The present invention provides an acoustic positioning method for a warehousing system, comprising: a coordinate system establishment step in which a coordinate system is established for a sound sensor in a warehouse, and a coordinate of the sound sensor is recorded; a positioning request step in which a signal generator transmits positioning application information, a processor transmits a signal transmitting signal after confirming the positioning application information, and controls the sound sensor to receive a sound signal and transmit the sound signal back to the processor; a positioning response step in which the processor judges whether the sound signal is a direct signal, and transmits positioning permission information after receiving more than three direct signals; and a coordinate system positioning step in which the signal generator continues transmitting a sound signal, the processor calculates the distance between the signal generator and the sound sensor according to the sound signal, so as to obtain the coordinate of the signal generator. The acoustic positioning method of the present invention is simple and convenient in application, and can perform positioning of goods through the signal generator and the sound sensor, thus lower cost is achieved, at the same time, the acoustic positioning method can effectively ensure positioning accuracy, thus positioning for the goods in a warehouse can be more convenient and faster, and working efficiency can be improved.