Aiming at the problems of low response speed and voltage control accuracy in traditional solid-state lidar, a solid-state lidar ranging system based on lens-assisted beam scanning(LABS) technology and field programmable logic array(FPGA) is proposed. The system adopts transceiver integrated structure. The LABS device in the system is composed of 1×16 optical switch chip, 4×4 optical fiber array and lens. According to the characteristics of the LABS scheme, only one optical switch is in working state at each level, and the beam is illuminated to different positions of the lens by selecting different emitters. The beam scanning is controlled by FPGA combined with an external elector, and the 4-stage Mach-Zehnder interferometer(MZI) optical switch is controlled by the output voltage to realize the fast switching of the beam. The experimental results show that the beam steering Angle step of the system is 0.35°, the maximum ranging range can reach 200 m, and the ranging error within 9.2 m is about 1 cm.