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 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 includes a stationary robot 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 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 includes a stationary robot 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 includes a stationary robot 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. <EOS>