Storage environments designing and planning is the prerequisite of Automated Guided Vehicles (AGVs) route planning in Automated Storage and Retrieval Systems (AS/RSs), and could reduce much labor force and the energy cost with an automatic way. Although image processing has made great progress, few publications focused on establishing rasterized storage environments. In this paper, we proposed a novel method for automatically designing and planning storage environments based on a monocular camera. First, we take a picture of the vacant warehouse ground with a monocular camera and then obtain the rectangular image using the perspective transformation. Second, we draw the approximate boundary of the storage area and compute the external enclosing rectangle as the exact boundary. Third, the computer divides the environment into several grids based on the size of workstations. Finally, the computer labels the obstacle workstations according to the planning results. The proposed approach is validated with several simulations.