A tray extension positioning method, ensuring that a tray of a battery replacement equipment will be aligned with a target when extending, characterized by comprising the following steps: acquiring a first detection state of a first sensor and a second detection state of a second sensor , the first detection state being used for indicating whether the first sensor detects a first distance signal, the second detection state being used for indicating whether the second sensor detects a second distance signal, the first distance signal being used for indicating a distance between a first position of a tray and a target, the second distance signal being used for indicating a distance between a second position of the tray and the target, and the first position and the second position being disposed at an interval; and determining the first detection state and the second detection state; if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is detected, driving the tray to linearly move toward the target at a positioning speed; if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is not detected, driving the tray to rotate along a rotational direction to cause the second position to move toward the target quicker than the first position; and if the first detection state indicates that the first distance signal is not detected and the second detection state indicates that the second distance signal is detected, driving the tray to rotate along a counter-rotational direction opposite to the rotational direction to cause the first position to move toward the target quicker than the second position. acquiring a first detection state of a first sensor and a second detection state of a second sensor , the first detection state being used for indicating whether the first sensor detects a first distance signal, the second detection state being used for indicating whether the second sensor detects a second distance signal, the first distance signal being used for indicating a distance between a first position of a tray and a target, the second distance signal being used for indicating a distance between a second position of the tray and the target, and the first position and the second position being disposed at an interval; and determining the first detection state and the second detection state; if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is detected, driving the tray to linearly move toward the target at a positioning speed; if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is not detected, driving the tray to rotate along a rotational direction to cause the second position to move toward the target quicker than the first position; and if the first detection state indicates that the first distance signal is not detected and the second detection state indicates that the second distance signal is detected, driving the tray to rotate along a counter-rotational direction opposite to the rotational direction to cause the first position to move toward the target quicker than the second position. <EOS>