A sensor assembly includes a first structure and a second structure disposed radially outwardly of the first structure. Also included is a sensor body extending through the first and second structures, the sensor body having first and second ends, the second end located radially outwardly of the second structure. Further included is a first sealing assembly configured to couple the sensor body to the second structure and to accommodate movement of the sensor body due to relative movement between the first and second structures. Yet further included is an interior cavity of the sensor body, a linear position sensor operatively coupled to the sensor body, and a rotary linkage assembly located within the interior cavity and coupled to a target. Also included is a rotary-to-linear interface disposed between the rotary linkage assembly and the sensor and configured to convert rotational motion of the rotary linkage assembly to linear motion.

The invention relates to a position sensing device (10) for determining a rotational position of a rotating shaft (12) of a remotely operated vehicle of a system (1) for storing and retrieving goods holders, said rotating shaft (12) being a wheel axle of the remotely operated vehicle. The device comprises a reflector (14) attached to the rotating shaft so as to rotate simultaneously with said shaft (12), a distance measuring unit (16) arranged to emit a beam (18) of radiation towards a portion of the reflector (14), wherein the emitted beam is parallel to the rotating shaft, as the shaft (12) and the reflector (14) are rotated with respect to the distance measuring unit (16), and to receive a return beam (20) generated when the emitted beam (18) is reflected by the portion of the reflector (14). The distance measuring unit (16) is configured to output a signal based on a distance of said beam to said portion of the reflector (14), wherein a rotational position of the rotating shaft (12) is determined based on the output signal of measured distance from said distance measuring unit (16). The invention further relates to a method for determining rotational position of a rotating shaft (12).

An angular position sensor assembly for determining an angular position of a shaft when the shaft rotates about an axis of rotation of the shaft. A rotational encoder is connected to the shaft in force transmission and a rotational sensor detects a movement of the rotational encoder. On the shaft, a non-rotatable first gear part of a gearbox of the angular position sensor assembly is arranged and the rotational encoder is formed as a second gear part of the gearbox engaged with the first gear part. The gearbox simultaneously forms a fixed mechanical stop of the shaft on a first end of an angular position range of the shaft when the shaft rotates counterclockwise and on a second end of the angular position range of the shaft when the shaft rotates clockwise.