robotic units includes a robotic arm and a plurality of receptacle supports, and the method includes picking articles or putting articles with said robotic arm to receptacles at said supports and from said receptacles, and wherein said stationary automated order-picking station (40, 240) includes a stationary robot (42, 242) and vision equipment, said vision equipment locating the position of the product in two-dimensional coordinates and using the 2D coordinates as a common reference frame for the vision equipment and the robot and creates a three-dimensional point cloud of product with said vision equipment and wherein the vision system uses a blob algorithm to identify connected surfaces to identify product. autonomously routing a plurality of mobile robotic units in an order fulfillment facility; and picking articles to or putting articles from said robotic units in said order fulfillment facility, wherein said order fulfillment facility has a stationary automated order-picking station (40, 240) and wherein said picking or putting articles includes docking said robotic units to said order-picking station wherein said order-picking station receives articles put from said robotic units, characterized in that: at least one of said robotic units includes a robotic arm and a plurality of receptacle supports, and the method includes picking articles or putting articles with said robotic arm to receptacles at said supports and from said receptacles, and wherein said stationary automated order-picking station (40, 240) includes a stationary robot (42, 242) and vision equipment, said vision equipment locating the position of the product in two-dimensional coordinates and using the 2D coordinates as a common reference frame for the vision equipment and the robot and creates a three-dimensional point cloud of product with said vision equipment and wherein the vision system uses a blob algorithm to identify connected surfaces to identify product. at least one of said robotic units includes a robotic arm and a plurality of receptacle supports, and the method includes picking articles or putting articles with said robotic arm to receptacles at said supports and from said receptacles, and wherein said stationary automated order-picking station (40, 240) includes a stationary robot (42, 242) and vision equipment, said vision equipment locating the position of the product in two-dimensional coordinates and using the 2D coordinates as a common reference frame for the vision equipment and the robot and creates a three-dimensional point cloud of product with said vision equipment and wherein the vision system uses a blob algorithm to identify connected surfaces to identify product.