Paddle loading and unloading device of coaxial double-paddle unmanned aerial vehicle and control method

The invention relates to the technical field of coaxial double-propeller unmanned aerial vehicle propeller control, in particular to an upper propeller and lower propeller device of a coaxial double-propeller unmanned aerial vehicle and a control method.The upper propeller and lower propeller device of the coaxial double-propeller unmanned aerial vehicle comprises an upper propeller assembly and a lower propeller assembly, the upper propeller assembly comprises an upper propeller hub and a pair of upper propellers, and a rotating shaft connecting hole is formed in the center of the upper propeller hub; a rotating shaft connecting hole of the upper propeller hub is in transmission connection with one output shaft of a coaxial double-propeller motor of the coaxial double-propeller unmanned aerial vehicle body; the upper propeller device and the lower propeller device of the coaxial double-propeller unmanned aerial vehicle are designed in a split mode, due to the arrangement of the motor wrapping parts, the dist