This paper presents a detailed investigation into the development of a specialized unmanned aerial vehicle (UAV) for practical applications in coal mining. The main focus is on enhancing surveillance capabilities, identifying potential hazards, and supporting various coal mine activities. This study initiates with the careful design of a quadcopter, taking into account essential parameters such as VTOL, maneuverability, and hover efficiency. The quadcopter model is meticulously developed to ensure smooth operation under ideal conditions. The design process involves utilizing SolidWorks software to create a robust and optimized quadcopter model. Additionally, the static deformation simulation of the quadcopter is conducted using Ansys software, providing valuable insights into its structural integrity and performance. Dynamic modelling using the Bond Graph Method enables a thorough understanding of the quadcopter’s behavior and informs propulsion system selection. The chosen propulsion system prioritizes maximizing thrust-to-weight ratio to about 2:1, achieving the factor of safety of approximately 4, and ensuring maneuverability. The use of eCalc, an online open-source software, assists in identifying the ideal motor-propeller combination for optimal thrust characteristics. Surveillance and mapping techniques are explored in detail. A step-by-step methodology is proposed for image identification, while mapping is achieved through image stitching and path planning using waypoints. Additionally, volume estimation and vulnerability assessment methods specific to coal mining are discussed.