Aiming at the shortcomings of the current four-axis laser measuring machine, a five-axis reverse engineering point cloud data acquisition system is designed. The rotation axis of the laser probe is added on the basis of four axes, the motion control system based on PCI bus and the data acquisition system based on USB bus are adopted, and the image acquisition system is implanted, and the scanning range is automatically identified by the application programming interface function of Windows through secondary development technology. The software system uses acquisition path planning and measurement data optimization algorithm. A case study was carried out on the original data measurement and surface reverse modeling. The high inclination surface of the part and the surface perpendicular to the workbench can cover the measurement, and all the point cloud data is measured at one time. The experimental results verify the feasibility and stability of the system. The main advantage of the point cloud data acquisition system is that the planar linear motion mechanism and the rotating mechanism of the laser probe head are integrated into a motion control card, which makes the motion control very convenient and flexible, and the system has high stability.