The invention discloses an intelligent collision avoidance device and a control system for a port-working tug. The collision avoidance device comprises a laser scanner, a motor push-pull device, a base, a support, and an annulus ferrule. The laser scanner is fixed to the front end of the push-pull shaft of the motor push-pull device through the annular ferrule. The motor push-pull device is fixedly mounted on the support through the base. The support is fixed on the port-working tug. The control system comprises an STM32 embedded controller, a communication module, an alarm module, and a PC. The STM32 embedded controller is connected with the laser scanner, the alarm module and the communication module respectively. The communication module is connected with the PC. According to the intelligent collision avoidance device and the control system for a port-working tug, the work reliability of a tug is greatly improved, the working efficiency is improved, maritime disputes are avoided, and can also be used as an important part of the intelligent navigation of the port-working tug.