The invention relates to a coal mine underground stepping-type equipment train control method. The coal mine underground stepping-type equipment train control method comprises the following steps of establishing short-distance communication connection with an infrared wireless communication device through a remote control device; performing electrohydraulic control on a stepping-type equipment train through the remote control device; exerting an electrohydraulic control device to automatically match playing contents of a speech device according to train actions; automatically disconnecting the electrohydraulic control device and the remote control device when the distance between the remote control device and the infrared wireless communication device is more than a set distance; and exerting a system to enter a standby state. According to the invention, a wireless short-distance control mode and a local control mode are realized and the safety and effectiveness of a control instruction of an operator are guaranteed through limiting the infrared wireless communication distance; a linkage control problem of left and right advancing jacks in the moving process of the equipment train is solved; telescopic monitoring functions of the left and right advancing jacks are realized; and speech linkage early warning in the moving process of the equipment train is also realized.