The invention relates to a scanning device. The scanning device comprises a scanner and a swinging device, wherein the scanner is provided with a reflecting surface, and can reflect laser incident onthe scanner; the scanner can scan around a first axis to change the emitting direction of the laser; the scanner is arranged on the swinging device; the swinging device is used for driving the scannerto swing back and forth around a second axis within a preset angle range; and the second axis is not parallel to the first axis.