The detection of Foreign Object Debris (FOD) is of great significance to airports safety operations.To this enda set of UAV-based FOD detecting and locating system is designed.The system adopts the roundabout route planning strategy of multi-UAV collaboration to collect images across the airport runway.For FOD location marking probleman automatic aligning and stitching algorithm based on RootSIFT feature matching is proposed and used to restore the panoramic image of the airport runway.Finallythe Faster R-CNN detector is designed to realize the detecting and locating of FOD.The test results based on the measured data show thatthe system can improve the FOD detection efficiency and obtain a satisfactory detecting and positioning effect.