Full-sea-depth optical contact type composite distance sensor

The invention belongs to the field of distance measurement for underwater robots, and particularly relates to a full-sea-depth optical contact type composite distance sensor, which is characterized in that a pressure-resistant cabin is filled with electrical insulating oil, an optical sensor mounting cylinder is mounted in the pressure-resistant cabin, an optical probe and a filter lens are mounted in the optical sensor mounting cylinder, and the optical probe and the filter lens are mounted in the pressure-resistant cabin. The Fresnel lens is installed in an optical lens hole formed in the pressure-resistant cabin body in a sealed mode. The detection push rod can be installed on the pressure-resistant cabin in a relatively sliding mode, one end of the detection push rod is connected with the rubber contact probe, the other end of the detection push rod is provided with the pressure sensor, the pull rope distance encoder is fixedly connected into the pressure-resistant cabin, the pull rope end is connected wi