The invention discloses a three-dimensional laser scanning head, which includes an optical path assembly and a driving assembly, the driving assembly includes a planetary gear transmission set, the optical path assembly includes a half mirror, a full mirror group and a field mirror, and the driving The assembly can be arranged at one end of the field lens, so that the driving assembly is arranged between the half mirror and the field mirror, or can be arranged at the other end of the field lens, so that the field lens is arranged at the half mirror In addition, several solutions are designed to meet different scanning requirements for the full mirror group. The invention designs a planetary gear transmission group, realizes the independent movement of the rotation direction, simplifies the control of the transmission system, is convenient to operate, improves the movement precision, and also designs another structural layout, so that the full mirror group can use a The total reflection mirror with increased mirror area can expand the scanning range. In addition, a zoom system and a laser ranging system are added to make the 3D laser scanning head have corresponding functions.