A LiDAR device, comprising an emission drive system, a laser transceiving system, and a control and signal processing system, wherein: the laser transceiving system comprises an emission assembly and a receiving assembly, wherein: the emission assembly is configured to emit an outgoing laser, so that the outgoing laser scans a detection region, the receiving assembly comprises an array detector, wherein the array detector comprises a plurality of detection units and the array detector is configured to turn on the detection units synchronously with the emission of the emission assembly to receive an echo laser, the echo laser being a reflection of the outgoing laser that is reflected by an object in the detection region; the emission drive system is configured to drive the emission assembly; and the control and signal processing system is configured to control the emission drive system to drive the emission assembly, and configured to control the receiving assembly to receive the echo laser, characterized in that, the emission assembly comprises a plurality of first emission assemblies, each first emission assembly comprising a laser emission module and an optical deflection module, wherein each optical deflection module comprises a plurality of deflection units arranged in a first direction, and the laser emission module is configured to emit the outgoing laser to the optical deflection module in the first direction, and the optical deflection module is configured to sequentially turn on the deflection units so that the outgoing laser is emitted in a second direction and scans in the first direction or in an opposite direction of the first direction; and arrangement of the deflection units is consistent with arrangement of the detection units in the array detector; and the first direction is perpendicular to the second direction. the laser transceiving system comprises an emission assembly and a receiving assembly, wherein: the emission assembly is configured to emit an outgoing laser, so that the outgoing laser scans a detection region, the receiving assembly comprises an array detector, wherein the array detector comprises a plurality of detection units and the array detector is configured to turn on the detection units synchronously with the emission of the emission assembly to receive an echo laser, the echo laser being a reflection of the outgoing laser that is reflected by an object in the detection region; the emission assembly is configured to emit an outgoing laser, so that the outgoing laser scans a detection region, the receiving assembly comprises an array detector, wherein the array detector comprises a plurality of detection units and the array detector is configured to turn on the detection units synchronously with the emission of the emission assembly to receive an echo laser, the echo laser being a reflection of the outgoing laser that is reflected by an object in the detection region; the emission drive system is configured to drive the emission assembly; and the control and signal processing system is configured to control the emission drive system to drive the emission assembly, and configured to control the receiving assembly to receive the echo laser, characterized in that, the emission assembly comprises a plurality of first emission assemblies, each first emission assembly comprising a laser emission module and an optical deflection module, wherein each optical deflection module comprises a plurality of deflection units arranged in a first direction, and the laser emission module is configured to emit the outgoing laser to the optical deflection module in the first direction, and the optical deflection module is configured to sequentially turn on the deflection units so that the outgoing laser is emitted in a second direction and scans in the first direction or in an opposite direction of the first direction; and arrangement of the deflection units is consistent with arrangement of the detection units in the array detector; and the first direction is perpendicular to the second direction. each optical deflection module comprises a plurality of deflection units arranged in a first direction, and the laser emission module is configured to emit the outgoing laser to the optical deflection module in the first direction, and the optical deflection module is configured to sequentially turn on the deflection units so that the outgoing laser is emitted in a second direction and scans in the first direction or in an opposite direction of the first direction; and arrangement of the deflection units is consistent with arrangement of the detection units in the array detector; and the first direction is perpendicular to the second direction.